+ python -m lidar_slam --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [0, True] SLAMing on 0.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.01 [[ 9.99821559e-01 1.23761954e-02 1.42716189e-02 3.13602682e-02] [-1.23643736e-02 9.99923138e-01 -9.16289495e-04 1.21220465e-02] [-1.42818622e-02 7.39666364e-04 9.99897735e-01 7.77405890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062320587999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:0.01 [[ 9.99819434e-01 1.25469890e-02 1.42714069e-02 6.48286346e-02] [-1.25351375e-02 9.99921009e-01 -9.19587988e-04 1.00275415e-02] [-1.42818176e-02 7.40527895e-04 9.99897735e-01 7.94342550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.10, Y:0.01, Z:0.01 [[ 9.99739846e-01 1.94048211e-02 1.19872392e-02 9.77435902e-02] [-1.93968982e-02 9.99811561e-01 -7.76860561e-04 9.15799025e-03] [-1.20000551e-02 5.44143200e-04 9.99927849e-01 9.07100851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.13, Y:0.01, Z:0.01 [[ 9.99586846e-01 2.77000368e-02 7.67101699e-03 1.30780917e-01] [-2.76970237e-02 9.99616239e-01 -4.98776541e-04 8.16818694e-03] [-7.68188928e-03 2.86106131e-04 9.99970453e-01 1.03661868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.16, Y:0.01, Z:0.01 [[ 9.99290738e-01 3.74287609e-02 4.13629710e-03 1.62233800e-01] [-3.74279669e-02 9.99299292e-01 -2.69211980e-04 5.90812183e-03] [-4.14347503e-03 1.14207847e-04 9.99991409e-01 9.55123136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:0.00, Z:0.01 [[ 9.98960653e-01 4.55692163e-02 1.03015126e-03 1.91185855e-01] [-4.55691740e-02 9.98961184e-01 -6.44996235e-05 1.72084135e-03] [-1.03202032e-03 1.74894438e-05 9.99999467e-01 6.61007469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:0.00 [[ 9.98608147e-01 5.27222851e-02 -1.45900979e-03 2.18575366e-01] [-5.27222011e-02 9.98609213e-01 9.60243705e-05 -3.35172749e-03] [ 1.46204324e-03 -1.89685111e-05 9.99998931e-01 4.67702065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.01, Z:0.00 [[ 9.98633148e-01 5.22465958e-02 -1.45906343e-03 2.46910733e-01] [-5.22465125e-02 9.98634214e-01 9.51935850e-05 -5.45283077e-03] [ 1.46204420e-03 -1.88324939e-05 9.99998931e-01 4.82090968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27232058800000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.01, Z:0.00 [[ 9.98324769e-01 5.78156223e-02 -2.23832903e-03 2.74919832e-01] [-5.78154454e-02 9.98327278e-01 1.43707609e-04 -9.83128761e-03] [ 2.24289347e-03 -1.40568753e-05 9.99997485e-01 4.77689829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.01 [[ 9.98167325e-01 6.04894812e-02 1.73620643e-03 3.03002279e-01] [-6.04893884e-02 9.98168835e-01 -1.05957234e-04 -1.41183045e-02] [-1.73943644e-03 7.40983678e-07 9.99998487e-01 6.89819512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.02, Z:0.01 [[ 9.98099957e-01 6.14460554e-02 4.56707898e-03 3.30877125e-01] [-6.14454142e-02 9.98110406e-01 -2.80710941e-04 -1.84561401e-02] [-4.57569763e-03 -4.48481639e-07 9.99989531e-01 9.58059699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.02, Z:0.01 [[ 9.98101631e-01 6.09619402e-02 8.76220299e-03 3.58062804e-01] [-6.09595796e-02 9.98140091e-01 -5.36472247e-04 -2.36471216e-02] [-8.77861048e-03 1.31361372e-06 9.99961467e-01 1.23262829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.03, Z:0.01 [[ 9.98111408e-01 6.08016527e-02 8.76217861e-03 3.88138087e-01] [-6.07992825e-02 9.98149868e-01 -5.36865621e-04 -2.55933417e-02] [-8.77860974e-03 3.11752837e-06 9.99961467e-01 1.24788760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.03, Z:0.01 [[ 9.98150632e-01 5.97040149e-02 1.14344380e-02 4.18146489e-01] [-5.96998943e-02 9.98216124e-01 -7.01657292e-04 -2.97057525e-02] [-1.14559321e-02 1.77249315e-05 9.99934378e-01 1.48084932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45232058799999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.03, Z:0.02 [[ 9.98171491e-01 5.85646765e-02 1.49617362e-02 4.49170958e-01] [-5.85574742e-02 9.98283615e-01 -9.19390617e-04 -3.25126466e-02] [-1.49898999e-02 4.15880195e-05 9.99887644e-01 1.59262239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.03, Z:0.02 [[ 9.98201256e-01 5.67470089e-02 1.93398185e-02 4.81648346e-01] [-5.67345806e-02 9.98388586e-01 -1.19113537e-03 -3.42067657e-02] [-1.93762474e-02 9.17563250e-05 9.99812259e-01 1.62858807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:0.01 [[ 9.98303824e-01 5.45442017e-02 2.03569183e-02 5.14895280e-01] [-5.45298873e-02 9.98511346e-01 -1.25800886e-03 -3.66451383e-02] [-2.03952310e-02 1.45814596e-04 9.99791985e-01 1.47440093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.04, Z:0.01 [[ 9.98291793e-01 5.47640727e-02 2.03566323e-02 5.48373898e-01] [-5.47497099e-02 9.98499311e-01 -1.26263009e-03 -3.86274299e-02] [-2.03952301e-02 1.45953543e-04 9.99791985e-01 1.49132555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.04, Z:0.01 [[ 9.98410163e-01 5.23756917e-02 2.08310483e-02 5.81337537e-01] [-5.23600531e-02 9.98627431e-01 -1.29582390e-03 -4.33285936e-02] [-2.08703259e-02 2.03048958e-04 9.99782170e-01 1.31743683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.05, Z:0.01 [[ 9.98531318e-01 5.01322710e-02 2.05417269e-02 6.13884456e-01] [-5.01165094e-02 9.98742556e-01 -1.28169939e-03 -4.91979007e-02] [-2.05801513e-02 2.50337333e-04 9.99788175e-01 1.24866608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.05, Z:0.01 [[ 9.98596867e-01 4.85458648e-02 2.11564711e-02 6.46426190e-01] [-4.85287051e-02 9.98820911e-01 -1.32404176e-03 -5.46717235e-02] [-2.11958025e-02 2.95487808e-04 9.99775300e-01 1.32699855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:0.01 [[ 9.98586334e-01 4.87621658e-02 2.11561752e-02 6.79900550e-01] [-4.87449546e-02 9.98810374e-01 -1.32876369e-03 -5.66803293e-02] [-2.11958006e-02 2.95628465e-04 9.99775300e-01 1.34392306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:0.01 [[ 9.98622838e-01 4.74604621e-02 2.23591768e-02 7.12792216e-01] [-4.74408229e-02 9.98873058e-01 -1.40826797e-03 -5.97598554e-02] [-2.24008164e-02 3.45590807e-04 9.99749010e-01 1.47301478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.06, Z:0.02 [[ 9.98675410e-01 4.61300763e-02 2.27912624e-02 7.46114213e-01] [-4.61092270e-02 9.98935366e-01 -1.43974028e-03 -6.20051493e-02] [-2.28334134e-02 3.86945717e-04 9.99739209e-01 1.52876470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.07, Z:0.01 [[ 9.98791976e-01 4.43055098e-02 2.12511058e-02 7.79241693e-01] [-4.42868850e-02 9.99017947e-01 -1.34647265e-03 -6.51255658e-02] [-2.12898922e-02 4.03700802e-04 9.99773263e-01 1.44631639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.07, Z:0.01 [[ 9.98915988e-01 4.18793378e-02 2.03216437e-02 8.11720921e-01] [-4.18617279e-02 9.99122579e-01 -1.29137058e-03 -6.98774066e-02] [-2.03578949e-02 4.39271603e-04 9.99792660e-01 1.21881392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.07, Z:0.01 [[ 9.98906956e-01 4.20943792e-02 2.03213555e-02 8.45192317e-01] [-4.20767216e-02 9.99113542e-01 -1.29590125e-03 -7.19202056e-02] [-2.03578916e-02 4.39428760e-04 9.99792660e-01 1.23573876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.07, Z:0.01 [[ 9.98897876e-01 4.23094194e-02 2.03210762e-02 8.78663263e-01] [-4.22917174e-02 9.99104459e-01 -1.30027504e-03 -7.39703458e-02] [-2.03578917e-02 4.39428763e-04 9.99792660e-01 1.25266162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.08, Z:0.01 [[ 9.99026920e-01 4.00317933e-02 1.85113058e-02 9.11465861e-01] [-4.00166510e-02 9.99198307e-01 -1.18783977e-03 -7.90886901e-02] [-1.85440168e-02 4.45923441e-04 9.99827945e-01 1.08113073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9023205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.08, Z:0.01 [[ 9.99081292e-01 3.90201355e-02 1.77200729e-02 9.44526583e-01] [-3.90060425e-02 9.99238324e-01 -1.14037063e-03 -8.30512223e-02] [-1.77510733e-02 4.48133047e-04 9.99842337e-01 1.06546155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.09, Z:0.01 [[ 9.99065978e-01 3.91977170e-02 1.81854542e-02 9.77266059e-01] [-3.91828432e-02 9.99231368e-01 -1.17362046e-03 -8.52207064e-02] [-1.82174796e-02 4.59966471e-04 9.99833942e-01 1.28024412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.09, Z:0.01 [[ 9.99057614e-01 3.94104355e-02 1.81851942e-02 1.01073380e+00] [-3.93955237e-02 9.99223001e-01 -1.17764544e-03 -8.72974958e-02] [-1.82174758e-02 4.60120393e-04 9.99833942e-01 1.29716875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.09, Z:0.02 [[ 9.98997185e-01 4.04523861e-02 1.91892695e-02 1.04349076e+00] [-4.04359101e-02 9.99181357e-01 -1.24598957e-03 -8.90862238e-02] [-1.92239636e-02 4.68804499e-04 9.99815093e-01 1.51008016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.09, Z:0.02 [[ 9.98908008e-01 4.33849986e-02 1.73358741e-02 1.07634434e+00] [-4.33719360e-02 9.99058357e-01 -1.12894274e-03 -9.14833874e-02] [-1.73685291e-02 3.75819518e-04 9.99849085e-01 1.64411853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.052320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.10, Z:0.01 [[ 9.98807251e-01 4.68639221e-02 1.37057961e-02 1.10919421e+00] [-4.68560470e-02 9.98901251e-01 -8.95308021e-04 -9.51840511e-02] [-1.37326945e-02 2.52040716e-04 9.99905670e-01 1.43701296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.10, Z:0.01 [[ 9.98688759e-01 5.03804123e-02 9.08721556e-03 1.14131555e+00] [-5.03770857e-02 9.98730091e-01 -5.94747876e-04 -9.96676543e-02] [-9.10563927e-03 1.36180581e-04 9.99958534e-01 1.04201446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.10, Z:0.01 [[ 9.98684028e-01 5.04741138e-02 9.08716982e-03 1.17309668e+00] [-5.04707847e-02 9.98725360e-01 -5.95446495e-04 -1.01702019e-01] [-9.10564159e-03 1.36026312e-04 9.99958534e-01 1.05809141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.11, Z:0.01 [[ 9.98569418e-01 5.30188843e-02 6.93651240e-03 1.20537084e+00] [-5.30169979e-02 9.98593506e-01 -4.55677390e-04 -1.06039497e-01] [-6.95091574e-03 8.72724431e-05 9.99975838e-01 7.53605031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1723205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.11, Z:0.01 [[ 9.98424892e-01 5.53751518e-02 9.01818442e-03 1.23602056e+00] [-5.53720668e-02 9.98465615e-01 -5.91597631e-04 -1.10334586e-01] [-9.03710686e-03 9.13102901e-05 9.99959160e-01 8.07025949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2023205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.11, Z:0.01 [[ 9.98215737e-01 5.76720748e-02 1.54684826e-02 1.26814704e+00] [-5.76632330e-02 9.98335573e-01 -1.01737574e-03 -1.13919910e-01] [-1.55014106e-02 1.23597763e-04 9.99879838e-01 1.21507311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2323205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.12, Z:0.02 [[ 9.97944296e-01 5.94663586e-02 2.38942210e-02 1.29965196e+00] [-5.94457084e-02 9.98230299e-01 -1.57424356e-03 -1.17398438e-01] [-2.39455499e-02 1.50598492e-04 9.99713253e-01 1.81657756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.12, Z:0.02 [[ 9.97702781e-01 6.12532565e-02 2.89343834e-02 1.33205478e+00] [-6.12235562e-02 9.98122247e-01 -1.91210956e-03 -1.20245136e-01] [-2.89971747e-02 1.36251180e-04 9.99579484e-01 2.39235527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.12, Z:0.03 [[ 9.97605551e-01 6.23017114e-02 3.00276775e-02 1.36455604e+00] [-6.22700251e-02 9.98057355e-01 -1.99011759e-03 -1.22261716e-01] [-3.00933321e-02 1.15528118e-04 9.99547086e-01 2.68461697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.20, Z:0.01 [[ 9.97795435e-01 6.63628938e-02 -4.85471972e-04 1.39225099e+00] [-6.63628868e-02 9.97795553e-01 3.04838364e-05 -1.99998759e-01] [ 4.86424770e-04 1.80068871e-06 9.99999882e-01 5.27161055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3523205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.20, Z:0.01 [[ 9.97788430e-01 6.64552987e-02 -1.39339428e-03 1.42072450e+00] [-6.64552315e-02 9.97789403e-01 9.45302116e-05 -2.02321000e-01] [ 1.39659608e-03 -1.72281232e-06 9.99999025e-01 7.02410589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3823205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.20, Z:0.01 [[ 9.97821590e-01 6.59555388e-02 -1.39342995e-03 1.44911315e+00] [-6.59554719e-02 9.97822563e-01 9.39977691e-05 -2.04481343e-01] [ 1.39659552e-03 -1.88867343e-06 9.99999025e-01 7.16796993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.21, Z:0.01 [[ 9.97786020e-01 6.65044889e-02 4.58807656e-04 1.47739796e+00] [-6.65044833e-02 9.97786126e-01 -2.75398422e-05 -2.07938060e-01] [-4.59623437e-04 -3.03389655e-06 9.99999894e-01 1.04700619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.21, Z:0.01 [[ 9.97797020e-01 6.63392524e-02 4.58713722e-04 1.50748448e+00] [-6.63392461e-02 9.97797125e-01 -2.89800514e-05 -2.09988475e-01] [-4.59625748e-04 -1.51451356e-06 9.99999894e-01 1.06224422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4723205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.21, Z:0.01 [[ 9.97847836e-01 6.54837080e-02 3.40298922e-03 1.53743711e+00] [-6.54833364e-02 9.97853639e-01 -2.20637444e-04 -2.13253103e-01] [-3.41013333e-03 -2.67649101e-06 9.99994185e-01 1.29021975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.22, Z:0.01 [[ 9.97900756e-01 6.43907367e-02 6.92205425e-03 1.56845691e+00] [-6.43891622e-02 9.97924763e-01 -4.50300287e-04 -2.16850953e-01] [-6.93668451e-03 3.64972254e-06 9.99975941e-01 1.47184511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.22, Z:0.01 [[ 9.98003525e-01 6.25428336e-02 8.79532273e-03 1.59996887e+00] [-6.25402073e-02 9.98042280e-01 -5.73584391e-04 -2.21402768e-01] [-8.81397755e-03 2.23779372e-05 9.99961156e-01 1.49130716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.23, Z:0.02 [[ 9.98103377e-01 6.05967855e-02 1.08479233e-02 1.63200885e+00] [-6.05926617e-02 9.98162325e-01 -7.08701362e-04 -2.26381790e-01] [-1.08709333e-02 5.00526777e-05 9.99940908e-01 1.51227386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.23, Z:0.02 [[ 9.98093322e-01 6.07622028e-02 1.08477943e-02 1.66461779e+00] [-6.07580674e-02 9.98152269e-01 -7.10673961e-04 -2.28449405e-01] [-1.08709326e-02 5.02279176e-05 9.99940908e-01 1.52877493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6223205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.23, Z:0.02 [[ 9.98163495e-01 5.89158891e-02 1.40909531e-02 1.69774063e+00] [-5.89086883e-02 9.98262946e-01 -9.25898585e-04 -2.34254208e-01] [-1.41210265e-02 9.41186036e-05 9.99900289e-01 1.50981938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6523205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.24, Z:0.02 [[ 9.98212773e-01 5.76059471e-02 1.59001181e-02 1.72997965e+00] [-5.75965643e-02 9.98339390e-01 -1.04778475e-03 -2.39495951e-01] [-1.59340729e-02 1.30119944e-04 9.99873036e-01 1.50516482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.24, Z:0.02 [[ 9.98182126e-01 5.77299918e-02 1.73115765e-02 1.76312740e+00] [-5.77188299e-02 9.98332223e-01 -1.14413237e-03 -2.43234756e-01] [-1.73487554e-02 1.42848543e-04 9.99849489e-01 1.55205812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7123205879999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.25, Z:0.02 [[ 9.98168839e-01 5.79593602e-02 1.73113024e-02 1.79656891e+00] [-5.79481609e-02 9.98318933e-01 -1.14827458e-03 -2.45363838e-01] [-1.73487542e-02 1.43013766e-04 9.99849489e-01 1.56898087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.25, Z:0.02 [[ 9.98120700e-01 5.87434962e-02 1.74433488e-02 1.82972022e+00] [-5.87321877e-02 9.98273101e-01 -1.16031993e-03 -2.47932242e-01] [-1.74813872e-02 1.33653300e-04 9.99847180e-01 1.60132745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.25, Z:0.02 [[ 9.98028197e-01 6.03388000e-02 1.72900928e-02 1.86255979e+00] [-6.03278695e-02 9.98177949e-01 -1.15353645e-03 -2.50175243e-01] [-1.73281924e-02 1.08187439e-04 9.99849850e-01 1.57785763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.25, Z:0.01 [[ 9.97926614e-01 6.21158021e-02 1.68552939e-02 1.89524998e+00] [-6.21056106e-02 9.98068946e-01 -1.12792261e-03 -2.53002464e-01] [-1.68928073e-02 7.87756641e-05 9.99857303e-01 1.49618114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8323205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.26, Z:0.01 [[ 9.97804538e-01 6.44611230e-02 1.51943121e-02 1.92793719e+00] [-6.44530658e-02 9.97920218e-01 -1.01988045e-03 -2.56452508e-01] [-1.52284539e-02 3.83213462e-05 9.99884040e-01 1.43602467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8623205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.26, Z:0.01 [[ 9.97789576e-01 6.46923640e-02 1.51940639e-02 1.96137646e+00] [-6.46842773e-02 9.97905254e-01 -1.02357413e-03 -2.58614011e-01] [-1.52284536e-02 3.84945529e-05 9.99884040e-01 1.45294758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.26, Z:0.01 [[ 9.97675812e-01 6.67259751e-02 1.38064557e-02 1.99409959e+00] [-6.67194552e-02 9.97771339e-01 -9.32808158e-04 -2.62419241e-01] [-1.38379284e-02 9.48093027e-06 9.99904251e-01 1.46616494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9223205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.27, Z:0.01 [[ 9.97573714e-01 6.86538204e-02 1.15471772e-02 2.02705003e+00] [-6.86493603e-02 9.97640543e-01 -7.82643880e-04 -2.65832481e-01] [-1.15736637e-02 -1.19613680e-05 9.99933023e-01 1.44770751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9523205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.27, Z:0.01 [[ 9.97497591e-01 7.02242513e-02 8.19208299e-03 2.06013395e+00] [-7.02220434e-02 9.97531230e-01 -5.57203340e-04 -2.68965101e-01] [-8.21098781e-03 -1.94558176e-05 9.99966289e-01 1.39571231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.27, Z:0.01 [[ 9.97485841e-01 7.03909613e-02 8.19200159e-03 2.09273474e+00] [-7.03887492e-02 9.97519480e-01 -5.58399547e-04 -2.71118290e-01] [-8.21098745e-03 -1.96291036e-05 9.99966289e-01 1.41221277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0123205879999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.27, Z:0.01 [[ 9.97471073e-01 7.08569426e-02 5.54551577e-03 2.12448718e+00] [-7.08559313e-02 9.97486488e-01 -3.78855759e-04 -2.72705609e-01] [-5.55842161e-03 -1.50350238e-05 9.99984552e-01 1.39462904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.27, Z:0.01 [[ 9.97436354e-01 7.14991289e-02 2.93164131e-03 2.15692174e+00] [-7.14988470e-02 9.97440662e-01 -2.01002930e-04 -2.73994546e-01] [-2.93850978e-03 -9.12134412e-06 9.99995683e-01 1.27385238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.28, Z:0.01 [[ 9.97408563e-01 7.19389574e-02 9.72070063e-04 2.18846414e+00] [-7.19389265e-02 9.97409037e-01 -6.68299607e-05 -2.75814944e-01] [-9.74359143e-04 -3.27290176e-06 9.99999525e-01 1.24638929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.28, Z:0.01 [[ 9.97332791e-01 7.29262821e-02 3.01022200e-03 2.21838207e+00] [-7.29259929e-02 9.97337334e-01 -2.05894580e-04 -2.78924915e-01] [-3.01722191e-03 -1.41780115e-05 9.99995448e-01 1.39408541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.28, Z:0.01 [[ 9.97327559e-01 7.29977962e-02 3.01018250e-03 2.25014387e+00] [-7.29975055e-02 9.97332102e-01 -2.06471737e-04 -2.81076816e-01] [-3.01722362e-03 -1.38158606e-05 9.99995448e-01 1.41016384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.28, Z:0.02 [[ 9.97222565e-01 7.42019887e-02 6.42035801e-03 2.28163145e+00] [-7.42006912e-02 9.97243232e-01 -4.40375172e-04 -2.84679332e-01] [-6.43533528e-03 -3.72429433e-05 9.99979292e-01 1.72208411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.29, Z:0.02 [[ 9.97070224e-01 7.57793709e-02 1.04141438e-02 2.31344065e+00] [-7.57760271e-02 9.97124607e-01 -7.15857043e-04 -2.86860273e-01] [-1.04384463e-02 -7.53827045e-05 9.99945515e-01 2.06630795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.29, Z:0.02 [[ 9.96804355e-01 7.84893919e-02 1.48490436e-02 2.34657027e+00] [-7.84828485e-02 9.96914938e-01 -1.02377865e-03 -2.87933422e-01] [-1.48835892e-02 -1.44888224e-04 9.99889223e-01 2.30478533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.29, Z:0.02 [[ 9.96775944e-01 7.88494522e-02 1.48486178e-02 2.38001489e+00] [-7.88428570e-02 9.96886525e-01 -1.02994135e-03 -2.90072233e-01] [-1.48835973e-02 -1.44086694e-04 9.99889223e-01 2.32171038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2823205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.29, Z:0.02 [[ 9.96417354e-01 8.24326772e-02 1.89026574e-02 2.41299734e+00] [-8.24225844e-02 9.96596604e-01 -1.31371799e-03 -2.91610811e-01] [-1.89466175e-02 -2.48994468e-04 9.99820466e-01 2.42395472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.29, Z:0.02 [[ 9.96052628e-01 8.62554098e-02 2.09562934e-02 2.44637429e+00] [-8.62437642e-02 9.96272995e-01 -1.46053946e-03 -2.93850222e-01] [-2.10041686e-02 -3.52575460e-04 9.99779326e-01 2.44625360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.30, Z:0.02 [[ 9.95566373e-01 9.09218101e-02 2.41002351e-02 2.47957079e+00] [-9.09076614e-02 9.95857902e-01 -1.68431177e-03 -2.95465988e-01] [-2.41535502e-02 -5.14051850e-04 9.99708128e-01 2.47175465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.29, Z:0.03 [[ 9.94894321e-01 9.78792239e-02 2.45956789e-02 2.51262773e+00] [-9.78662590e-02 9.95198066e-01 -1.73319446e-03 -2.94287004e-01] [-2.46472159e-02 -6.82741756e-04 9.99695978e-01 2.53750636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.30, Z:0.03 [[ 9.94872174e-01 9.81041536e-02 2.45953888e-02 2.54605916e+00] [-9.80911558e-02 9.95175918e-01 -1.73730659e-03 -2.96568876e-01] [-2.46471757e-02 -6.84192140e-04 9.99695978e-01 2.55442724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4323205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.29, Z:0.03 [[ 9.94084110e-01 1.05719245e-01 2.49042793e-02 2.57962332e+00] [-1.05707949e-01 9.94395638e-01 -1.77331321e-03 -2.91995278e-01] [-2.49521800e-02 -8.69757809e-04 9.99688268e-01 2.60750446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.29, Z:0.03 [[ 9.93210336e-01 1.14010643e-01 2.31257890e-02 2.61266050e+00] [-1.14003076e-01 9.93479027e-01 -1.64966261e-03 -2.86572255e-01] [-2.31630655e-02 -9.97949113e-04 9.99731202e-01 2.54012842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4923205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.28, Z:0.02 [[ 9.92344398e-01 1.21572464e-01 2.17423738e-02 2.64603518e+00] [-1.21567496e-01 9.92581949e-01 -1.55503687e-03 -2.82147658e-01] [-2.17701374e-02 -1.10003380e-03 9.99762397e-01 2.36384300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.28, Z:0.02 [[ 9.92318173e-01 1.21786401e-01 2.17420270e-02 2.67946808e+00] [-1.21781378e-01 9.92555723e-01 -1.55987975e-03 -2.84470242e-01] [-2.17701454e-02 -1.09987698e-03 9.99762397e-01 2.38076617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5523205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.28, Z:0.02 [[ 9.91475348e-01 1.28836662e-01 1.94357782e-02 2.71325777e+00] [-1.28833928e-01 9.91665198e-01 -1.39796515e-03 -2.81612114e-01] [-1.94538940e-02 -1.11793967e-03 9.99810130e-01 2.15576111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.28, Z:0.02 [[ 9.90678154e-01 1.35279164e-01 1.60107212e-02 2.74675274e+00] [-1.35278097e-01 9.90806996e-01 -1.15465494e-03 -2.78237787e-01] [-1.60197353e-02 -1.02200848e-03 9.99871153e-01 2.10755169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6123205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.27, Z:0.02 [[ 9.90028229e-01 1.40319018e-01 1.24370079e-02 2.78050241e+00] [-1.40318739e-01 9.90105975e-01 -8.99341192e-04 -2.73239507e-01] [-1.24401506e-02 -8.54772107e-04 9.99922253e-01 1.99872318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.27, Z:0.02 [[ 9.89502956e-01 1.44203352e-01 9.44956351e-03 2.81364644e+00] [-1.44203357e-01 9.89547838e-01 -6.84354329e-04 -2.66758615e-01] [-9.44948133e-03 -6.85488150e-04 9.99955118e-01 1.93210267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.27, Z:0.02 [[ 9.89498748e-01 1.44232219e-01 9.44957608e-03 2.84456931e+00] [-1.44232227e-01 9.89543630e-01 -6.84180535e-04 -2.68973663e-01] [-9.44944870e-03 -6.85937623e-04 9.99955118e-01 1.94775698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.27, Z:0.02 [[ 9.89494540e-01 1.44261084e-01 9.44955612e-03 2.87549216e+00] [-1.44261091e-01 9.89539423e-01 -6.84456179e-04 -2.71189219e-01] [-9.44944870e-03 -6.85937623e-04 9.99955118e-01 1.96341403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.26, Z:0.02 [[ 9.89121167e-01 1.46931375e-01 7.10552310e-03 2.90650907e+00] [-1.46931448e-01 9.89146544e-01 -5.14560650e-04 -2.63870414e-01] [-7.10400872e-03 -5.35061966e-04 9.99974623e-01 2.00587697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7623205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.26, Z:0.02 [[ 9.89070247e-01 1.47353304e-01 5.20090801e-03 2.93556993e+00] [-1.47353370e-01 9.89083841e-01 -3.72468339e-04 -2.57035847e-01] [-5.19901852e-03 -3.97973973e-04 9.99986406e-01 2.06538368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.25, Z:0.02 [[ 9.88977788e-01 1.48014432e-01 3.82921466e-03 2.96429425e+00] [-1.48014483e-01 9.88985156e-01 -2.71584694e-04 -2.49009387e-01] [-3.82723491e-03 -2.98187998e-04 9.99992632e-01 2.18982100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.25, Z:0.02 [[ 9.89042680e-01 1.47580190e-01 3.82932419e-03 2.99265037e+00] [-1.47580244e-01 9.89050049e-01 -2.70041598e-04 -2.51275666e-01] [-3.82724607e-03 -2.98049933e-04 9.99992632e-01 2.20420894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.24, Z:0.02 [[ 9.89114544e-01 1.47016386e-01 6.21303251e-03 3.02141305e+00] [-1.47016527e-01 9.89133940e-01 -4.36447857e-04 -2.42831392e-01] [-6.20968631e-03 -4.81721538e-04 9.99980604e-01 2.39859372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.23, Z:0.03 [[ 9.89214388e-01 1.46249365e-01 8.12508692e-03 3.05012551e+00] [-1.46249606e-01 9.89247558e-01 -5.67668359e-04 -2.34672453e-01] [-8.12074352e-03 -6.26745051e-04 9.99966830e-01 2.58932577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9123205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.23, Z:0.03 [[ 9.89375903e-01 1.44991634e-01 1.06183411e-02 3.07841993e+00] [-1.44992020e-01 9.89432550e-01 -7.37563579e-04 -2.28177042e-01] [-1.06130729e-02 -8.09847095e-04 9.99943352e-01 2.64299023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.22, Z:0.03 [[ 9.89685733e-01 1.42668405e-01 1.29566657e-02 3.10695130e+00] [-1.42668855e-01 9.89770073e-01 -8.94377699e-04 -2.23335156e-01] [-1.29517194e-02 -9.63359812e-04 9.99915659e-01 2.63943351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.23, Z:0.03 [[ 9.89749153e-01 1.42227735e-01 1.29570543e-02 3.13529592e+00] [-1.42228220e-01 9.89833493e-01 -8.88738504e-04 -2.25533405e-01] [-1.29517295e-02 -9.63230579e-04 9.99915659e-01 2.65382194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.22, Z:0.03 [[ 9.91163438e-01 1.31615106e-01 1.65076418e-02 3.16365403e+00] [-1.31614551e-01 9.91300330e-01 -1.12472543e-03 -2.17271254e-01] [-1.65120616e-02 -1.05785914e-03 9.99863107e-01 2.84438581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0323205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.22, Z:0.03 [[ 9.91214953e-01 1.31226526e-01 1.65080512e-02 3.19283586e+00] [-1.31226018e-01 9.91351845e-01 -1.11870577e-03 -2.19495171e-01] [-1.65120908e-02 -1.05740793e-03 9.99863107e-01 2.85920008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.22, Z:0.03 [[ 9.92375207e-01 1.21674745e-01 1.96648363e-02 3.22215045e+00] [-1.21672315e-01 9.92569440e-01 -1.32441719e-03 -2.18164619e-01] [-1.96798637e-02 -1.07834738e-03 9.99805751e-01 2.97477878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0923205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.22, Z:0.03 [[ 9.93530199e-01 1.11585709e-01 2.11275300e-02 3.25363836e+00] [-1.11580526e-01 9.93754370e-01 -1.42770486e-03 -2.18225404e-01] [-2.11548867e-02 -9.38953008e-04 9.99775769e-01 3.00956523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.22, Z:0.03 [[ 9.94567088e-01 1.01761003e-01 2.19318520e-02 3.28538447e+00] [-1.01752964e-01 9.94808589e-01 -1.48505739e-03 -2.18992047e-01] [-2.19691157e-02 -7.54641754e-04 9.99758365e-01 3.00696314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.22, Z:0.03 [[ 9.95392351e-01 9.30969101e-02 2.29571826e-02 3.31745663e+00] [-9.30857296e-02 9.95656879e-01 -1.55749639e-03 -2.19470464e-01] [-2.30024749e-02 -5.86666094e-04 9.99735236e-01 2.85435424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1823205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.22, Z:0.03 [[ 9.95377333e-01 9.32574082e-02 2.29569211e-02 3.35007924e+00] [-9.32461816e-02 9.95641859e-01 -1.56134741e-03 -2.21627198e-01] [-2.30024788e-02 -5.86515409e-04 9.99735236e-01 2.87085689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.22, Z:0.03 [[ 9.96045637e-01 8.55070456e-02 2.41170930e-02 3.38259164e+00] [-8.54923121e-02 9.96337475e-01 -1.64320884e-03 -2.22534135e-01] [-2.41692695e-02 -4.25115049e-04 9.99707790e-01 2.89756200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.22, Z:0.03 [[ 9.96629896e-01 7.83633231e-02 2.42495205e-02 3.41606117e+00] [-7.83461883e-02 9.96924836e-01 -1.65732915e-03 -2.23432572e-01] [-2.43048230e-02 -2.48113714e-04 9.99704563e-01 2.88547232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.23, Z:0.03 [[ 9.97046128e-01 7.26071663e-02 2.50443321e-02 3.44926136e+00] [-7.25869502e-02 9.97360611e-01 -1.71655833e-03 -2.26050991e-01] [-2.51028648e-02 -1.06403852e-04 9.99684868e-01 2.93282512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.23, Z:0.03 [[ 9.97029713e-01 7.28323589e-02 2.50439338e-02 3.48272799e+00] [-7.28120681e-02 9.97344191e-01 -1.72236187e-03 -2.28259869e-01] [-2.51028656e-02 -1.06254651e-04 9.99684868e-01 2.94974983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.23, Z:0.03 [[ 9.97385577e-01 6.71693853e-02 2.66511792e-02 3.51584813e+00] [-6.71442511e-02 9.97741586e-01 -1.83787295e-03 -2.32498125e-01] [-2.67144386e-02 4.35945021e-05 9.99643105e-01 2.92565063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.24, Z:0.03 [[ 9.97675419e-01 6.29815879e-02 2.60207371e-02 3.54850111e+00] [-6.29560745e-02 9.98014677e-01 -1.79937680e-03 -2.37609165e-01] [-2.60824051e-02 1.57030535e-04 9.99659784e-01 2.85296259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3923205879999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.24, Z:0.03 [[ 9.97991291e-01 5.83400662e-02 2.46945132e-02 3.58139004e+00] [-5.83155496e-02 9.98296732e-01 -1.71239755e-03 -2.43413034e-01] [-2.47523532e-02 2.68883736e-04 9.99693577e-01 2.70144241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.25, Z:0.03 [[ 9.98229065e-01 5.48550695e-02 2.30142337e-02 3.61395059e+00] [-5.48327487e-02 9.98494271e-01 -1.60027485e-03 -2.49536614e-01] [-2.30673636e-02 3.35507175e-04 9.99733857e-01 2.53503492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4523205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.25, Z:0.03 [[ 9.98217185e-01 5.50709897e-02 2.30138771e-02 3.64741159e+00] [-5.50486083e-02 9.98482385e-01 -1.60539643e-03 -2.51777739e-01] [-2.30673617e-02 3.35652400e-04 9.99733857e-01 2.55195970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.26, Z:0.02 [[ 9.98465897e-01 5.14909483e-02 2.03601428e-02 3.67988713e+00] [-5.14726107e-02 9.98673391e-01 -1.42403475e-03 -2.58093534e-01] [-2.04064577e-02 3.73860429e-04 9.99791697e-01 2.39419221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5123205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.26, Z:0.02 [[ 9.98454708e-01 5.17075737e-02 2.03598223e-02 3.71334609e+00] [-5.16891878e-02 9.98662199e-01 -1.42861115e-03 -2.60350148e-01] [-2.04064549e-02 3.74020848e-04 9.99791697e-01 2.41111704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.27, Z:0.02 [[ 9.98661681e-01 4.84776413e-02 1.80212641e-02 3.74580754e+00] [-4.84626508e-02 9.98824191e-01 -1.26786375e-03 -2.65859537e-01] [-1.80615375e-02 3.92808720e-04 9.99836800e-01 2.25011478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5723205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.27, Z:0.02 [[ 9.98834016e-01 4.55920524e-02 1.58736541e-02 3.77819244e+00] [-4.55800098e-02 9.98960064e-01 -1.11980415e-03 -2.70067774e-01] [-1.59082007e-02 3.94977172e-04 9.99873379e-01 2.16168634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6023205879999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.27, Z:0.02 [[ 9.98920344e-01 4.42510983e-02 1.41416699e-02 3.81067637e+00] [-4.42413678e-02 9.99020371e-01 -1.00032780e-03 -2.72123541e-01] [-1.41720819e-02 3.73600972e-04 9.99899501e-01 2.10588361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.27, Z:0.02 [[ 9.98979685e-01 4.33621146e-02 1.26220205e-02 3.84383430e+00] [-4.33542546e-02 9.99059361e-01 -8.95806881e-04 -2.74793364e-01] [-1.26489918e-02 3.47674586e-04 9.99919938e-01 2.05266071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6623205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.28, Z:0.02 [[ 9.99010450e-01 4.29464117e-02 1.15640358e-02 3.87543916e+00] [-4.29397740e-02 9.99077325e-01 -8.21790430e-04 -2.79019006e-01] [-1.15886588e-02 3.24420145e-04 9.99932797e-01 2.01315312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.28, Z:0.02 [[ 9.99022962e-01 4.26846895e-02 1.14515674e-02 3.90748294e+00] [-4.26781470e-02 9.99088540e-01 -8.15199277e-04 -2.84471323e-01] [-1.14759263e-02 3.25671119e-04 9.99934096e-01 2.00666889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7223205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.29, Z:0.02 [[ 9.99016469e-01 4.28364284e-02 1.14514328e-02 3.94009393e+00] [-4.28298742e-02 9.99082046e-01 -8.17089088e-04 -2.86730176e-01] [-1.14759221e-02 3.25822030e-04 9.99934096e-01 2.02317139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.29, Z:0.02 [[ 9.98945673e-01 4.40279334e-02 1.30031772e-02 3.97205779e+00] [-4.40195659e-02 9.99030237e-01 -9.29148780e-04 -2.90970765e-01] [-1.30314757e-02 3.55774937e-04 9.99915023e-01 2.18668853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7823205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.29, Z:0.02 [[ 9.98854390e-01 4.51300809e-02 1.59117506e-02 4.00537833e+00] [-4.51176406e-02 9.98981030e-01 -1.14011950e-03 -2.92518017e-01] [-1.59469906e-02 4.20912720e-04 9.99872750e-01 2.45919739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.29, Z:0.03 [[ 9.98737012e-01 4.65254700e-02 1.89673544e-02 4.03825864e+00] [-4.65079797e-02 9.98916989e-01 -1.36243419e-03 -2.92580157e-01] [-1.90102004e-02 4.78580123e-04 9.99819175e-01 2.55872863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8423205879999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.29, Z:0.03 [[ 9.98722871e-01 4.68282294e-02 1.89668983e-02 4.07172965e+00] [-4.68106733e-02 9.98902842e-01 -1.36877257e-03 -2.94826300e-01] [-1.90101858e-02 4.79171194e-04 9.99819175e-01 2.57565989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8723205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.30, Z:0.03 [[ 9.98538310e-01 4.95480307e-02 2.15925237e-02 4.10469520e+00] [-4.95258428e-02 9.98771622e-01 -1.56144842e-03 -2.95488630e-01] [-2.16433666e-02 4.89778133e-04 9.99765635e-01 2.56881662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.30, Z:0.02 [[ 9.98351094e-01 5.26463595e-02 2.28791116e-02 4.13723463e+00] [-5.26221641e-02 9.98613117e-01 -1.65871710e-03 -2.96834675e-01] [-2.29347063e-02 4.52033672e-04 9.99736863e-01 2.48717747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9323205879999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.30, Z:0.02 [[ 9.98070287e-01 5.64563425e-02 2.58531026e-02 4.17022508e+00] [-5.64266025e-02 9.98404982e-01 -1.87900987e-03 -2.98832706e-01] [-2.59179485e-02 4.16581177e-04 9.99663987e-01 2.46915123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.30, Z:0.03 [[ 9.97789310e-01 5.98562061e-02 2.88743214e-02 4.20351062e+00] [-5.98203756e-02 9.98206941e-01 -2.10391373e-03 -2.99812328e-01] [-2.89484803e-02 3.71989872e-04 9.99580836e-01 2.65030151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9923205879999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.30, Z:0.03 [[ 9.97776293e-01 6.00730418e-02 2.88738526e-02 4.23696155e+00] [-6.00371161e-02 9.98193915e-01 -2.11033928e-03 -3.02163651e-01] [-2.89484785e-02 3.72143660e-04 9.99580836e-01 2.66722597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.30, Z:0.03 [[ 9.97471114e-01 6.34378903e-02 3.20470102e-02 4.26956450e+00] [-6.33951822e-02 9.97985740e-01 -2.34801743e-03 -3.02415845e-01] [-3.21314125e-02 3.10453511e-04 9.99483605e-01 2.91504290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.30, Z:0.03 [[ 9.97170167e-01 6.62503334e-02 3.55324103e-02 4.30268193e+00] [-6.61989225e-02 9.97802999e-01 -2.62269814e-03 -3.02191240e-01] [-3.56281002e-02 2.63069061e-04 9.99365083e-01 3.05973944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.30, Z:0.03 [[ 9.96942238e-01 6.85204768e-02 3.75648530e-02 4.33617350e+00] [-6.84639255e-02 9.97649688e-01 -2.79125902e-03 -3.02961470e-01] [-3.76678223e-02 2.10886715e-04 9.99290294e-01 3.11897047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.31, Z:0.03 [[ 9.96927253e-01 6.87384354e-02 3.75643461e-02 4.36962297e+00] [-6.86817820e-02 9.97634694e-01 -2.79807255e-03 -3.05358646e-01] [-3.76678301e-02 2.09488547e-04 9.99290294e-01 3.13587472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.31, Z:0.03 [[ 9.96794435e-01 6.96528906e-02 3.93615172e-02 4.40315107e+00] [-6.95905659e-02 9.97571267e-01 -2.95297327e-03 -3.06257734e-01] [-3.94716017e-02 2.04317071e-04 9.99220672e-01 3.09410030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.31, Z:0.03 [[ 9.96879300e-01 6.94170519e-02 3.75890173e-02 4.43590157e+00] [-6.93593296e-02 9.97587702e-01 -2.83905579e-03 -3.06269426e-01] [-3.76954202e-02 2.23046911e-04 9.99289250e-01 2.92714583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.31, Z:0.03 [[ 9.96927880e-01 6.91100637e-02 3.68592117e-02 4.46906472e+00] [-6.90536633e-02 9.97609010e-01 -2.80255841e-03 -3.05725543e-01] [-3.69647667e-02 2.48685013e-04 9.99316539e-01 2.85502611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.31, Z:0.03 [[ 9.97038002e-01 6.87404903e-02 3.44959199e-02 4.50261064e+00] [-6.86902736e-02 9.97634540e-01 -2.64014900e-03 -3.05181121e-01] [-3.45958063e-02 2.62794706e-04 9.99401351e-01 2.72262555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.31, Z:0.03 [[ 9.97022981e-01 6.89582416e-02 3.44954495e-02 4.53605621e+00] [-6.89079427e-02 9.97619513e-01 -2.64628886e-03 -3.07652910e-01] [-3.45958169e-02 2.61400349e-04 9.99401351e-01 2.73952841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.31, Z:0.03 [[ 9.97093743e-01 6.83881368e-02 3.35727624e-02 4.56905354e+00] [-6.83395595e-02 9.97658748e-01 -2.59364449e-03 -3.08634767e-01] [-3.36715346e-02 2.91758904e-04 9.99432911e-01 2.57907413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.31, Z:0.02 [[ 9.97074871e-01 6.91434728e-02 3.25711853e-02 4.60259675e+00] [-6.90976185e-02 9.97606688e-01 -2.53266442e-03 -3.10515895e-01] [-3.26683495e-02 2.74664716e-04 9.99466209e-01 2.49423202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.31, Z:0.02 [[ 9.97009721e-01 7.04406848e-02 3.17761798e-02 4.63521654e+00] [-7.03971941e-02 9.97515940e-01 -2.48673885e-03 -3.11802959e-01] [-3.18724134e-02 2.42348909e-04 9.99491916e-01 2.41300198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.31, Z:0.02 [[ 9.96985280e-01 7.07861288e-02 3.17753760e-02 4.66868928e+00] [-7.07424867e-02 9.97491486e-01 -2.49699215e-03 -3.14227326e-01] [-3.18724194e-02 2.41595304e-04 9.99491916e-01 2.42991583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.31, Z:0.02 [[ 9.96926350e-01 7.25168381e-02 2.96506303e-02 4.70173725e+00] [-7.24794565e-02 9.97367172e-01 -2.33498294e-03 -3.14485741e-01] [-2.97418909e-02 1.78744454e-04 9.99557596e-01 2.36360137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.31, Z:0.02 [[ 9.96853936e-01 7.44577362e-02 2.71712300e-02 4.73447069e+00] [-7.44269240e-02 9.97224163e-01 -2.14497424e-03 -3.14671567e-01] [-2.72555170e-02 1.15954950e-04 9.99628493e-01 2.21829477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.32, Z:0.02 [[ 9.96761235e-01 7.65442712e-02 2.46579589e-02 4.76784808e+00] [-7.65194154e-02 9.97066182e-01 -1.95138978e-03 -3.16096355e-01] [-2.47349846e-02 5.82570917e-05 9.99694042e-01 1.98412852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.32, Z:0.02 [[ 9.96738707e-01 7.74176825e-02 2.27695469e-02 4.80032025e+00] [-7.73966144e-02 9.96998747e-01 -1.80640630e-03 -3.19458719e-01] [-2.28410575e-02 3.82292383e-05 9.99739108e-01 1.84315558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.32, Z:0.02 [[ 9.96721487e-01 7.76391875e-02 2.27691328e-02 4.83376141e+00] [-7.76180580e-02 9.96981522e-01 -1.81162034e-03 -3.22023180e-01] [-2.28410574e-02 3.83850459e-05 9.99739108e-01 1.86008057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5623205879999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.33, Z:0.02 [[ 9.96683023e-01 7.83290663e-02 2.20796294e-02 4.86683916e+00] [-7.83092751e-02 9.96927558e-01 -1.76088800e-03 -3.25642965e-01] [-2.21497197e-02 2.60074052e-05 9.99754665e-01 1.77903344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.33, Z:0.02 [[ 9.96795144e-01 7.70357092e-02 2.15624978e-02 4.89927783e+00] [-7.70164409e-02 9.97028333e-01 -1.72384940e-03 -3.28533327e-01] [-2.16312192e-02 5.76578746e-05 9.99766016e-01 1.84867922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.33, Z:0.02 [[ 9.96778021e-01 7.72570579e-02 2.15621027e-02 4.93271727e+00] [-7.72377345e-02 9.97011205e-01 -1.72878548e-03 -3.31118381e-01] [-2.16312189e-02 5.78074071e-05 9.99766016e-01 1.86560419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.33, Z:0.02 [[ 9.96906758e-01 7.56252400e-02 2.13948319e-02 4.96557471e+00] [-7.56057548e-02 9.97136307e-01 -1.71932141e-03 -3.33177829e-01] [-2.14635877e-02 9.64307180e-05 9.99769626e-01 1.86111469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.34, Z:0.02 [[ 9.96886398e-01 7.58932973e-02 2.13943373e-02 4.99902375e+00] [-7.58737419e-02 9.97115940e-01 -1.72546791e-03 -3.35741381e-01] [-2.14635862e-02 9.68270644e-05 9.99769626e-01 1.87804371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.34, Z:0.02 [[ 9.96992175e-01 7.35315639e-02 2.44890319e-02 5.03147110e+00] [-7.35051270e-02 9.97292875e-01 -1.97918756e-03 -3.38570392e-01] [-2.45682698e-02 1.73165113e-04 9.99698140e-01 1.85750112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.34, Z:0.02 [[ 9.97080858e-01 7.14957572e-02 2.67977440e-02 5.06411332e+00] [-7.14632304e-02 9.97440873e-01 -2.17075628e-03 -3.42791254e-01] [-2.68843650e-02 2.49366182e-04 9.99638519e-01 1.93838638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.35, Z:0.02 [[ 9.97113345e-01 6.96878173e-02 3.01427621e-02 5.09661470e+00] [-6.96456669e-02 9.97568791e-01 -2.44727917e-03 -3.47571226e-01] [-3.02400242e-02 3.40901953e-04 9.99542608e-01 2.08898415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.35, Z:0.02 [[ 9.97041675e-01 6.89657799e-02 3.39355153e-02 5.12921744e+00] [-6.89117212e-02 9.97618940e-01 -2.76142236e-03 -3.50952439e-01] [-3.40451564e-02 4.14698405e-04 9.99420210e-01 2.30198567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.35, Z:0.03 [[ 9.96842266e-01 6.94312011e-02 3.85331666e-02 5.16188071e+00] [-6.93610573e-02 9.97586630e-01 -3.15583604e-03 -3.51656668e-01] [-3.86592853e-02 4.73169573e-04 9.99252338e-01 2.52692898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.35, Z:0.03 [[ 9.96818849e-01 6.97671401e-02 3.85321640e-02 5.19534342e+00] [-6.96967749e-02 9.97563192e-01 -3.16805625e-03 -3.54201051e-01] [-3.86592948e-02 4.72410624e-04 9.99252338e-01 2.54384270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.35, Z:0.03 [[ 9.96555702e-01 7.17420813e-02 4.15909347e-02 5.22823247e+00] [-7.16609366e-02 9.97423116e-01 -3.44053893e-03 -3.53479092e-01] [-4.17305911e-02 4.48243357e-04 9.99128799e-01 2.76170640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.35, Z:0.03 [[ 9.96348639e-01 7.37972188e-02 4.29343672e-02 5.26145184e+00] [-7.37117480e-02 9.97273190e-01 -3.57261476e-03 -3.54168516e-01] [-4.30809424e-02 3.94802595e-04 9.99071507e-01 2.75762307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.36, Z:0.03 [[ 9.96332685e-01 7.40126825e-02 4.29337078e-02 5.29488186e+00] [-7.39270705e-02 9.97257223e-01 -3.58053184e-03 -3.56862763e-01] [-4.30809549e-02 3.93437657e-04 9.99071507e-01 2.77452533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.36, Z:0.03 [[ 9.96225761e-01 7.61726636e-02 4.16168012e-02 5.32822856e+00] [-7.60931875e-02 9.97094593e-01 -3.49275695e-03 -3.60866872e-01] [-4.17619400e-02 3.12819397e-04 9.99127541e-01 2.59058540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.37, Z:0.02 [[ 9.96247196e-01 7.72005899e-02 3.91355784e-02 5.36122154e+00] [-7.71303242e-02 9.97015544e-01 -3.30437999e-03 -3.68276359e-01] [-3.92738800e-02 2.73439448e-04 9.99228446e-01 2.18991159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.38, Z:0.02 [[ 9.96531885e-01 7.51868878e-02 3.56529673e-02 5.39415822e+00] [-7.51266463e-02 9.97169402e-01 -3.02823282e-03 -3.77251987e-01] [-3.57797315e-02 3.39242694e-04 9.99359643e-01 1.89809756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.38, Z:0.02 [[ 9.96776486e-01 7.15888290e-02 3.62170792e-02 5.42634001e+00] [-7.15236399e-02 9.97434106e-01 -3.09404136e-03 -3.84888877e-01] [-3.63456488e-02 4.93690340e-04 9.99339157e-01 1.87027000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1023205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.39, Z:0.02 [[ 9.97068448e-01 6.61260324e-02 3.84949017e-02 5.45953356e+00] [-6.60475936e-02 9.97810993e-01 -3.30720258e-03 -3.90177798e-01] [-3.86293283e-02 7.55011720e-04 9.99253324e-01 1.99492556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.39, Z:0.02 [[ 9.97371493e-01 6.03138594e-02 4.01539985e-02 5.49229606e+00] [-6.02230241e-02 9.98178918e-01 -3.46903337e-03 -3.94526363e-01] [-4.02901056e-02 1.04171978e-03 9.99187481e-01 2.17213798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.40, Z:0.02 [[ 9.97351702e-01 6.06409555e-02 4.01529262e-02 5.52573966e+00] [-6.05498864e-02 9.98159101e-01 -3.48142559e-03 -3.97222801e-01] [-4.02901257e-02 1.04095062e-03 9.99187481e-01 2.18905293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.40, Z:0.02 [[ 9.97594242e-01 5.55747354e-02 4.14388343e-02 5.55804678e+00] [-5.54725256e-02 9.98453676e-01 -3.61319864e-03 -4.03101528e-01] [-4.15755590e-02 1.30578937e-03 9.99134509e-01 2.09310285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.41, Z:0.02 [[ 9.97927915e-01 5.09768751e-02 3.92585618e-02 5.59091893e+00] [-5.08808624e-02 9.98698800e-01 -3.44156876e-03 -4.11176212e-01] [-3.93829190e-02 1.43692806e-03 9.99223159e-01 1.92739515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.46, Z:0.01 [[ 0.998737 0.04555362 0.02119581 5.61444442] [-0.04649735 0.99784043 0.04639482 -0.46340126] [-0.01903658 -0.04732177 0.99869828 0.01426743] [ 0. 0. 0. 1. ]] SLAMing on 5.282320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.39, Z:0.02 [[ 0.99850055 0.04392029 0.03267492 5.65581014] [-0.04222269 0.99780847 -0.05094615 -0.38828948] [-0.03484089 0.04949014 0.99816674 0.02270893] [ 0. 0. 0. 1. ]] SLAMing on 5.3123205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.43, Z:0.02 [[ 9.98332881e-01 4.43978238e-02 3.68821267e-02 5.68547327e+00] [-4.43074039e-02 9.99012607e-01 -3.26574191e-03 -4.33750961e-01] [-3.69907014e-02 1.62614625e-03 9.99314287e-01 1.68857369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.44, Z:0.02 [[ 9.98457054e-01 4.16857814e-02 3.66852295e-02 5.71752440e+00] [-4.15938418e-02 9.99129263e-01 -3.26614305e-03 -4.44093623e-01] [-3.67894381e-02 1.73522394e-03 9.99321533e-01 1.74771971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.46, Z:0.02 [[ 9.98521061e-01 4.07487545e-02 3.59893006e-02 5.74934435e+00] [-4.06590692e-02 9.99167887e-01 -3.22068051e-03 -4.55952364e-01] [-3.60905921e-02 1.75262586e-03 9.99346986e-01 1.60392628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.47, Z:0.01 [[ 9.98596318e-01 3.97150835e-02 3.50443378e-02 5.78097569e+00] [-3.96288447e-02 9.99209496e-01 -3.15229696e-03 -4.68894727e-01] [-3.51418288e-02 1.75910552e-03 9.99380787e-01 1.43937305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.47, Z:0.01 [[ 9.98583797e-01 4.00295082e-02 3.50433889e-02 5.81439142e+00] [-3.99430938e-02 9.99196950e-01 -3.16282974e-03 -4.71716427e-01] [-3.51418538e-02 1.75860917e-03 9.99380787e-01 1.45110164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.48, Z:0.01 [[ 9.98566952e-01 3.99648586e-02 3.55928705e-02 5.84607561e+00] [-3.98754296e-02 9.99199473e-01 -3.21916960e-03 -4.84467388e-01] [-3.56930311e-02 1.79527537e-03 9.99361188e-01 1.38076086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.50, Z:0.02 [[ 9.98436521e-01 4.11412880e-02 3.78405651e-02 5.87842626e+00] [-4.10403419e-02 9.99151565e-01 -3.44091466e-03 -4.95151138e-01] [-3.79500235e-02 1.88254513e-03 9.99277865e-01 1.56884926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.50, Z:0.02 [[ 9.98200071e-01 4.39634877e-02 4.07900819e-02 5.91124665e+00] [-4.38477619e-02 9.99031269e-01 -3.72786495e-03 -5.03678141e-01] [-4.09144573e-02 1.93260126e-03 9.99160784e-01 1.87983913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.55, Z:0.02 [[ 0.99838353 0.04739876 0.0313636 5.93526636] [-0.04863399 0.99802065 0.03986886 -0.54802959] [-0.02941179 -0.04132975 0.99871257 0.02115707] [ 0. 0. 0. 1. ]] SLAMing on 5.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.48, Z:0.02 [[ 0.99768466 0.05489528 0.04014745 5.97607296] [-0.0530507 0.99754777 -0.04565169 -0.47851573] [-0.04255507 0.04341614 0.99815034 0.02495297] [ 0. 0. 0. 1. ]] SLAMing on 5.612320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.52, Z:0.02 [[ 9.97194223e-01 6.21338046e-02 4.17501200e-02 6.00519100e+00] [-6.20262895e-02 9.98067025e-01 -3.86691015e-03 -5.20293734e-01] [-4.19096839e-02 1.26645544e-03 9.99120601e-01 1.96416118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.52, Z:0.02 [[ 9.97173543e-01 6.24656555e-02 4.17488588e-02 6.03858999e+00] [-6.23578622e-02 9.98046311e-01 -3.88050358e-03 -5.23200708e-01] [-4.19096927e-02 1.26616592e-03 9.99120601e-01 1.97108108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.53, Z:0.02 [[ 9.96764500e-01 6.96805420e-02 4.00643714e-02 6.07105093e+00] [-6.95862974e-02 9.97568911e-01 -3.74375937e-03 -5.27474429e-01] [-4.02278385e-02 9.43715176e-04 9.99190087e-01 1.63455403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.53, Z:0.01 [[ 9.96248712e-01 7.66392197e-02 4.01862499e-02 6.10341848e+00] [-7.65497241e-02 9.97058663e-01 -3.76332320e-03 -5.31612306e-01] [-4.03564667e-02 6.72959551e-04 9.99185119e-01 1.39446519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.53, Z:0.01 [[ 9.97373780e-01 6.71918581e-02 2.70332588e-02 6.13685144e+00] [-6.71475169e-02 9.97739811e-01 -2.54571668e-03 -5.30698327e-01] [-2.71432100e-02 7.23814859e-04 9.99631293e-01 1.01107068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.54, Z:0.01 [[ 9.97373102e-01 6.72323420e-02 2.69575072e-02 6.16947014e+00] [-6.71879045e-02 9.97737076e-01 -2.55185548e-03 -5.36706395e-01] [-2.70680716e-02 7.33933597e-04 9.99633323e-01 1.04638384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.55, Z:0.01 [[ 9.97433610e-01 6.64066179e-02 2.67647946e-02 6.20171694e+00] [-6.63621604e-02 9.97792352e-01 -2.54686096e-03 -5.46830932e-01] [-2.68748357e-02 7.64155135e-04 9.99638514e-01 1.01286299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.55, Z:0.01 [[ 9.97419292e-01 6.66215255e-02 2.67642993e-02 6.23508756e+00] [-6.65770058e-02 9.97778026e-01 -2.55206092e-03 -5.49926224e-01] [-2.68748519e-02 7.63587890e-04 9.99638514e-01 1.01978143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.57, Z:0.01 [[ 9.97574147e-01 6.51888306e-02 2.44179953e-02 6.26662666e+00] [-6.51510375e-02 9.97872668e-01 -2.34096733e-03 -5.67070710e-01] [-2.45186550e-02 7.44430756e-04 9.99699095e-01 1.00210107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.57, Z:0.01 [[ 9.97552008e-01 6.55270215e-02 2.44172301e-02 6.30000779e+00] [-6.54891347e-02 9.97850518e-01 -2.34893609e-03 -5.70089138e-01] [-2.45186645e-02 7.44122645e-04 9.99699095e-01 1.00902161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.58, Z:0.01 [[ 9.97603395e-01 6.53089612e-02 2.28518267e-02 6.33295224e+00] [-6.52754534e-02 9.97864836e-01 -2.20997401e-03 -5.76044428e-01] [-2.29473654e-02 7.13014228e-04 9.99736420e-01 9.64463404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.58, Z:0.01 [[ 9.97629839e-01 6.45395611e-02 2.38610508e-02 6.36549189e+00] [-6.45025270e-02 9.97914849e-01 -2.31929188e-03 -5.81415597e-01] [-2.39609830e-02 7.74696710e-04 9.99712594e-01 9.15529991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.59, Z:0.01 [[ 9.97576075e-01 6.49479827e-02 2.49746841e-02 6.39780204e+00] [-6.49072297e-02 9.97888320e-01 -2.43982784e-03 -5.89175188e-01] [-2.50804075e-02 8.12876324e-04 9.99685107e-01 9.38629501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.59, Z:0.01 [[ 9.97554066e-01 6.52854552e-02 2.49738881e-02 6.43117399e+00] [-6.52446043e-02 9.97866298e-01 -2.44796339e-03 -5.92254887e-01] [-2.50804177e-02 8.12564381e-04 9.99685107e-01 9.45550360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.60, Z:0.01 [[ 9.97540872e-01 6.48887073e-02 2.64889601e-02 6.46352534e+00] [-6.48422545e-02 9.97892114e-01 -2.60977574e-03 -6.01948434e-01] [-2.66024693e-02 8.85754079e-04 9.99645699e-01 1.12852700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0623205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.61, Z:0.01 [[ 9.97465841e-01 6.60192997e-02 2.65206977e-02 6.49608982e+00] [-6.59727868e-02 9.97817967e-01 -2.62595488e-03 -6.10793634e-01] [-2.66361923e-02 8.69655965e-04 9.99644815e-01 1.11745613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.62, Z:0.01 [[ 9.97434509e-01 6.80710443e-02 2.21524864e-02 6.52889708e+00] [-6.80390016e-02 9.97680241e-01 -2.19784311e-03 -6.17456315e-01] [-2.22507075e-02 6.84971505e-04 9.99752188e-01 9.89894683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.62, Z:0.01 [[ 9.97343119e-01 7.09409728e-02 1.65553970e-02 6.56181707e+00] [-7.09233233e-02 9.97480403e-01 -1.65152565e-03 -6.22606315e-01] [-1.66308449e-02 4.72973964e-04 9.99861586e-01 5.91552686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.63, Z:0.00 [[ 9.97220055e-01 7.38530307e-02 9.89403178e-03 6.59415869e+00] [-7.38468352e-02 9.97269103e-01 -9.90558868e-04 -6.28638720e-01] [-9.94016797e-03 2.57162235e-04 9.99950562e-01 2.67538887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.63, Z:0.00 [[ 9.97197544e-01 7.41564036e-02 9.89373860e-03 6.62751106e+00] [-7.41501940e-02 9.97246590e-01 -9.93483724e-04 -6.31834982e-01] [-9.94017027e-03 2.57076892e-04 9.99950562e-01 2.74459769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.64, Z:0.00 [[ 9.97000712e-01 7.70338067e-02 7.44136081e-03 6.65980897e+00] [-7.70303639e-02 9.97028466e-01 -7.48586161e-04 -6.38969368e-01] [-7.47691500e-03 1.73130205e-04 9.99972032e-01 5.84704911e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.65, Z:0.00 [[ 9.96884557e-01 7.85690965e-02 6.93374637e-03 6.69172295e+00] [-7.85661349e-02 9.96908659e-01 -6.98905634e-04 -6.46955697e-01] [-6.96722418e-03 1.51970581e-04 9.99975717e-01 1.34167220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.65, Z:0.00 [[ 9.96707601e-01 8.05307989e-02 9.42069670e-03 6.72404131e+00] [-8.05254031e-02 9.96752103e-01 -9.51301007e-04 -6.54290700e-01] [-9.46670827e-03 1.89563545e-04 9.99955172e-01 4.05551585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.66, Z:0.01 [[ 9.96593270e-01 8.12522699e-02 1.41394078e-02 6.75664713e+00] [-8.12401507e-02 9.96693530e-01 -1.43034658e-03 -6.60191024e-01] [-1.42088751e-02 2.76786156e-04 9.99899011e-01 7.27953659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.66, Z:0.01 [[ 9.96574988e-01 8.14762557e-02 1.41390794e-02 6.78998526e+00] [-8.14641131e-02 9.96675245e-01 -1.43358918e-03 -6.63485004e-01] [-1.42088739e-02 2.76851554e-04 9.99899011e-01 7.34873806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.67, Z:0.01 [[ 9.96363227e-01 8.35356908e-02 1.67960743e-02 6.82234991e+00] [-8.35187947e-02 9.96504742e-01 -1.70612074e-03 -6.68215191e-01] [-1.68798896e-02 2.97128086e-04 9.99857480e-01 9.49338125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.71, Z:0.01 [[ 9.96344734e-01 8.54048955e-02 1.78164173e-03 6.84863604e+00] [-8.54106613e-02 9.95617299e-01 3.80947948e-02 -7.06465286e-01] [ 1.47964865e-03 -3.81077194e-02 9.99272542e-01 1.35700893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.64, Z:0.01 [[ 0.9959669 0.08854897 0.01445725 6.88740612] [-0.08792269 0.9953493 -0.03936215 -0.64346583] [-0.0178755 0.03793228 0.99912042 0.00845334] [ 0. 0. 0. 1. ]] SLAMing on 6.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.68, Z:0.01 [[ 9.95863416e-01 8.90040376e-02 1.82849277e-02 6.91727294e+00] [-8.89846271e-02 9.96031236e-01 -1.87405242e-03 -6.80732144e-01] [-1.83791574e-02 2.39222765e-04 9.99831060e-01 9.09610520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.69, Z:0.01 [[ 9.95585689e-01 9.23681320e-02 1.66512373e-02 6.95020093e+00] [-9.23523576e-02 9.95724911e-01 -1.71545509e-03 -6.86019647e-01] [-1.67385052e-02 1.70101516e-04 9.99859887e-01 6.64806372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.69, Z:0.01 [[ 9.95564599e-01 9.25952416e-02 1.66508651e-02 6.98353149e+00] [-9.25794386e-02 9.95703818e-01 -1.71906480e-03 -6.89372994e-01] [-1.67385071e-02 1.69912315e-04 9.99859887e-01 6.66993651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.69, Z:0.00 [[ 9.95315059e-01 9.55480011e-02 1.47821662e-02 7.01583546e+00] [-9.55357534e-02 9.95424817e-01 -1.53410906e-03 -6.94707822e-01] [-1.48611161e-02 1.14696471e-04 9.99889561e-01 3.86085884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.70, Z:0.00 [[ 9.95001794e-01 9.88668875e-02 1.40273865e-02 7.04817185e+00] [-9.88561165e-02 9.95100665e-01 -1.46087562e-03 -6.99332833e-01] [-1.41030939e-02 6.68809043e-05 9.99900544e-01 2.82470377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6023205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.70, Z:0.00 [[ 9.94662631e-01 1.02355363e-01 1.30242270e-02 7.08059974e+00] [-1.02346342e-01 9.94747897e-01 -1.35898008e-03 -7.03859762e-01] [-1.30949213e-02 1.87447070e-05 9.99914258e-01 1.42227576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.76, Z:0.01 [[ 9.94477732e-01 1.04932257e-01 1.80608898e-03 7.10363190e+00] [-1.04881329e-01 9.93088283e-01 5.26836618e-02 -7.55763576e-01] [ 3.73460974e-03 -5.25821535e-02 9.98609618e-01 6.87920985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.67, Z:0.00 [[ 9.93925840e-01 1.09607445e-01 9.88093537e-03 7.14683728e+00] [-1.08919028e-01 9.92570923e-01 -5.42181462e-02 -6.65713018e-01] [-1.57502416e-02 5.28125946e-02 9.98480225e-01 3.54694232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.72, Z:0.00 [[ 9.93822257e-01 1.09908834e-01 1.54068340e-02 7.17511155e+00] [-1.09896904e-01 9.93941669e-01 -1.62136792e-03 -7.17202410e-01] [-1.54916970e-02 -8.18118402e-05 9.99879993e-01 4.57433218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.72, Z:0.01 [[ 9.93483495e-01 1.12899904e-01 1.56254949e-02 7.20725136e+00] [-1.12887877e-01 9.93606359e-01 -1.65239488e-03 -7.23575348e-01] [-1.57121463e-02 -1.22301900e-04 9.99876549e-01 6.57722262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.73, Z:0.01 [[ 9.93173685e-01 1.15517491e-01 1.61783879e-02 7.23952626e+00] [-1.15504803e-01 9.93305433e-01 -1.71965526e-03 -7.29027542e-01] [-1.62687308e-02 -1.60765144e-04 9.99867643e-01 7.67507826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.73, Z:0.01 [[ 9.92772316e-01 1.18719089e-01 1.75757158e-02 7.27258120e+00] [-1.18704542e-01 9.92927855e-01 -1.87233925e-03 -7.31593081e-01] [-1.76737002e-02 -2.27510712e-04 9.99843782e-01 8.96632020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8123205879999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.73, Z:0.01 [[ 9.92256950e-01 1.22765717e-01 1.88340952e-02 7.30612044e+00] [-1.22749560e-01 9.92435631e-01 -2.01592158e-03 -7.31603739e-01] [-1.89391132e-02 -3.11564700e-04 9.99820590e-01 7.71558914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.74, Z:0.01 [[ 9.92228602e-01 1.22994702e-01 1.88335820e-02 7.33943402e+00] [-1.22978495e-01 9.92407279e-01 -2.02071008e-03 -7.35094004e-01] [-1.89391205e-02 -3.11119236e-04 9.99820590e-01 7.66481686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.73, Z:0.01 [[ 9.91632357e-01 1.27594361e-01 1.96200970e-02 7.37254327e+00] [-1.27577475e-01 9.91826353e-01 -2.11502695e-03 -7.33950229e-01] [-1.97295947e-02 -4.05753274e-04 9.99805270e-01 5.67517297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.73, Z:0.00 [[ 9.90933888e-01 1.33120269e-01 1.81390323e-02 7.40605154e+00] [-1.33106590e-01 9.91099781e-01 -1.96474211e-03 -7.33919304e-01] [-1.82391380e-02 -4.67495208e-04 9.99833544e-01 4.22556264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.73, Z:0.00 [[ 9.90121683e-01 1.39576113e-01 1.33251897e-02 7.43876424e+00] [-1.39569225e-01 9.90211255e-01 -1.45007593e-03 -7.34453612e-01] [-1.33971488e-02 -4.24034770e-04 9.99910164e-01 3.08918347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.73, Z:0.00 [[ 9.89284780e-01 1.45591031e-01 1.09030184e-02 7.47203930e+00] [-1.45586757e-01 9.89344774e-01 -1.18894672e-03 -7.34312844e-01] [-1.09599443e-02 -4.11128194e-04 9.99939853e-01 2.87739393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.73, Z:0.00 [[ 9.88642922e-01 1.50049823e-01 8.37999340e-03 7.50542974e+00] [-1.50047445e-01 9.88678374e-01 -9.15340642e-04 -7.33737430e-01] [-8.42246495e-03 -3.52451553e-04 9.99964468e-01 3.92911398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0223205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.74, Z:0.00 [[ 9.88610227e-01 1.50265095e-01 8.37979895e-03 7.53873948e+00] [-1.50262710e-01 9.88645678e-01 -9.17118860e-04 -7.37306020e-01] [-8.42246296e-03 -3.52498214e-04 9.99964468e-01 3.87836371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.74, Z:0.00 [[ 9.88215725e-01 1.52884650e-01 7.48099100e-03 7.57157087e+00] [-1.52882813e-01 9.88243984e-01 -8.20173454e-04 -7.36731307e-01] [-7.51843629e-03 -3.33206643e-04 9.99971681e-01 4.17723743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.74, Z:0.00 [[ 9.88181209e-01 1.53126771e-01 7.07743817e-03 7.60505806e+00] [-1.53125124e-01 9.88206503e-01 -7.77244744e-04 -7.38441709e-01] [-7.11298740e-03 -3.15674945e-04 9.99974653e-01 3.33156964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.74, Z:0.00 [[ 9.88549076e-01 1.50769913e-01 6.25755472e-03 7.63747217e+00] [-1.50768571e-01 9.88568847e-01 -6.88356642e-04 -7.42709890e-01] [-6.28980713e-03 -2.62968258e-04 9.99980184e-01 2.22601391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.75, Z:0.00 [[ 9.89012723e-01 1.47669377e-01 6.89844520e-03 7.67067670e+00] [-1.47667662e-01 9.89036745e-01 -7.60203675e-04 -7.47220788e-01] [-6.93507460e-03 -2.66826166e-04 9.99975916e-01 2.08685519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.75, Z:0.00 [[ 9.88967864e-01 1.47969519e-01 6.89823317e-03 7.70399171e+00] [-1.47967797e-01 9.88991886e-01 -7.62124769e-04 -7.50757602e-01] [-6.93506787e-03 -2.66999463e-04 9.99975916e-01 2.03610354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.75, Z:0.00 [[ 9.89346628e-01 1.45284608e-01 9.25382025e-03 7.73685239e+00] [-1.45281372e-01 9.89389849e-01 -1.02448032e-03 -7.52833427e-01] [-9.30447704e-03 -3.30841556e-04 9.99956658e-01 1.99809939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.75, Z:0.00 [[ 9.89615223e-01 1.43417763e-01 9.64658547e-03 7.76971716e+00] [-1.43414140e-01 9.89662185e-01 -1.06984051e-03 -7.52069421e-01] [-9.70029498e-03 -3.24726309e-04 9.99952898e-01 2.27045756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.75, Z:0.00 [[ 9.89655920e-01 1.43093683e-01 1.02644228e-02 7.80272838e+00] [-1.43089544e-01 9.89709090e-01 -1.14036873e-03 -7.51064053e-01] [-1.03219721e-02 -3.40158911e-04 9.99946669e-01 3.15914828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.75, Z:0.00 [[ 9.89623902e-01 1.43314964e-01 1.02641729e-02 7.83603464e+00] [-1.43310813e-01 9.89677071e-01 -1.14261531e-03 -7.54693743e-01] [-1.03219705e-02 -3.40207538e-04 9.99946669e-01 3.10839740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.76, Z:0.00 [[ 9.89386716e-01 1.44978959e-01 9.74817274e-03 7.86955846e+00] [-1.44975277e-01 9.89434681e-01 -1.08709674e-03 -7.55916470e-01] [-9.80278634e-03 -3.37684965e-04 9.99951895e-01 2.90673082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3523205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.76, Z:0.00 [[ 9.88991835e-01 1.47705146e-01 8.85095682e-03 7.90224832e+00] [-1.47702205e-01 9.89031385e-01 -9.88724295e-04 -7.58548818e-01] [-8.89991375e-03 -3.29465579e-04 9.99960341e-01 2.77772361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.76, Z:0.00 [[ 9.88507669e-01 1.50915657e-01 8.77796998e-03 7.93509497e+00] [-1.50912875e-01 9.88546579e-01 -9.82263647e-04 -7.59929141e-01] [-8.82567116e-03 -3.53733541e-04 9.99960990e-01 3.21788031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.76, Z:0.00 [[ 9.88070555e-01 1.53634043e-01 1.06376476e-02 7.96831851e+00] [-1.53630092e-01 9.88127711e-01 -1.19246612e-03 -7.59942528e-01] [-1.06945578e-02 -4.56022124e-04 9.99942708e-01 4.80085730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.76, Z:0.01 [[ 9.87725548e-01 1.55603639e-01 1.36289819e-02 8.00187528e+00] [-1.55597304e-01 9.87819385e-01 -1.53046922e-03 -7.60322818e-01] [-1.37011191e-02 -6.08949284e-04 9.99905950e-01 6.94628783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.76, Z:0.01 [[ 9.87691483e-01 1.55819751e-01 1.36286519e-02 8.03517981e+00] [-1.55813396e-01 9.87785318e-01 -1.53340472e-03 -7.63994425e-01] [-1.37011170e-02 -6.08995749e-04 9.99905950e-01 6.89553631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.77, Z:0.01 [[ 9.87533658e-01 1.56556448e-01 1.63509575e-02 8.06784061e+00] [-1.56547348e-01 9.87668736e-01 -1.84292384e-03 -7.66463247e-01] [-1.64378511e-02 -7.39749705e-04 9.99864616e-01 9.01387310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.77, Z:0.01 [[ 9.87733742e-01 1.55336039e-01 1.58987391e-02 8.10087067e+00] [-1.55327230e-01 9.87861443e-01 -1.79494017e-03 -7.71384595e-01] [-1.59845702e-02 -6.96584127e-04 9.99871996e-01 1.01430546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5623205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.78, Z:0.01 [[ 9.88125690e-01 1.52714622e-01 1.69075425e-02 8.13314899e+00] [-1.52704221e-01 9.88270087e-01 -1.91206788e-03 -7.76062275e-01] [-1.70012192e-02 -6.92489719e-04 9.99855229e-01 1.17932301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.78, Z:0.01 [[ 9.88590375e-01 1.49431633e-01 1.89540649e-02 8.16573534e+00] [-1.49417890e-01 9.88771806e-01 -2.14716154e-03 -7.78505176e-01] [-1.90620988e-02 -7.09413162e-04 9.99818050e-01 1.28111231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.78, Z:0.01 [[ 9.88538344e-01 1.49775544e-01 1.89533441e-02 8.19905200e+00] [-1.49761743e-01 9.88719770e-01 -2.15351440e-03 -7.82108092e-01] [-1.90620898e-02 -7.09654282e-04 9.99818050e-01 1.27603651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.78, Z:0.01 [[ 9.88931914e-01 1.46706591e-01 2.21550155e-02 8.23259158e+00] [-1.46686861e-01 9.89179764e-01 -2.52189278e-03 -7.81773247e-01] [-2.22852712e-02 -7.55869421e-04 9.99751367e-01 1.42100117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.78, Z:0.02 [[ 9.89250874e-01 1.44108487e-01 2.48083183e-02 8.26655544e+00] [-1.44082811e-01 9.89561591e-01 -2.82876777e-03 -7.79566753e-01] [-2.49570084e-02 -7.76091259e-04 9.99688224e-01 1.55685357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.78, Z:0.02 [[ 9.89380564e-01 1.43082752e-01 2.55621775e-02 8.30028292e+00] [-1.43054825e-01 9.89710436e-01 -2.92738613e-03 -7.75529407e-01] [-2.57180123e-02 -7.60493875e-04 9.99668948e-01 1.69206791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.77, Z:0.02 [[ 9.89329608e-01 1.43561321e-01 2.48409583e-02 8.33421077e+00] [-1.43534778e-01 9.89641148e-01 -2.85759611e-03 -7.71693662e-01] [-2.49938747e-02 -7.38436981e-04 9.99687332e-01 1.62997666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7723205879999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.78, Z:0.02 [[ 9.89297485e-01 1.43782636e-01 2.48402689e-02 8.36751191e+00] [-1.43756012e-01 9.89609018e-01 -2.86358175e-03 -7.75451231e-01] [-2.49938875e-02 -7.38003761e-04 9.99687332e-01 1.62490249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.77, Z:0.01 [[ 9.89088522e-01 1.45469551e-01 2.32917562e-02 8.40089179e+00] [-1.45446503e-01 9.89362462e-01 -2.68962647e-03 -7.71953294e-01] [-2.34352480e-02 -7.27425818e-04 9.99725092e-01 1.44054304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.77, Z:0.01 [[ 9.88917423e-01 1.46991287e-01 2.08780258e-02 8.43416563e+00] [-1.46973023e-01 9.89137553e-01 -2.41494867e-03 -7.68448450e-01] [-2.10062158e-02 -6.80321752e-04 9.99779114e-01 1.18262556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.77, Z:0.01 [[ 9.88711885e-01 1.48661125e-01 1.86729045e-02 8.46736072e+00] [-1.48646744e-01 9.88887994e-01 -2.16352218e-03 -7.65969441e-01] [-1.87870427e-02 -6.36566369e-04 9.99823305e-01 9.38406429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.76, Z:0.01 [[ 9.88636013e-01 1.49305602e-01 1.75120058e-02 8.50048192e+00] [-1.49292994e-01 9.88790914e-01 -2.03243193e-03 -7.64045761e-01] [-1.76191657e-02 -6.05084393e-04 9.99844587e-01 7.66951673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.76, Z:0.01 [[ 9.88787887e-01 1.48394009e-01 1.66652952e-02 8.53398481e+00] [-1.48382407e-01 9.88928161e-01 -1.93743181e-03 -7.62188420e-01] [-1.67682830e-02 -5.57127492e-04 9.99859247e-01 6.87096353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.77, Z:0.01 [[ 9.88764010e-01 1.48553061e-01 1.66649774e-02 8.56645245e+00] [-1.48541435e-01 9.88904281e-01 -1.94016271e-03 -7.65909598e-01] [-1.67682846e-02 -5.57076602e-04 9.99859247e-01 6.82148010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.76, Z:0.01 [[ 9.89294651e-01 1.45302922e-01 1.35334864e-02 8.59937082e+00] [-1.45294927e-01 9.89387132e-01 -1.57736772e-03 -7.64423676e-01] [-1.36190534e-02 -4.05865467e-04 9.99907174e-01 5.40431248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.76, Z:0.00 [[ 9.90008496e-01 1.40532557e-01 1.15663004e-02 8.63211223e+00] [-1.40526374e-01 9.90076016e-01 -1.34960023e-03 -7.63326882e-01] [-1.16411794e-02 -2.89254554e-04 9.99932197e-01 4.16832847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.76, Z:0.00 [[ 9.90963015e-01 1.33725276e-01 1.04811231e-02 8.66419626e+00] [-1.33719809e-01 9.91018423e-01 -1.22376789e-03 -7.62858323e-01] [-1.05506348e-02 -1.88825063e-04 9.99944323e-01 2.39945926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.76, Z:0.00 [[ 9.91956255e-01 1.26169582e-01 1.01992237e-02 8.69598209e+00] [-1.26163999e-01 9.92008682e-01 -1.19154822e-03 -7.62593943e-01] [-1.02680556e-02 -1.04811128e-04 9.99947277e-01 2.01985785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.77, Z:0.00 [[ 9.91952104e-01 1.26202223e-01 1.01991784e-02 8.72677864e+00] [-1.26196637e-01 9.92004530e-01 -1.19193597e-03 -7.66166820e-01] [-1.02680561e-02 -1.04758623e-04 9.99947277e-01 1.97290559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.77, Z:0.00 [[ 9.92728960e-01 1.19804542e-01 1.16655136e-02 8.75742215e+00] [-1.19796792e-01 9.92797497e-01 -1.36335792e-03 -7.66362970e-01] [-1.17448292e-02 -4.40462182e-05 9.99931026e-01 2.42648191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.77, Z:0.00 [[ 9.93418547e-01 1.13902861e-01 1.20718173e-02 8.78856960e+00] [-1.13894117e-01 9.93491891e-01 -1.41154801e-03 -7.67658636e-01] [-1.21540320e-02 2.73489896e-05 9.99926137e-01 3.49120157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.81, Z:0.00 [[ 9.94264254e-01 1.06951305e-01 -1.06248583e-04 8.81082178e+00] [-1.06820554e-01 9.93096877e-01 4.84557678e-02 -8.14533137e-01] [ 5.28792273e-03 -4.81664883e-02 9.98825324e-01 2.44551370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.73, Z:0.01 [[ 9.94566835e-01 1.03824953e-01 7.56234523e-03 8.85299438e+00] [-1.03332187e-01 9.93429639e-01 -4.91936154e-02 -7.32294171e-01] [-1.26201827e-02 4.81449047e-02 9.98760632e-01 9.14402083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.78, Z:0.00 [[ 9.94992206e-01 9.92758466e-02 1.16110806e-02 8.87890613e+00] [-9.92667292e-02 9.95059931e-01 -1.36036343e-03 -7.81705069e-01] [-1.16887723e-02 2.00957009e-04 9.99931664e-01 2.09490906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.79, Z:0.00 [[ 9.95352979e-01 9.56151617e-02 1.14100047e-02 8.90993272e+00] [-9.56061025e-02 9.95418346e-01 -1.33805381e-03 -7.89476485e-01] [-1.14856662e-02 2.40969772e-04 9.99934009e-01 1.82639318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.79, Z:0.00 [[ 9.95336664e-01 9.57848724e-02 1.14097934e-02 8.94240179e+00] [-9.57758036e-02 9.95402029e-01 -1.33985383e-03 -7.93213252e-01] [-1.14856692e-02 2.40823506e-04 9.99934009e-01 1.71922774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.80, Z:0.00 [[ 9.95553685e-01 9.31700038e-02 1.38640148e-02 8.97390406e+00] [-9.31563320e-02 9.95650160e-01 -1.63008774e-03 -8.01621664e-01] [-1.39555838e-02 3.31319096e-04 9.99902561e-01 2.69795643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.81, Z:0.01 [[ 9.95663685e-01 9.16710333e-02 1.58192121e-02 9.00574743e+00] [-9.16530110e-02 9.95789264e-01 -1.86204134e-03 -8.07766001e-01] [-1.59232968e-02 4.04088527e-04 9.99873135e-01 5.10188799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.81, Z:0.00 [[ 9.95643561e-01 9.18894118e-02 1.58188394e-02 9.03904729e+00] [-9.18713669e-02 9.95769136e-01 -1.86520401e-03 -8.11607467e-01] [-1.59233046e-02 4.03779959e-04 9.99873135e-01 4.99197325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.82, Z:0.00 [[ 9.95623389e-01 9.21077870e-02 1.58184299e-02 9.07234634e+00] [-9.20897145e-02 9.95748961e-01 -1.86867311e-03 -8.15455956e-01] [-1.59233045e-02 4.03779957e-04 9.99873135e-01 4.88207884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.82, Z:0.01 [[ 9.95564162e-01 9.23481691e-02 1.79948399e-02 9.10496469e+00] [-9.23247542e-02 9.95726672e-01 -2.12941739e-03 -8.18689158e-01] [-1.81145899e-02 4.58602468e-04 9.99835812e-01 7.21488620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.82, Z:0.01 [[ 9.95388655e-01 9.43213735e-02 1.74615069e-02 9.13846811e+00] [-9.42995712e-02 9.95541716e-01 -2.06961625e-03 -8.20508104e-01] [-1.75788676e-02 4.13459920e-04 9.99845394e-01 9.05497210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.82, Z:0.01 [[ 9.95073594e-01 9.75646606e-02 1.75977214e-02 9.17148668e+00] [-9.75429638e-02 9.95229122e-01 -2.08913281e-03 -8.22691916e-01] [-1.77175903e-02 3.62306994e-04 9.99842966e-01 8.52198144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.83, Z:0.01 [[ 9.94670713e-01 1.01590673e-01 1.75928289e-02 9.20374130e+00] [-1.01569557e-01 9.94826241e-01 -2.09193487e-03 -8.27199757e-01] [-1.77143289e-02 2.93890506e-04 9.99843046e-01 8.12340429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.89, Z:0.01 [[ 9.94611833e-01 1.03460110e-01 6.58076934e-03 9.22412695e+00] [-1.03669068e-01 9.92701981e-01 6.16076372e-02 -8.88441935e-01] [-1.58809851e-04 -6.19579072e-02 9.98078751e-01 7.82020930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.84, Z:0.01 [[ 9.94553936e-01 1.04217379e-01 1.09858128e-03 9.25840899e+00] [-1.04219254e-01 9.94552688e-01 1.81575581e-03 -8.37554709e-01] [-9.03363656e-04 -1.92036041e-03 9.99997748e-01 1.06638157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.79, Z:0.02 [[ 0.99378086 0.10990229 0.01791887 9.29738982] [-0.10854402 0.99200213 -0.06442032 -0.78502816] [-0.02485549 0.0620747 0.99776196 0.01693176] [ 0. 0. 0. 1. ]] SLAMing on 8.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.84, Z:0.01 [[ 9.93337502e-01 1.12095072e-01 2.67451218e-02 9.32363139e+00] [-1.12049417e-01 9.93697469e-01 -3.20436178e-03 -8.43405638e-01] [-2.69357530e-02 1.86237420e-04 9.99637149e-01 1.20502953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.85, Z:0.01 [[ 9.93177382e-01 1.13346934e-01 2.74072947e-02 9.35608740e+00] [-1.13299315e-01 9.93555457e-01 -3.28917765e-03 -8.46389352e-01] [-2.76034854e-02 1.61509125e-04 9.99618938e-01 1.22114475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.85, Z:0.01 [[ 9.93019299e-01 1.15069469e-01 2.59169691e-02 9.38914833e+00] [-1.15027344e-01 9.93357441e-01 -3.11537860e-03 -8.50683844e-01] [-2.61032991e-02 1.12470959e-04 9.99659245e-01 1.11328052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.85, Z:0.01 [[ 9.92993126e-01 1.15295259e-01 2.59162886e-02 9.42243962e+00] [-1.15253063e-01 9.93331259e-01 -3.12103293e-03 -8.54601888e-01] [-2.61032999e-02 1.12232597e-04 9.99659245e-01 1.08845575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.86, Z:0.01 [[ 9.92944411e-01 1.16059405e-01 2.43230432e-02 9.45475184e+00] [-1.16022277e-01 9.93242269e-01 -2.93693238e-03 -8.59528948e-01] [-2.44995332e-02 9.41957371e-05 9.99699837e-01 8.92207794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.86, Z:0.01 [[ 9.92725015e-01 1.18209903e-01 2.28793137e-02 9.48752580e+00] [-1.18177493e-01 9.92988629e-01 -2.76825576e-03 -8.61786860e-01] [-2.30461335e-02 4.42968179e-05 9.99734402e-01 7.38896212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.86, Z:0.01 [[ 9.92300218e-01 1.22085391e-01 2.08670539e-02 9.52114733e+00] [-1.22059202e-01 9.92519600e-01 -2.52888720e-03 -8.61204530e-01] [-2.10197001e-02 -3.76006251e-05 9.99779061e-01 7.48825217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.88, Z:0.01 [[ 9.92268848e-01 1.23984134e-01 5.51968569e-03 9.54820057e+00] [-1.24077902e-01 9.92017086e-01 2.25116877e-02 -8.80195216e-01] [-2.68453039e-03 -2.30225175e-02 9.99731342e-01 6.92923385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.86, Z:0.01 [[ 9.92239982e-01 1.24290126e-01 3.43252545e-03 9.57925455e+00] [-1.24290824e-01 9.92245832e-01 -1.01244942e-05 -8.63268831e-01] [-3.40716745e-03 -4.16585487e-04 9.99994109e-01 8.47483525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.88, Z:0.01 [[ 9.91849057e-01 1.27376073e-01 3.28392242e-03 9.60329577e+00] [-1.27416381e-01 9.91648897e-01 1.99381853e-02 -8.80614053e-01] [-7.16850296e-04 -2.01940958e-02 9.99795821e-01 7.70270702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.86, Z:0.01 [[ 9.91240503e-01 1.32015241e-01 -3.77382993e-03 9.63503597e+00] [-1.32024569e-01 9.91243685e-01 -2.33883849e-03 -8.62985070e-01] [ 3.43202276e-03 2.81658971e-03 9.99990144e-01 9.24863082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.83, Z:0.01 [[ 0.9904182 0.13767468 0.01083852 9.67020673] [-0.13713419 0.9897222 -0.04054858 -0.83450087] [-0.01630964 0.03867372 0.99911878 0.01046705] [ 0. 0. 0. 1. ]] SLAMing on 9.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.87, Z:0.01 [[ 9.90384953e-01 1.37462980e-01 1.55426361e-02 9.69752817e+00] [-1.37450264e-01 9.90506869e-01 -1.88855281e-03 -8.73307925e-01] [-1.56546939e-02 -2.65945140e-04 9.99877422e-01 6.26467020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.87, Z:0.01 [[ 9.90034899e-01 1.40135036e-01 1.38949974e-02 9.73068862e+00] [-1.40125116e-01 9.90132363e-01 -1.68976462e-03 -8.69891579e-01] [-1.39946818e-02 -2.74112177e-04 9.99902032e-01 6.73156607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.87, Z:0.01 [[ 9.90038464e-01 1.40114167e-01 1.38513455e-02 9.76135086e+00] [-1.40104287e-01 9.90135317e-01 -1.68584030e-03 -8.67162922e-01] [-1.39509165e-02 -2.71586150e-04 9.99902644e-01 6.15581887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.87, Z:0.01 [[ 9.90033849e-01 1.40146775e-01 1.38513312e-02 9.79212883e+00] [-1.40136898e-01 9.90130702e-01 -1.68595722e-03 -8.70884496e-01] [-1.39509098e-02 -2.71927877e-04 9.99902644e-01 5.83407590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.87, Z:0.00 [[ 9.90100647e-01 1.39746448e-01 1.31010843e-02 9.82311569e+00] [-1.39737572e-01 9.90187289e-01 -1.59496430e-03 -8.70443399e-01] [-1.31954178e-02 -2.51538532e-04 9.99912905e-01 4.49813145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.87, Z:0.00 [[ 9.90102180e-01 1.39593433e-01 1.45377816e-02 9.85316038e+00] [-1.39582487e-01 9.90208865e-01 -1.76987202e-03 -8.72607778e-01] [-1.46425027e-02 -2.76865565e-04 9.99892754e-01 4.57205842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.88, Z:0.01 [[ 9.90250648e-01 1.38401368e-01 1.57707203e-02 9.88378876e+00] [-1.38388336e-01 9.90376182e-01 -1.91997358e-03 -8.75639637e-01] [-1.58846727e-02 -2.81228652e-04 9.99873791e-01 5.49581751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.88, Z:0.01 [[ 9.90236973e-01 1.38499187e-01 1.57706545e-02 9.91540409e+00] [-1.38486158e-01 9.90362507e-01 -1.92051385e-03 -8.79448474e-01] [-1.58846545e-02 -2.82253529e-04 9.99873791e-01 5.16533868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.88, Z:0.01 [[ 9.90260936e-01 1.37877282e-01 1.93166811e-02 9.94658820e+00] [-1.37857581e-01 9.90449264e-01 -2.35420986e-03 -8.80146708e-01] [-1.94567846e-02 -3.31668866e-04 9.99810644e-01 7.16128415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.88, Z:0.01 [[ 9.90243110e-01 1.37772813e-01 2.09101810e-02 9.97918545e+00] [-1.37749658e-01 9.90463793e-01 -2.55059537e-03 -8.78687056e-01] [-2.10621799e-02 -3.54660788e-04 9.99778105e-01 9.64744398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.88, Z:0.01 [[ 9.90204790e-01 1.37558767e-01 2.39177675e-02 1.00120491e+01] [-1.37528326e-01 9.90493527e-01 -2.92086899e-03 -8.76734501e-01] [-2.40921851e-02 -3.97112082e-04 9.99709662e-01 1.04533185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.88, Z:0.01 [[ 9.90155674e-01 1.37575609e-01 2.57816361e-02 1.00441838e+01] [-1.37540152e-01 9.90491177e-01 -3.15205506e-03 -8.76805081e-01] [-2.59701290e-02 -4.24984944e-04 9.99662629e-01 8.74504830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.88, Z:0.01 [[ 9.90300568e-01 1.36467568e-01 2.61033930e-02 1.00773246e+01] [-1.36430714e-01 9.90644460e-01 -3.19597995e-03 -8.79369734e-01] [-2.62953293e-02 -3.96323795e-04 9.99654139e-01 6.15617771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.92, Z:0.00 [[ 9.90891176e-01 1.33583992e-01 1.70292266e-02 1.01034283e+01] [-1.34148192e-01 9.90232595e-01 3.79956725e-02 -9.17636578e-01] [-1.17872817e-02 -3.99340166e-02 9.99132791e-01 8.86078126e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.89, Z:0.01 [[ 9.90903440e-01 1.33911296e-01 1.33468219e-02 1.01359505e+01] [-1.33909328e-01 9.90993037e-01 -1.04510608e-03 -8.85876641e-01] [-1.33665591e-02 -7.51664746e-04 9.99910381e-01 5.07683407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.85, Z:0.01 [[ 0.99108807 0.13102485 0.02401927 10.17088698] [-0.12995052 0.99063626 -0.04186484 -0.85155522] [-0.02927969 0.03837043 0.99883453 0.01049476] [ 0. 0. 0. 1. ]] SLAMing on 9.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.89, Z:0.01 [[ 9.91464825e-01 1.27000071e-01 2.94700195e-02 1.01992368e+01] [-1.26949103e-01 9.91902693e-01 -3.60167353e-03 -8.86914825e-01] [-2.96888045e-02 -1.70259938e-04 9.99559176e-01 6.65509575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.89, Z:0.01 [[ 9.91435767e-01 1.27226874e-01 2.94693424e-02 1.02325328e+01] [-1.27175843e-01 9.91873628e-01 -3.60720723e-03 -8.90902358e-01] [-2.96887973e-02 -1.71474192e-04 9.99559176e-01 6.24055361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.89, Z:0.01 [[ 9.91814915e-01 1.23880242e-01 3.09331537e-02 1.02652576e+01] [-1.23822176e-01 9.92297174e-01 -3.79311754e-03 -8.93702481e-01] [-3.11647733e-02 -6.81398631e-05 9.99514258e-01 8.67946357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.90, Z:0.01 [[ 9.92194436e-01 1.20082062e-01 3.36229000e-02 1.02977278e+01] [-1.20011039e-01 9.92763967e-01 -4.12991056e-03 -8.98060576e-01] [-3.38755318e-02 6.25551269e-05 9.99426058e-01 1.01438086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.90, Z:0.01 [[ 9.92641607e-01 1.15944934e-01 3.49200857e-02 1.03301056e+01] [-1.15865517e-01 9.93255619e-01 -4.29620295e-03 -9.03653950e-01] [-3.51826943e-02 2.18556013e-04 9.99380873e-01 1.02209457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.91, Z:0.01 [[ 9.93099122e-01 1.11913116e-01 3.50654901e-02 1.03630817e+01] [-1.11830282e-01 9.93717927e-01 -4.32089724e-03 -9.07877043e-01] [-3.53287712e-02 3.69695608e-04 9.99375676e-01 8.80705364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.91, Z:0.01 [[ 9.93458984e-01 1.08954384e-01 3.41787865e-02 1.03962252e+01] [-1.08873713e-01 9.94046640e-01 -4.21813454e-03 -9.11561189e-01] [-3.44348921e-02 4.69372267e-04 9.99406833e-01 6.69787054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.92, Z:0.00 [[ 9.93784697e-01 1.06593878e-01 3.20892658e-02 1.04288238e+01] [-1.06521348e-01 9.94302505e-01 -3.96625909e-03 -9.16088816e-01] [-3.23292163e-02 5.23415750e-04 9.99477137e-01 3.33527183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.92, Z:0.00 [[ 9.93761310e-01 1.06811942e-01 3.20884412e-02 1.04621124e+01] [-1.06739310e-01 9.94279103e-01 -3.97292296e-03 -9.20120564e-01] [-3.23292221e-02 5.23039046e-04 9.99477137e-01 2.92084502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.93, Z:-0.00 [[ 9.94004663e-01 1.05470798e-01 2.88208395e-02 1.04942614e+01] [-1.05411483e-01 9.94422267e-01 -3.57397066e-03 -9.26117039e-01] [-2.90370341e-02 5.14496073e-04 9.99578204e-01 -1.25948174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.93, Z:-0.00 [[ 9.94098150e-01 1.05388308e-01 2.57327168e-02 1.05264498e+01] [-1.05340824e-01 9.94431036e-01 -3.19773953e-03 -9.32638602e-01] [-2.59264165e-02 4.68161371e-04 9.99663744e-01 -3.21353335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.94, Z:-0.00 [[ 9.94033143e-01 1.06882730e-01 2.17759419e-02 1.05590660e+01] [-1.06848968e-01 9.94271566e-01 -2.71143265e-03 -9.37695735e-01] [-2.19410051e-02 3.68517003e-04 9.99759199e-01 -3.66960306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.94, Z:-0.00 [[ 9.93882206e-01 1.08728012e-01 1.94005009e-02 1.05907054e+01] [-1.08701502e-01 9.94071493e-01 -2.41889422e-03 -9.41354200e-01] [-1.95484865e-02 2.95232325e-04 9.99808866e-01 -3.23128828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.94, Z:-0.00 [[ 9.93766566e-01 1.10264492e-01 1.64241879e-02 1.06229706e+01] [-1.10245667e-01 9.93902254e-01 -2.05000511e-03 -9.44426421e-01] [-1.65500801e-02 2.26530990e-04 9.99863012e-01 -3.33826996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.95, Z:-0.00 [[ 9.93632394e-01 1.11765945e-01 1.42491987e-02 1.06539655e+01] [-1.11751908e-01 9.93734543e-01 -1.78004656e-03 -9.48424935e-01] [-1.43588695e-02 1.76336785e-04 9.99896891e-01 -3.65531798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.95, Z:-0.00 [[ 9.93369850e-01 1.14146010e-01 1.36758787e-02 1.06847076e+01] [-1.14133295e-01 9.93463975e-01 -1.70919099e-03 -9.51950980e-01] [-1.37815902e-02 1.36985698e-04 9.99905020e-01 -4.17023883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.96, Z:-0.00 [[ 9.93366215e-01 1.14177638e-01 1.36758731e-02 1.07154737e+01] [-1.14164925e-01 9.93460341e-01 -1.70923570e-03 -9.55770213e-01] [-1.37815941e-02 1.36591962e-04 9.99905020e-01 -4.55367800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.96, Z:-0.00 [[ 9.92937074e-01 1.17770167e-01 1.43580712e-02 1.07453004e+01] [-1.17756526e-01 9.93040875e-01 -1.79477921e-03 -9.57258109e-01] [-1.44695231e-02 9.13462274e-05 9.99895307e-01 -4.00935204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.96, Z:-0.00 [[ 9.92462472e-01 1.21392167e-01 1.67983152e-02 1.07748058e+01] [-1.21374032e-01 9.92604624e-01 -2.09873271e-03 -9.58046799e-01] [-1.69288551e-02 4.40342113e-05 9.99856696e-01 -3.63908379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.96, Z:-0.00 [[ 9.91842554e-01 1.26070454e-01 1.88305003e-02 1.08055401e+01] [-1.26048516e-01 9.92021290e-01 -2.35217831e-03 -9.59442574e-01] [-1.89767974e-02 -4.05660801e-05 9.99819924e-01 -2.61695148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.96, Z:-0.00 [[ 9.91422676e-01 1.29349524e-01 1.87023402e-02 1.08372803e+01] [-1.29328459e-01 9.91599057e-01 -2.33659366e-03 -9.62172583e-01] [-1.88474602e-02 -1.02192894e-04 9.99822366e-01 -2.94849555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.97, Z:-0.00 [[ 9.91111070e-01 1.31918398e-01 1.72157765e-02 1.08685577e+01] [-1.31900918e-01 9.91260570e-01 -2.15193989e-03 -9.65313813e-01] [-1.73492009e-02 -1.37965272e-04 9.99849482e-01 -3.67369433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.01, Z:-0.01 [[ 9.91195444e-01 1.32284269e-01 5.69769218e-03 1.08916117e+01] [-1.32406014e-01 9.90111761e-01 4.63394794e-02 -1.01004102e+00] [ 4.88632096e-04 -4.66858896e-02 9.98909500e-01 -8.54402309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.93, Z:0.00 [[ 9.91038809e-01 1.32875143e-01 1.36483057e-02 1.09321394e+01] [-1.32090938e-01 9.90089287e-01 -4.76989390e-02 -9.29128105e-01] [-1.98510446e-02 4.54686822e-02 9.98768509e-01 2.82837842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.97, Z:-0.00 [[ 9.90999116e-01 1.32216337e-01 2.09664581e-02 1.09560523e+01] [-1.32190649e-01 9.91220867e-01 -2.61253197e-03 -9.71807219e-01] [-2.11278102e-02 -1.82552833e-04 9.99776766e-01 -2.82521801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.97, Z:-0.00 [[ 9.90977665e-01 1.31835451e-01 2.41387730e-02 1.09874078e+01] [-1.31801449e-01 9.91271593e-01 -3.00118020e-03 -9.73812509e-01] [-2.43237419e-02 -2.07422716e-04 9.99704113e-01 -5.73904970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.98, Z:0.00 [[ 9.90882398e-01 1.32109359e-01 2.64422244e-02 1.10197252e+01] [-1.32068583e-01 9.91235120e-01 -3.29025557e-03 -9.75850594e-01] [-2.66451351e-02 -2.31930799e-04 9.99644928e-01 9.00458967e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.98, Z:0.00 [[ 9.90860719e-01 1.32271955e-01 2.64417410e-02 1.10521731e+01] [-1.32231134e-01 9.91213436e-01 -3.29413725e-03 -9.79827982e-01] [-2.66451309e-02 -2.32390184e-04 9.99644928e-01 4.50067603e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.98, Z:0.00 [[ 9.90762523e-01 1.32655560e-01 2.81447201e-02 1.10840537e+01] [-1.32609342e-01 9.91162165e-01 -3.51065286e-03 -9.81693581e-01] [-2.83616894e-02 -2.54029522e-04 9.99597694e-01 1.44307000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.98, Z:0.00 [[ 9.90577621e-01 1.33758563e-01 2.94044793e-02 1.11160356e+01] [-1.33708482e-01 9.91013905e-01 -3.67175664e-03 -9.83664587e-01] [-2.96313767e-02 -2.94468336e-04 9.99560851e-01 9.86516214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.99, Z:0.00 [[ 9.90313263e-01 1.35714777e-01 2.93451813e-02 1.11489985e+01] [-1.35665611e-01 9.90747888e-01 -3.66926535e-03 -9.85983380e-01] [-2.95716500e-02 -3.47409812e-04 9.99562603e-01 6.34271601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.99, Z:-0.00 [[ 9.89886038e-01 1.38951214e-01 2.86040636e-02 1.11811603e+01] [-1.38905717e-01 9.90299135e-01 -3.58120985e-03 -9.88098571e-01] [-2.88241929e-02 -4.28278329e-04 9.99584405e-01 -1.04866383e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.99, Z:-0.00 [[ 9.89254375e-01 1.43773086e-01 2.65533615e-02 1.12138185e+01] [-1.43735524e-01 9.89610542e-01 -3.32782335e-03 -9.88778890e-01] [-2.67559379e-02 -5.24597542e-04 9.99641858e-01 -6.98059779e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.99, Z:-0.00 [[ 9.88608218e-01 1.48597935e-01 2.39258421e-02 1.12453436e+01] [-1.48568795e-01 9.88897522e-01 -3.00082206e-03 -9.89031782e-01] [-2.41061219e-02 -5.87996194e-04 9.99709232e-01 -1.11213707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.99, Z:-0.00 [[ 9.87859414e-01 1.53974051e-01 2.06341932e-02 1.12757589e+01] [-1.53953533e-01 9.88074698e-01 -2.58874693e-03 -9.88572241e-01] [-2.07867240e-02 -6.19388912e-04 9.99783741e-01 -1.44595493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.99, Z:-0.00 [[ 9.87297998e-01 1.57652871e-01 1.97036953e-02 1.13040795e+01] [-1.57634957e-01 9.87494367e-01 -2.46881255e-03 -9.88275500e-01] [-1.98465035e-02 -6.68537479e-04 9.99802815e-01 -2.54303379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.99, Z:-0.00 [[ 9.86905794e-01 1.60052512e-01 2.00036913e-02 1.13323754e+01] [-1.60034756e-01 9.87108225e-01 -2.49567967e-03 -9.88350567e-01] [-2.01452480e-02 -7.38285125e-04 9.99796791e-01 -3.07341691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.99, Z:-0.00 [[ 9.86534235e-01 1.62336731e-01 1.99245794e-02 1.13599650e+01] [-1.62319793e-01 9.86735100e-01 -2.47524805e-03 -9.88570892e-01] [-2.00621055e-02 -7.92236657e-04 9.99798422e-01 -2.86965454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.98, Z:-0.00 [[ 9.85703184e-01 1.67678159e-01 1.65308034e-02 1.13890472e+01] [-1.67667373e-01 9.85841501e-01 -2.04610461e-03 -9.82303748e-01] [-1.66398391e-02 -7.54824558e-04 9.99861263e-01 -3.27491553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.98, Z:-0.00 [[ 9.85161962e-01 1.71042780e-01 1.41518695e-02 1.14178955e+01] [-1.71035312e-01 9.85263354e-01 -1.74526940e-03 -9.79288251e-01] [-1.42418342e-02 -7.01096402e-04 9.99898334e-01 -2.75112646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.98, Z:-0.00 [[ 9.84555298e-01 1.74544442e-01 1.36052389e-02 1.14466955e+01] [-1.74537966e-01 9.84649027e-01 -1.67106711e-03 -9.75283862e-01] [-1.36880607e-02 -7.29372748e-04 9.99906048e-01 -3.22115135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.97, Z:-0.00 [[ 9.84015166e-01 1.77358269e-01 1.60685168e-02 1.14754618e+01] [-1.77349765e-01 9.84145926e-01 -1.96403463e-03 -9.70231596e-01] [-1.61621031e-02 -9.17107812e-04 9.99868964e-01 -2.42601533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.97, Z:-0.00 [[ 9.83889063e-01 1.77837079e-01 1.83380791e-02 1.15041840e+01] [-1.77826278e-01 9.84059367e-01 -2.23106275e-03 -9.65307054e-01] [-1.84425242e-02 -1.06587411e-03 9.99829354e-01 -1.59107145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.96, Z:-0.00 [[ 9.83888309e-01 1.77508190e-01 2.13222564e-02 1.15325233e+01] [-1.77493768e-01 9.84118537e-01 -2.58210855e-03 -9.61389753e-01] [-2.14419732e-02 -1.24406122e-03 9.99769320e-01 -7.68302142e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.95, Z:-0.00 [[ 9.84593693e-01 1.73526635e-01 2.15352458e-02 1.15619385e+01] [-1.73511208e-01 9.84828470e-01 -2.59710716e-03 -9.52970912e-01] [-2.16591905e-02 -1.17951120e-03 9.99764716e-01 -2.52733192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.95, Z:-0.00 [[ 9.85411966e-01 1.69001081e-01 2.00472432e-02 1.15898940e+01] [-1.68986967e-01 9.85615344e-01 -2.40824647e-03 -9.52817905e-01] [-2.01658667e-02 -1.01460793e-03 9.99796133e-01 -1.00246790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.95, Z:-0.00 [[ 9.86434825e-01 1.63041035e-01 1.90776283e-02 1.16179885e+01] [-1.63027326e-01 9.86618915e-01 -2.28214897e-03 -9.53816543e-01] [-1.91944329e-02 -8.58983504e-04 9.99815401e-01 -2.20777978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.96, Z:-0.00 [[ 9.87705386e-01 1.55134566e-01 1.92700840e-02 1.16462418e+01] [-1.55119273e-01 9.87893084e-01 -2.29496439e-03 -9.55521290e-01] [-1.93928110e-02 -7.22412710e-04 9.99811681e-01 -1.88082861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.96, Z:-0.00 [[ 9.88771307e-01 1.47956168e-01 2.09827002e-02 1.16738070e+01] [-1.47936665e-01 9.88993709e-01 -2.48729516e-03 -9.56659848e-01] [-2.11197691e-02 -6.44744604e-04 9.99776745e-01 -2.18313642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.96, Z:-0.00 [[ 9.89833056e-01 1.40726922e-01 2.06507690e-02 1.17015301e+01] [-1.40706680e-01 9.90048327e-01 -2.43721686e-03 -9.57308452e-01] [-2.07882413e-02 -4.93263333e-04 9.99783779e-01 -1.33225418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.96, Z:-0.00 [[ 9.91077324e-01 1.31914916e-01 1.90838167e-02 1.17299781e+01] [-1.31896176e-01 9.91260999e-01 -2.24285669e-03 -9.57392128e-01] [-1.92129095e-02 -2.94238052e-04 9.99815372e-01 -4.08610334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.96, Z:-0.01 [[ 9.91461316e-01 1.29004960e-01 1.90310156e-02 1.17572372e+01] [-1.28985977e-01 9.91643918e-01 -2.22673881e-03 -9.59878521e-01] [-1.91592512e-02 -2.47008760e-04 9.99816414e-01 -5.25045639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.96, Z:-0.00 [[ 9.91928241e-01 1.25089379e-01 2.07608258e-02 1.17848565e+01] [-1.25066170e-01 9.92145457e-01 -2.41766482e-03 -9.61473748e-01] [-2.09001832e-02 -1.98326948e-04 9.99781548e-01 -4.42397868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.96, Z:-0.00 [[ 9.92451713e-01 1.20280393e-01 2.39211913e-02 1.18127434e+01] [-1.20248509e-01 9.92739952e-01 -2.77215597e-03 -9.62800827e-01] [-2.40809583e-02 -1.25256632e-04 9.99710004e-01 -3.09412894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.97, Z:-0.00 [[ 9.93044008e-01 1.14568949e-01 2.71579665e-02 1.18403090e+01] [-1.14526123e-01 9.93415299e-01 -3.13226903e-03 -9.65870407e-01] [-2.73380002e-02 1.84376198e-07 9.99626247e-01 -1.74032274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.97, Z:-0.00 [[ 9.93616977e-01 1.09432049e-01 2.73848565e-02 1.18676249e+01] [-1.09386944e-01 9.93994271e-01 -3.14426631e-03 -9.72884200e-01] [-2.75644740e-02 1.28650620e-04 9.99620019e-01 -2.25892589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.99, Z:-0.01 [[ 9.94496250e-01 1.01288476e-01 2.67927797e-02 1.18961144e+01] [-1.01242529e-01 9.94857040e-01 -3.06940441e-03 -9.91280863e-01] [-2.69658808e-02 3.39942410e-04 9.99636297e-01 -5.18856717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-1.00, Z:-0.01 [[ 9.94850694e-01 9.76107484e-02 2.72807428e-02 1.19267273e+01] [-9.75617066e-02 9.95224568e-01 -3.12614264e-03 -9.99526418e-01] [-2.74556106e-02 4.48489348e-04 9.99622923e-01 -6.67622490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:-1.00, Z:-0.01 [[ 9.95153197e-01 9.42401854e-02 2.80874064e-02 1.19590762e+01] [-9.41867829e-02 9.95549333e-01 -3.22121538e-03 -1.00445058e+00] [-2.82659666e-02 5.60140331e-04 9.99600281e-01 -6.68435189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:-1.01, Z:-0.01 [[ 9.95446551e-01 9.09916957e-02 2.84020369e-02 1.19912630e+01] [-9.09356674e-02 9.95851430e-01 -3.26081417e-03 -1.00892671e+00] [-2.85809160e-02 6.63208037e-04 9.99591262e-01 -8.45515529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.02, Y:-1.02, Z:-0.01 [[ 9.95735549e-01 8.84758977e-02 2.61291290e-02 1.20226864e+01] [-8.84275339e-02 9.96078086e-01 -3.00292204e-03 -1.01576309e+00] [-2.62923391e-02 6.79581787e-04 9.99654066e-01 -1.07245246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.05, Y:-1.03, Z:-0.02 [[ 9.96256939e-01 8.41757436e-02 1.96610135e-02 1.20527355e+01] [-8.41474874e-02 9.96450744e-01 -2.26153796e-03 -1.03359735e+00] [-1.97815981e-02 5.98648000e-04 9.99804146e-01 -1.53836617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.08, Y:-1.04, Z:-0.02 [[ 9.96431560e-01 8.25000793e-02 1.78292992e-02 1.20831609e+01] [-8.24765439e-02 9.96590892e-01 -2.05259899e-03 -1.04438484e+00] [-1.79378568e-02 5.74775430e-04 9.99838938e-01 -1.56471137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.11, Y:-1.05, Z:-0.02 [[ 9.96573425e-01 8.09950431e-02 1.67693456e-02 1.21131882e+01] [-8.09739973e-02 9.96714343e-01 -1.93134000e-03 -1.05331001e+00] [-1.68706762e-02 5.66841173e-04 9.99857519e-01 -1.54489580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-1.06, Z:-0.02 [[ 9.96626864e-01 8.03842120e-02 1.65309782e-02 1.21425651e+01] [-8.03636764e-02 9.96763791e-01 -1.90388702e-03 -1.06197733e+00] [-1.66305229e-02 5.68974767e-04 9.99861541e-01 -1.58869746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-1.07, Z:-0.02 [[ 9.96556892e-01 8.11455264e-02 1.70224494e-02 1.21719711e+01] [-8.11238624e-02 9.96702100e-01 -1.96049019e-03 -1.07056276e+00] [-1.71253961e-02 5.72813163e-04 9.99853186e-01 -1.75373337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.08, Z:-0.02 [[ 9.96489631e-01 8.20147803e-02 1.67925670e-02 1.22020695e+01] [-8.19938177e-02 9.96630961e-01 -1.93419975e-03 -1.07968253e+00] [-1.68946251e-02 5.50523321e-04 9.99857124e-01 -1.85298917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-1.09, Z:-0.02 [[ 9.96277305e-01 8.45318839e-02 1.69083741e-02 1.22330826e+01] [-8.45109758e-02 9.96420643e-01 -1.94855689e-03 -1.08825995e+00] [-1.70125682e-02 5.12359814e-04 9.99855145e-01 -1.94264525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.10, Z:-0.02 [[ 9.95844686e-01 8.95962178e-02 1.63058086e-02 1.22632704e+01] [-8.95774358e-02 9.95978086e-01 -1.88007175e-03 -1.10073047e+00] [-1.64086753e-02 4.11626941e-04 9.99865284e-01 -1.89441200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:-1.11, Z:-0.02 [[ 9.95728312e-01 9.09474488e-02 1.59276531e-02 1.22939811e+01] [-9.09296854e-02 9.95855620e-01 -1.83742445e-03 -1.11016276e+00] [-1.60287519e-02 3.81279059e-04 9.99871459e-01 -1.95531681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.12, Z:-0.02 [[ 9.95580441e-01 9.24393353e-02 1.65697024e-02 1.23244862e+01] [-9.24202997e-02 9.95718248e-01 -1.91254135e-03 -1.12000937e+00] [-1.66755491e-02 3.72711898e-04 9.99860884e-01 -1.96330139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:-1.13, Z:-0.02 [[ 9.95442424e-01 9.36409489e-02 1.80486560e-02 1.23547842e+01] [-9.36185390e-02 9.95605958e-01 -2.08443780e-03 -1.12894537e+00] [-1.81645382e-02 3.85249011e-04 9.99834937e-01 -1.92748615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.14, Z:-0.02 [[ 9.95283887e-01 9.46911391e-02 2.10611490e-02 1.23858554e+01] [-9.46608272e-02 9.95506607e-01 -2.43379443e-03 -1.13500008e+00] [-2.11969718e-02 4.28650588e-04 9.99775227e-01 -1.94940496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.14, Z:-0.02 [[ 9.94766402e-01 9.86579332e-02 2.65785164e-02 1.24176594e+01] [-9.86109978e-02 9.95121310e-01 -3.07407010e-03 -1.14142843e+00] [-2.67521294e-02 4.37047638e-04 9.99642002e-01 -1.74936769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-1.15, Z:-0.02 [[ 9.94359201e-01 1.01836187e-01 2.96507934e-02 1.24500446e+01] [-1.01779035e-01 9.94801102e-01 -3.43435659e-03 -1.14822368e+00] [-2.98463838e-02 3.97154941e-04 9.99554419e-01 -1.60441871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.15, Z:-0.01 [[ 9.93710129e-01 1.07513130e-01 3.13226151e-02 1.24825475e+01] [-1.07451972e-01 9.94203634e-01 -3.63414722e-03 -1.15495749e+00] [-3.15317763e-02 2.45612136e-04 9.99502720e-01 -1.41044182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792320587999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.52, Y:-1.16, Z:-0.01 [[ 9.92931919e-01 1.14382753e-01 3.16668606e-02 1.25155319e+01] [-1.14323517e-01 9.93436754e-01 -3.68086358e-03 -1.15948622e+00] [-3.18800505e-02 3.45800716e-05 9.99491701e-01 -1.35688019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:12.55, Y:-1.16, Z:-0.01 [[ 9.92076359e-01 1.21782895e-01 3.08775575e-02 1.25489162e+01] [-1.21729955e-01 9.92556744e-01 -3.59557009e-03 -1.16136477e+00] [-3.10856068e-02 -1.91643611e-04 9.99516707e-01 -1.35769718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.58, Y:-1.16, Z:-0.01 [[ 9.91142430e-01 1.29136005e-01 3.09931450e-02 1.25821355e+01] [-1.29086068e-01 9.91626804e-01 -3.61515995e-03 -1.16097249e+00] [-3.12004806e-02 -4.17644803e-04 9.99513059e-01 -1.46880611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882320587999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.16, Z:-0.01 [[ 9.89443589e-01 1.41822773e-01 2.97940355e-02 1.26152230e+01] [-1.41782207e-01 9.89891758e-01 -3.48051295e-03 -1.15722281e+00] [-2.99864861e-02 -7.80492883e-04 9.99549999e-01 -1.47285778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.16, Z:-0.01 [[ 9.88809144e-01 1.46142457e-01 2.99809939e-02 1.26476303e+01] [-1.46103229e-01 9.89263134e-01 -3.50675589e-03 -1.15893782e+00] [-3.01715780e-02 -9.12807738e-04 9.99544318e-01 -1.42029940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.16, Z:-0.01 [[ 9.88616779e-01 1.47596871e-01 2.91895344e-02 1.26795920e+01] [-1.47560208e-01 9.89047169e-01 -3.41799072e-03 -1.16074118e+00] [-2.93743111e-02 -9.28130798e-04 9.99568051e-01 -1.33906400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:-1.16, Z:-0.01 [[ 9.88844252e-01 1.46466430e-01 2.71040523e-02 1.27115906e+01] [-1.46434301e-01 9.89215295e-01 -3.17724275e-03 -1.16286355e+00] [-2.72771025e-02 -8.27164720e-04 9.99627568e-01 -1.33030462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.74, Y:-1.17, Z:-0.02 [[ 9.89396140e-01 1.43261440e-01 2.39047728e-02 1.27431342e+01] [-1.43235442e-01 9.89684667e-01 -2.80516361e-03 -1.16602369e+00] [-2.40600588e-02 -6.48592650e-04 9.99710304e-01 -1.51930718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.77, Y:-1.17, Z:-0.02 [[ 9.90820016e-01 1.33446142e-01 2.16292229e-02 1.27732295e+01] [-1.33422482e-01 9.91055998e-01 -2.53977621e-03 -1.16877137e+00] [-2.17746944e-02 -3.69363491e-04 9.99762835e-01 -1.80160841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:-1.17, Z:-0.02 [[ 9.91431418e-01 1.28680649e-01 2.24729567e-02 1.28037340e+01] [-1.28653883e-01 9.91686047e-01 -2.63885028e-03 -1.17230636e+00] [-2.26256866e-02 -2.74994065e-04 9.99743969e-01 -1.90079304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092320588 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:12.83, Y:-1.18, Z:-0.02 [[ 9.92073323e-01 1.23774225e-01 2.16901632e-02 1.28339551e+01] [-1.23748118e-01 9.92310393e-01 -2.54693203e-03 -1.17753094e+00] [-2.18386189e-02 -1.57373545e-04 9.99761497e-01 -2.02123210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.18, Z:-0.02 [[ 9.92644738e-01 1.19459211e-01 1.96448806e-02 1.28648232e+01] [-1.19436942e-01 9.92839108e-01 -2.30716456e-03 -1.18438106e+00] [-1.97798178e-02 -5.61297117e-05 9.99804359e-01 -2.11871211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.19, Z:-0.02 [[ 9.93118616e-01 1.15620006e-01 1.86394645e-02 1.28950383e+01] [-1.15599266e-01 9.93293518e-01 -2.18994969e-03 -1.19158600e+00] [-1.87676612e-02 2.01713959e-05 9.99823872e-01 -2.25268178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.20, Z:-0.02 [[ 9.93485338e-01 1.12836202e-01 1.59648159e-02 1.29253833e+01] [-1.12820628e-01 9.93613601e-01 -1.87570537e-03 -1.19766562e+00] [-1.60745057e-02 6.23252309e-05 9.99870795e-01 -2.26599007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212320587999999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.20, Z:-0.02 [[ 9.93819134e-01 1.09436369e-01 1.86335572e-02 1.29557756e+01] [-1.09414555e-01 9.93993794e-01 -2.18925564e-03 -1.20458194e+00] [-1.87612244e-02 1.36941778e-04 9.99823983e-01 -1.98569583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242320588 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.21, Z:-0.02 [[ 9.93808629e-01 1.09531737e-01 1.86335014e-02 1.29874098e+01] [-1.09509930e-01 9.93983290e-01 -2.18973009e-03 -1.20825427e+00] [-1.87612340e-02 1.35619219e-04 9.99823983e-01 -2.02959663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272320588 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.21, Z:-0.02 [[ 9.93798116e-01 1.09627121e-01 1.86332911e-02 1.30190437e+01] [-1.09605297e-01 9.93972774e-01 -2.19151818e-03 -1.21192846e+00] [-1.87612339e-02 1.35619218e-04 9.99823983e-01 -2.07347804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.22, Z:-0.02 [[ 9.93693748e-01 1.08617918e-01 2.78367212e-02 1.30493505e+01] [-1.08568729e-01 9.94083544e-01 -3.27686806e-03 -1.22121549e+00] [-2.80279531e-02 2.34005854e-04 9.99607112e-01 -1.78681091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.23, Z:-0.02 [[ 9.93651997e-01 1.08653724e-01 2.91560970e-02 1.30818192e+01] [-1.08599661e-01 9.94079628e-01 -3.43612834e-03 -1.22787204e+00] [-2.93568302e-02 2.47973553e-04 9.99568965e-01 -1.68525516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.23, Z:-0.02 [[ 9.93641674e-01 1.08769580e-01 2.90758121e-02 1.31144517e+01] [-1.08715698e-01 9.94066958e-01 -3.43234213e-03 -1.23423737e+00] [-2.92766385e-02 2.49520976e-04 9.99571316e-01 -1.74637371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392320587999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.15, Y:-1.24, Z:-0.02 [[ 9.93653713e-01 1.08916964e-01 2.80961569e-02 1.31468377e+01] [-1.08866558e-01 9.94050822e-01 -3.32210117e-03 -1.23999718e+00] [-2.82908410e-02 2.42286261e-04 9.99599705e-01 -1.99416258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.25, Z:-0.02 [[ 9.93799709e-01 1.08362005e-01 2.48960716e-02 1.31797283e+01] [-1.08322140e-01 9.94111473e-01 -2.94828240e-03 -1.24686139e+00] [-2.50689522e-02 2.33206430e-04 9.99685697e-01 -2.25258768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.21, Y:-1.26, Z:-0.02 [[ 9.94002119e-01 1.06750139e-01 2.37527788e-02 1.32120123e+01] [-1.06713285e-01 9.94285843e-01 -2.81739770e-03 -1.25501949e+00] [-2.39178092e-02 2.65762242e-04 9.99713893e-01 -2.48357049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.27, Z:-0.03 [[ 9.94635886e-01 1.00442022e-01 2.47154881e-02 1.32437325e+01] [-1.00400049e-01 9.94942816e-01 -2.93650288e-03 -1.27187019e+00] [-2.48854457e-02 4.39314926e-04 9.99690213e-01 -2.54015997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.28, Z:-0.02 [[ 9.94920804e-01 9.72046149e-02 2.61506684e-02 1.32753967e+01] [-9.71563687e-02 9.95264263e-01 -3.11223424e-03 -1.28161248e+00] [-2.63293493e-02 5.55722610e-04 9.99653168e-01 -2.40862592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542320587999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.29, Z:-0.02 [[ 9.95227286e-01 9.35582023e-02 2.77400816e-02 1.33075684e+01] [-9.35023427e-02 9.95613568e-01 -3.30686855e-03 -1.28995867e+00] [-2.79277863e-02 6.97323192e-04 9.99609700e-01 -2.25478040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.33, Y:-1.34, Z:-0.03 [[ 0.99574014 0.08965862 0.02151513 13.33359159] [-0.09049996 0.99501152 0.0419743 -1.33636756] [-0.01764445 -0.04374261 0.99888701 -0.02506328] [ 0. 0. 0. 1. ]] SLAMing on 12.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.27, Z:-0.02 [[ 0.99598693 0.08652781 0.02286869 13.37411461] [-0.08538831 0.99524673 -0.04682713 -1.26548834] [-0.02681183 0.04468649 0.9986412 -0.01856922] [ 0. 0. 0. 1. ]] SLAMing on 12.632320587999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.31, Z:-0.03 [[ 9.96167322e-01 8.35596787e-02 2.58543467e-02 1.34011438e+01] [-8.35074103e-02 9.96502345e-01 -3.09667538e-03 -1.31326219e+00] [-2.60226743e-02 9.25777277e-04 9.99660924e-01 -2.83809113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.39, Z:-0.03 [[ 9.97063352e-01 7.58300789e-02 1.06991004e-02 1.34188565e+01] [-7.64024460e-02 9.94519561e-01 7.13688253e-02 -1.39486180e+00] [-5.22856096e-03 -7.19766777e-02 9.97392611e-01 -3.47218105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:13.47, Y:-1.28, Z:-0.02 [[ 9.96795552e-01 7.89517025e-02 1.28551784e-02 1.34660426e+01] [-7.78213957e-02 9.94328316e-01 -7.24915879e-02 -1.27692638e+00] [-1.85056022e-02 7.12588845e-02 9.97286175e-01 -2.43526024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.35, Z:-0.03 [[ 9.96613789e-01 7.92220031e-02 2.20188671e-02 1.34908670e+01] [-7.91827820e-02 9.96856595e-01 -2.64881181e-03 -1.34907094e+00] [-2.21594971e-02 8.96327214e-04 9.99754046e-01 -3.01550376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.36, Z:-0.03 [[ 9.96549326e-01 8.00929590e-02 2.17843504e-02 1.35228001e+01] [-8.00546891e-02 9.96787017e-01 -2.62460302e-03 -1.35942094e+00] [-2.19245699e-02 8.71606975e-04 9.99759248e-01 -2.79681927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.37, Z:-0.03 [[ 9.96419936e-01 8.16738208e-02 2.18333981e-02 1.35547547e+01] [-8.16356678e-02 9.96658756e-01 -2.63457553e-03 -1.37030934e+00] [-2.19756233e-02 8.42759549e-04 9.99758152e-01 -2.74156797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.38, Z:-0.03 [[ 9.96218212e-01 8.42277902e-02 2.13296208e-02 1.35871250e+01] [-8.41918782e-02 9.96446227e-01 -2.57769969e-03 -1.38075118e+00] [-2.14709341e-02 7.72170545e-04 9.99769175e-01 -2.80258019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.39, Z:-0.03 [[ 9.95529421e-01 9.20355491e-02 2.12280403e-02 1.36192137e+01] [-9.20016654e-02 9.95755538e-01 -2.56938662e-03 -1.39406205e+00] [-2.13744136e-02 6.04884914e-04 9.99771358e-01 -3.00319833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.43, Z:-0.03 [[ 9.94995589e-01 9.89961053e-02 1.35480036e-02 1.36473928e+01] [-9.93773508e-02 9.94561439e-01 3.11718843e-02 -1.43011541e+00] [-1.03884268e-02 -3.23622521e-02 9.99422216e-01 -3.01448680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.38, Z:-0.03 [[ 0.99414593 0.10570348 0.02237526 13.68530376] [-0.10489265 0.99387619 -0.03475139 -1.38012332] [-0.02591158 0.03220095 0.99914548 -0.02729958] [ 0. 0. 0. 1. ]] SLAMing on 12.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.42, Z:-0.03 [[ 9.93245886e-01 1.12632346e-01 2.78669226e-02 1.37139545e+01] [-1.12581774e-01 9.93636707e-01 -3.38210199e-03 -1.41501928e+00] [-2.80705313e-02 2.21951294e-04 9.99605920e-01 -2.77046592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.42, Z:-0.03 [[ 9.92402360e-01 1.20009796e-01 2.71146645e-02 1.37468969e+01] [-1.19964414e-01 9.92772707e-01 -3.30015444e-03 -1.41996763e+00] [-2.73147497e-02 2.22862142e-05 9.99626882e-01 -2.66154101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.45, Z:-0.03 [[ 9.92016057e-01 1.25226487e-01 1.49154075e-02 1.37740184e+01] [-1.25670646e-01 9.91490962e-01 3.39493792e-02 -1.45379299e+00] [-1.05371303e-02 -3.55527582e-02 9.99312249e-01 -2.57861926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.39, Z:-0.03 [[ 0.99011788 0.13881664 0.01991296 13.81541027] [-0.13799269 0.98970147 -0.03806587 -1.38798391] [-0.02499206 0.03494185 0.99907681 -0.02570499] [ 0. 0. 0. 1. ]] SLAMing on 13.052320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.84, Y:-1.42, Z:-0.03 [[ 9.89416832e-01 1.43014180e-01 2.45209318e-02 1.38443148e+01] [-1.42983618e-01 9.89720496e-01 -3.00421902e-03 -1.42029451e+00] [-2.46985147e-02 -5.33666682e-04 9.99694803e-01 -2.74510700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.42, Z:-0.03 [[ 9.88643072e-01 1.47704265e-01 2.77186831e-02 1.38776467e+01] [-1.47666882e-01 9.89031303e-01 -3.40211416e-03 -1.42187614e+00] [-2.79171520e-02 -7.29654901e-04 9.99609974e-01 -2.78168397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.42, Z:-0.03 [[ 9.87783635e-01 1.53103698e-01 2.90301147e-02 1.39103922e+01] [-1.53064845e-01 9.88209702e-01 -3.56908049e-03 -1.42274384e+00] [-2.92342804e-02 -9.18010695e-04 9.99572166e-01 -2.83956861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.42, Z:-0.03 [[ 9.87119535e-01 1.57462289e-01 2.82957722e-02 1.39440170e+01] [-1.57427005e-01 9.87524479e-01 -3.48438262e-03 -1.42305091e+00] [-2.84914266e-02 -1.01501651e-03 9.99593522e-01 -3.02515410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.42, Z:-0.03 [[ 9.86741558e-01 1.60219695e-01 2.58987768e-02 1.39775026e+01] [-1.60190956e-01 9.87080876e-01 -3.19408544e-03 -1.42317377e+00] [-2.60759427e-02 -9.97012977e-04 9.99659468e-01 -3.26916161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.42, Z:-0.04 [[ 9.86956570e-01 1.60235715e-01 1.55320616e-02 1.40109279e+01] [-1.60225354e-01 9.87078599e-01 -1.91727192e-03 -1.42295662e+00] [-1.56385810e-02 -5.96365944e-04 9.99877532e-01 -3.79746708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.42, Z:-0.04 [[ 9.87209891e-01 1.58942142e-01 1.24107496e-02 1.40430605e+01] [-1.58935401e-01 9.87287793e-01 -1.53388563e-03 -1.42430110e+00] [-1.24967806e-02 -4.58240406e-04 9.99921807e-01 -3.86750949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.42, Z:-0.04 [[ 9.87456940e-01 1.57392220e-01 1.25092590e-02 1.40750920e+01] [-1.57385219e-01 9.87536073e-01 -1.54826601e-03 -1.42386710e+00] [-1.25970295e-02 -4.39926448e-04 9.99920558e-01 -3.83063285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.42, Z:-0.04 [[ 9.87805897e-01 1.54868479e-01 1.59769563e-02 1.41078912e+01] [-1.54856685e-01 9.87934960e-01 -1.98022216e-03 -1.42261766e+00] [-1.60908677e-02 -5.18063371e-04 9.99870399e-01 -3.67465674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.42, Z:-0.04 [[ 9.88100105e-01 1.52598884e-01 1.92811675e-02 1.41399987e+01] [-1.52581216e-01 9.88288038e-01 -2.39280434e-03 -1.42355656e+00] [-1.94204865e-02 -5.77613769e-04 9.99811238e-01 -3.53720221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.43, Z:-0.04 [[ 9.88424618e-01 1.50357666e-01 2.02323236e-02 1.41730371e+01] [-1.50337681e-01 9.88631510e-01 -2.51387403e-03 -1.42904055e+00] [-2.03802928e-02 -5.56905627e-04 9.99792145e-01 -3.56293626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.21, Y:-1.44, Z:-0.04 [[ 9.89006224e-01 1.46385662e-01 2.09267038e-02 1.42054676e+01] [-1.46363300e-01 9.89227477e-01 -2.60452636e-03 -1.43808249e+00] [-2.10825357e-02 -4.87008640e-04 9.99777620e-01 -3.64211963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-1.45, Z:-0.04 [[ 9.89612609e-01 1.42275225e-01 2.06069219e-02 1.42378899e+01] [-1.42252565e-01 9.89827060e-01 -2.56886783e-03 -1.44633975e+00] [-2.07627751e-02 -3.89203486e-04 9.99784355e-01 -3.74828639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.27, Y:-1.45, Z:-0.04 [[ 9.90743387e-01 1.33971814e-01 2.18882227e-02 1.42703560e+01] [-1.33944115e-01 9.90985117e-01 -2.73332542e-03 -1.44996135e+00] [-2.20570915e-02 -2.23774525e-04 9.99756688e-01 -3.72705183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-1.45, Z:-0.04 [[ 9.91090442e-01 1.31245950e-01 2.26767967e-02 1.43032391e+01] [-1.31215394e-01 9.91349824e-01 -2.83665053e-03 -1.45467468e+00] [-2.28529373e-02 -1.64167593e-04 9.99738824e-01 -3.74836563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.46, Z:-0.04 [[ 9.91445170e-01 1.28361774e-01 2.36586262e-02 1.43352700e+01] [-1.28327575e-01 9.91727405e-01 -2.96445687e-03 -1.46325886e+00] [-2.38434309e-02 -9.69576741e-05 9.99715700e-01 -3.74082261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.47, Z:-0.04 [[ 9.91618568e-01 1.27147842e-01 2.29355801e-02 1.43671741e+01] [-1.27115271e-01 9.91883775e-01 -2.87844772e-03 -1.47346730e+00] [-2.31154182e-02 -6.11402650e-05 9.99732801e-01 -3.76005037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.48, Z:-0.04 [[ 9.91756334e-01 1.26289603e-01 2.16866294e-02 1.43993049e+01] [-1.26260185e-01 9.91993415e-01 -2.72595176e-03 -1.48251000e+00] [-2.18572530e-02 -3.46779184e-05 9.99761101e-01 -3.84191503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.49, Z:-0.04 [[ 9.91731238e-01 1.27110996e-01 1.76619879e-02 1.44319602e+01] [-1.27091561e-01 9.91888498e-01 -2.22303532e-03 -1.48713948e+00] [-1.78012949e-02 -4.00360472e-05 9.99841544e-01 -4.21078213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.49, Z:-0.04 [[ 9.91701171e-01 1.27345422e-01 1.76615359e-02 1.44652189e+01] [-1.27325961e-01 9.91858428e-01 -2.22662056e-03 -1.49124968e+00] [-1.78012932e-02 -4.06298228e-05 9.99841544e-01 -4.26874739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.50, Z:-0.05 [[ 9.91523191e-01 1.28764165e-01 1.73652249e-02 1.44975271e+01] [-1.28745497e-01 9.91675242e-01 -2.19335795e-03 -1.49801889e+00] [-1.75030895e-02 -6.09292426e-05 9.99846807e-01 -4.53716082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.51, Z:-0.04 [[ 9.91559300e-01 1.28514286e-01 1.71532428e-02 1.45301644e+01] [-1.28495974e-01 9.91707656e-01 -2.17007532e-03 -1.50592147e+00] [-1.72898879e-02 -5.23642820e-05 9.99850517e-01 -4.48357081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.51, Z:-0.04 [[ 9.91569450e-01 1.28352547e-01 1.77665500e-02 1.45623999e+01] [-1.28332808e-01 9.91728603e-01 -2.25147067e-03 -1.51205168e+00] [-1.79085778e-02 -4.75417083e-05 9.99839627e-01 -4.33656641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-1.52, Z:-0.04 [[ 9.91737162e-01 1.27155978e-01 1.69929343e-02 1.45955305e+01] [-1.27137686e-01 9.91882733e-01 -2.15682064e-03 -1.51561627e+00] [-1.71292508e-02 -2.14431696e-05 9.99853283e-01 -4.28504567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-1.52, Z:-0.04 [[ 9.92040872e-01 1.24897188e-01 1.59875145e-02 1.46279169e+01] [-1.24880653e-01 9.92169689e-01 -2.03231068e-03 -1.51926590e+00] [-1.61161572e-02 1.96040005e-05 9.99870126e-01 -4.33282377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:-1.53, Z:-0.04 [[ 9.92828948e-01 1.17905700e-01 1.97211800e-02 1.46594207e+01] [-1.17879064e-01 9.93024782e-01 -2.51178966e-03 -1.53098763e+00] [-1.98797748e-02 1.69063254e-04 9.99802363e-01 -4.40512410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.69, Y:-1.54, Z:-0.04 [[ 9.93783940e-01 1.08772601e-01 2.37065761e-02 1.46913520e+01] [-1.08731377e-01 9.94066566e-01 -3.02490315e-03 -1.54392092e+00] [-2.38949413e-02 4.28451519e-04 9.99714383e-01 -4.32032279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:-1.55, Z:-0.04 [[ 9.94310079e-01 1.04069867e-01 2.27360822e-02 1.47233112e+01] [-1.04030579e-01 9.94569850e-01 -2.90722675e-03 -1.55209625e+00] [-2.29151766e-02 5.25437072e-04 9.99737275e-01 -4.35007350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:-1.58, Z:-0.04 [[ 0.99453644 0.10298363 0.01707771 14.75135483] [-0.10330919 0.99445965 0.01942204 -1.57844168] [-0.01498294 -0.02108021 0.99966551 -0.04314622] [ 0. 0. 0. 1. ]] SLAMing on 13.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.56, Z:-0.04 [[ 9.94479968e-01 1.03847359e-01 1.50106605e-02 1.47864807e+01] [-1.03829136e-01 9.94593157e-01 -1.99037753e-03 -1.56346129e+00] [-1.51361957e-02 4.20846670e-04 9.99885353e-01 -4.34734829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.55, Z:-0.04 [[ 0.99431184 0.10415078 0.02228405 14.82123297] [-0.10360396 0.99431855 -0.0244302 -1.55254162] [-0.02470187 0.02198252 0.99945314 -0.04264494] [ 0. 0. 0. 1. ]] SLAMing on 13.982320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.58, Z:-0.04 [[ 9.94261110e-01 1.04010916e-01 2.50314613e-02 1.48520255e+01] [-1.03962225e-01 9.94575961e-01 -3.24231431e-03 -1.57558405e+00] [-2.52329258e-02 6.21380607e-04 9.99681406e-01 -4.35785591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.58, Z:-0.04 [[ 9.93955153e-01 1.05463237e-01 3.05067242e-02 1.48841633e+01] [-1.05391243e-01 9.94422939e-01 -3.96285131e-03 -1.58254922e+00] [-3.07545214e-02 7.23754907e-04 9.99526706e-01 -3.94559966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.59, Z:-0.04 [[ 9.93711043e-01 1.07421935e-01 3.16052481e-02 1.49167366e+01] [-1.07345119e-01 9.94213273e-01 -4.12220122e-03 -1.58721112e+00] [-3.18651720e-02 7.03607758e-04 9.99491929e-01 -3.91194473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.59, Z:-0.04 [[ 9.93497342e-01 1.09605996e-01 3.08148975e-02 1.49488203e+01] [-1.09533536e-01 9.93974911e-01 -4.03484029e-03 -1.59262849e+00] [-3.10714777e-02 6.33338416e-04 9.99516964e-01 -4.03231162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.60, Z:-0.04 [[ 9.93284983e-01 1.11845134e-01 2.95906864e-02 1.49813161e+01] [-1.11778865e-01 9.93725494e-01 -3.88949188e-03 -1.59912627e+00] [-2.98400402e-02 5.55760525e-04 9.99554532e-01 -4.29396682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.60, Z:-0.04 [[ 9.93259867e-01 1.12068370e-01 2.95891252e-02 1.50145405e+01] [-1.12001848e-01 9.93700340e-01 -3.90133870e-03 -1.60341711e+00] [-2.98399404e-02 5.61006467e-04 9.99554532e-01 -4.35576894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.61, Z:-0.05 [[ 9.92912528e-01 1.15585108e-01 2.76549193e-02 1.50467680e+01] [-1.15528118e-01 9.93297485e-01 -3.65508990e-03 -1.60922127e+00] [-2.78920357e-02 4.34263780e-04 9.99610847e-01 -4.57872264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.61, Z:-0.05 [[ 9.92394757e-01 1.20184620e-01 2.66139658e-02 1.50796869e+01] [-1.20133129e-01 9.92751511e-01 -3.53106131e-03 -1.61259651e+00] [-2.68454341e-02 3.06987728e-04 9.99639549e-01 -4.68710188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.61, Z:-0.05 [[ 9.91691296e-01 1.26074807e-01 2.55639745e-02 1.51129725e+01] [-1.26028915e-01 9.92020725e-01 -3.40491427e-03 -1.61395591e+00] [-2.57892664e-02 1.54823864e-04 9.99667390e-01 -4.78408774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.61, Z:-0.05 [[ 9.90847681e-01 1.32620694e-01 2.51520308e-02 1.51460511e+01] [-1.32578037e-01 9.91166864e-01 -3.36338265e-03 -1.61462786e+00] [-2.53759136e-02 -2.00698821e-06 9.99677980e-01 -4.82060679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.61, Z:-0.05 [[ 9.89091885e-01 1.45121206e-01 2.52404278e-02 1.51798630e+01] [-1.45082015e-01 9.89413836e-01 -3.38685713e-03 -1.61232996e+00] [-2.54647333e-02 -3.12019223e-04 9.99675672e-01 -4.79983199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.61, Z:-0.05 [[ 9.88253868e-01 1.50560918e-01 2.61859149e-02 1.52135127e+01] [-1.50520408e-01 9.88600626e-01 -3.52260870e-03 -1.61275875e+00] [-2.64177790e-02 -4.60282919e-04 9.99650884e-01 -4.94052357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.61, Z:-0.05 [[ 9.87631770e-01 1.55026301e-01 2.34591646e-02 1.52466962e+01] [-1.54994768e-01 9.87910213e-01 -3.16757825e-03 -1.61259780e+00] [-2.36666063e-02 -5.07646869e-04 9.99719778e-01 -5.17722063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.61, Z:-0.05 [[ 9.87212465e-01 1.58070242e-01 2.06239716e-02 1.52802060e+01] [-1.58046345e-01 9.87427743e-01 -2.79387236e-03 -1.61182596e+00] [-2.08063098e-02 -5.01397704e-04 9.99783400e-01 -5.37483315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.61, Z:-0.05 [[ 9.86967879e-01 1.59470418e-01 2.15311916e-02 1.53135444e+01] [-1.59444606e-01 9.87202555e-01 -2.92130437e-03 -1.61108354e+00] [-2.17215090e-02 -5.49798778e-04 9.99763909e-01 -5.45308371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:-1.61, Z:-0.05 [[ 9.87037060e-01 1.58799324e-01 2.32511625e-02 1.53467092e+01] [-1.58768919e-01 9.87310714e-01 -3.15972231e-03 -1.61165812e+00] [-2.34578836e-02 -5.72798924e-04 9.99724662e-01 -5.28856578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.61, Z:-0.05 [[ 9.87323695e-01 1.56670009e-01 2.54249899e-02 1.53794822e+01] [-1.56632805e-01 9.87650843e-01 -3.46065813e-03 -1.61326281e+00] [-2.56531941e-02 -5.65597710e-04 9.99670743e-01 -5.07726285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.62, Z:-0.05 [[ 9.87803678e-01 1.53265123e-01 2.74535061e-02 1.54119955e+01] [-1.53220265e-01 9.88184974e-01 -3.74270564e-03 -1.61589710e+00] [-2.77027684e-02 -5.09375082e-04 9.99616075e-01 -4.87430365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.62, Z:-0.05 [[ 9.88414374e-01 1.49146385e-01 2.81492653e-02 1.54451241e+01] [-1.49097386e-01 9.88815047e-01 -3.84346577e-03 -1.61936139e+00] [-2.84076562e-02 -3.98045058e-04 9.99596342e-01 -4.85313265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.62, Z:-0.05 [[ 9.89678908e-01 1.40664763e-01 2.73694010e-02 1.54776448e+01] [-1.40614954e-01 9.90057273e-01 -3.74567706e-03 -1.62355456e+00] [-2.76241593e-02 -1.41529488e-04 9.99618370e-01 -5.10051281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.63, Z:-0.05 [[ 9.90285839e-01 1.36193421e-01 2.80233693e-02 1.55099697e+01] [-1.36139063e-01 9.90682266e-01 -3.84750380e-03 -1.62829915e+00] [-2.82862597e-02 -4.94671593e-06 9.99599864e-01 -5.29821289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.63, Z:-0.05 [[ 9.90707218e-01 1.32661703e-01 3.00013575e-02 1.55430477e+01] [-1.32597463e-01 9.91161369e-01 -4.12953656e-03 -1.63216106e+00] [-3.02840180e-02 1.13057791e-04 9.99541328e-01 -5.36807724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.64, Z:-0.05 [[ 9.91134732e-01 1.29105149e-01 3.13656438e-02 1.55761791e+01] [-1.29032597e-01 9.91630878e-01 -4.33479737e-03 -1.63712506e+00] [-3.16627856e-02 2.49177760e-04 9.99498577e-01 -5.39851632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.64, Z:-0.05 [[ 9.91411972e-01 1.26435726e-01 3.34112115e-02 1.56083603e+01] [-1.26351260e-01 9.91974731e-01 -4.63596393e-03 -1.64296899e+00] [-3.37292290e-02 3.74601460e-04 9.99430937e-01 -5.33841793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.65, Z:-0.05 [[ 9.91645486e-01 1.24378782e-01 3.41928239e-02 1.56405553e+01] [-1.24288463e-01 9.92234697e-01 -4.76267577e-03 -1.64994948e+00] [-3.45196821e-02 4.73112385e-04 9.99403906e-01 -5.27261381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.66, Z:-0.05 [[ 9.92049858e-01 1.21587125e-01 3.24599730e-02 1.56732322e+01] [-1.21503698e-01 9.92580606e-01 -4.53779171e-03 -1.65808253e+00] [-3.27708767e-02 5.57708882e-04 9.99462735e-01 -5.44254523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.66, Z:-0.06 [[ 9.92072744e-01 1.21585209e-01 3.17601616e-02 1.57058260e+01] [-1.21504816e-01 9.92580839e-01 -4.45629569e-03 -1.66338165e+00] [-3.20663475e-02 5.61956910e-04 9.99485584e-01 -5.63674570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.67, Z:-0.06 [[ 9.91958953e-01 1.22325282e-01 3.24647568e-02 1.57382972e+01] [-1.22241114e-01 9.92489901e-01 -4.57233803e-03 -1.66967295e+00] [-3.27802558e-02 5.67043624e-04 9.99462422e-01 -5.77374609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.68, Z:-0.06 [[ 9.91850581e-01 1.23265326e-01 3.22193082e-02 1.57708804e+01] [-1.23182375e-01 9.92373598e-01 -4.55455101e-03 -1.67700851e+00] [-3.25350091e-02 5.48583155e-04 9.99470446e-01 -5.81652440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.68, Z:-0.06 [[ 9.91693232e-01 1.24416809e-01 3.26341928e-02 1.58027990e+01] [-1.24331764e-01 9.92229899e-01 -4.63037445e-03 -1.68434438e+00] [-3.29567182e-02 5.34444236e-04 9.99456637e-01 -5.90915947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.69, Z:-0.06 [[ 9.91617656e-01 1.25719045e-01 2.98185473e-02 1.58350011e+01] [-1.25648189e-01 9.92065778e-01 -4.24565360e-03 -1.69065865e+00] [-3.01157198e-02 4.63418607e-04 9.99546311e-01 -6.00368217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.70, Z:-0.06 [[ 9.91572725e-01 1.26893295e-01 2.61078968e-02 1.58668761e+01] [-1.26839058e-01 9.91916298e-01 -3.72977034e-03 -1.69758307e+00] [-2.63701312e-02 3.86837487e-04 9.99652173e-01 -6.26113932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.71, Z:-0.07 [[ 9.91670330e-01 1.27030235e-01 2.12902603e-02 1.58976064e+01] [-1.26994020e-01 9.91898793e-01 -3.04998232e-03 -1.71244678e+00] [-2.15052235e-02 3.20841223e-04 9.99768684e-01 -6.53708646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.72, Z:-0.06 [[ 9.91844624e-01 1.25834046e-01 2.02493117e-02 1.59300965e+01] [-1.25800946e-01 9.92051249e-01 -2.90527923e-03 -1.72182299e+00] [-2.04539380e-02 3.34203008e-04 9.99790740e-01 -6.49661196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.73, Z:-0.06 [[ 9.91671328e-01 1.26751618e-01 2.28474329e-02 1.59623989e+01] [-1.26709605e-01 9.91934422e-01 -3.28311380e-03 -1.72796584e+00] [-2.30792951e-02 3.60780628e-04 9.99733572e-01 -6.33256633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.73, Z:-0.06 [[ 9.91239650e-01 1.29569669e-01 2.56058010e-02 1.59949139e+01] [-1.29517630e-01 9.91570263e-01 -3.68745803e-03 -1.73113847e+00] [-2.58677335e-02 3.38751956e-04 9.99665317e-01 -6.17773784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.73, Z:-0.06 [[ 9.90503417e-01 1.34552876e-01 2.82578334e-02 1.60279503e+01] [-1.34491066e-01 9.90906385e-01 -4.08536851e-03 -1.73427168e+00] [-2.85505656e-02 2.46145339e-04 9.99592319e-01 -6.14142826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.74, Z:-0.06 [[ 9.89651577e-01 1.40572958e-01 2.87923591e-02 1.60608660e+01] [-1.40510876e-01 9.90070318e-01 -4.17831322e-03 -1.73933132e+00] [-2.90938180e-02 8.94346557e-05 9.99576681e-01 -6.22378257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.74, Z:-0.06 [[ 9.88570010e-01 1.48435086e-01 2.63886638e-02 1.60933218e+01] [-1.48385374e-01 9.88922146e-01 -3.84303686e-03 -1.74470076e+00] [-2.66667756e-02 -1.16580777e-04 9.99644372e-01 -6.44656743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.75, Z:-0.07 [[ 9.87572112e-01 1.55406726e-01 2.34536528e-02 1.61263724e+01] [-1.55369145e-01 9.87850536e-01 -3.42732907e-03 -1.74879374e+00] [-2.37013335e-02 -2.59239369e-04 9.99719050e-01 -6.62597312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.16, Y:-1.75, Z:-0.07 [[ 9.86468121e-01 1.62421913e-01 2.23555103e-02 1.61595463e+01] [-1.62389301e-01 9.86721321e-01 -3.27863087e-03 -1.75135375e+00] [-2.25911802e-02 -3.96030873e-04 9.99744708e-01 -6.73415065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.19, Y:-1.76, Z:-0.07 [[ 9.84974024e-01 1.70973524e-01 2.43767673e-02 1.61926705e+01] [-1.70937062e-01 9.85275420e-01 -3.58721812e-03 -1.75508210e+00] [-2.46311489e-02 -6.33576312e-04 9.99696406e-01 -6.75329558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.76, Z:-0.07 [[ 9.84676639e-01 1.72654741e-01 2.45409138e-02 1.62253179e+01] [-1.72618131e-01 9.84982176e-01 -3.61849288e-03 -1.76124317e+00] [-2.47971126e-02 -6.73161255e-04 9.99692278e-01 -6.70154018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.77, Z:-0.07 [[ 9.84806973e-01 1.71812585e-01 2.52123188e-02 1.62574797e+01] [-1.71773319e-01 9.85129436e-01 -3.73120162e-03 -1.76665442e+00] [-2.54784648e-02 -6.56290300e-04 9.99675156e-01 -6.66392755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.77, Z:-0.07 [[ 9.85078217e-01 1.70274968e-01 2.50467853e-02 1.62898937e+01] [-1.70235382e-01 9.85396406e-01 -3.72005853e-03 -1.77019375e+00] [-2.53144450e-02 -5.99300423e-04 9.99679358e-01 -6.69842834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.77, Z:-0.07 [[ 9.85463138e-01 1.68280618e-01 2.33245846e-02 1.63223359e+01] [-1.68245451e-01 9.85739004e-01 -3.47613383e-03 -1.77317073e+00] [-2.35769188e-02 -4.98653499e-04 9.99721901e-01 -6.90652888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.78, Z:-0.07 [[ 9.85759568e-01 1.66617616e-01 2.27298045e-02 1.63550381e+01] [-1.66583499e-01 9.86021491e-01 -3.39957669e-03 -1.77696730e+00] [-2.29785051e-02 -4.35245112e-04 9.99735865e-01 -7.18345457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.78, Z:-0.07 [[ 9.85864391e-01 1.66046534e-01 2.23596060e-02 1.63874530e+01] [-1.66013102e-01 9.86117836e-01 -3.35619068e-03 -1.78177771e+00] [-2.26064901e-02 -4.03238664e-04 9.99744359e-01 -7.28395045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.79, Z:-0.07 [[ 9.85846902e-01 1.66082299e-01 2.28595009e-02 1.64205107e+01] [-1.66047107e-01 9.86111813e-01 -3.44235799e-03 -1.78673469e+00] [-2.31137386e-02 -4.02116036e-04 9.99732761e-01 -7.22093698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.78, Z:-0.07 [[ 9.85472405e-01 1.68099611e-01 2.42210589e-02 1.64542433e+01] [-1.68060583e-01 9.85769902e-01 -3.65260358e-03 -1.78414069e+00] [-2.44903921e-02 -4.71065254e-04 9.99699954e-01 -6.86761283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.78, Z:-0.07 [[ 9.85300606e-01 1.69385302e-01 2.21660592e-02 1.64878517e+01] [-1.69352846e-01 9.85549802e-01 -3.34695881e-03 -1.78439580e+00] [-2.24126808e-02 -4.56124662e-04 9.99748700e-01 -7.03206529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.79, Z:-0.07 [[ 9.85183141e-01 1.70482817e-01 1.87026016e-02 1.65202915e+01] [-1.70459848e-01 9.85360567e-01 -2.82724828e-03 -1.78723753e+00] [-1.89108034e-02 -4.02685289e-04 9.99821094e-01 -7.25162676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.79, Z:-0.07 [[ 9.85303963e-01 1.69762341e-01 1.88904360e-02 1.65531899e+01] [-1.69738701e-01 9.85484955e-01 -2.85955802e-03 -1.79330825e+00] [-1.91016857e-02 -3.88904212e-04 9.99817471e-01 -7.49571101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.80, Z:-0.08 [[ 9.85440604e-01 1.68727744e-01 2.09228389e-02 1.65855545e+01] [-1.68698410e-01 9.85662612e-01 -3.17193496e-03 -1.79954757e+00] [-2.11580535e-02 -4.03896155e-04 9.99776062e-01 -7.51394619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.80, Z:-0.07 [[ 9.85845277e-01 1.65905140e-01 2.41779900e-02 1.66185612e+01] [-1.65864981e-01 9.86141639e-01 -3.67105145e-03 -1.80421620e+00] [-2.44519690e-02 -3.91193118e-04 9.99700929e-01 -7.31472430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.81, Z:-0.07 [[ 9.86719728e-01 1.60236420e-01 2.66170687e-02 1.66512808e+01] [-1.60185525e-01 9.87078627e-01 -4.04731725e-03 -1.80653638e+00] [-2.69216672e-02 -2.70101343e-04 9.99637510e-01 -7.07703947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.81, Z:-0.07 [[ 9.87214291e-01 1.57330846e-01 2.55919696e-02 1.66833981e+01] [-1.57282619e-01 9.87545935e-01 -3.89921187e-03 -1.81241663e+00] [-2.58867119e-02 -1.75814336e-04 9.99664867e-01 -7.23848677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.82, Z:-0.08 [[ 9.87788598e-01 1.54202731e-01 2.22531655e-02 1.67158469e+01] [-1.54165225e-01 9.88039226e-01 -3.40154229e-03 -1.81959447e+00] [-2.25115276e-02 -7.06595843e-05 9.99746581e-01 -7.52625661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.83, Z:-0.08 [[ 9.88253199e-01 1.51516708e-01 1.99575041e-02 1.67480498e+01] [-1.51485804e-01 9.88454697e-01 -3.06004867e-03 -1.82611943e+00] [-2.01907372e-02 8.24322058e-07 9.99796146e-01 -7.82340522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.83, Z:-0.08 [[ 9.88532222e-01 1.49920744e-01 1.81057253e-02 1.67803113e+01] [-1.49894979e-01 9.88698017e-01 -2.77956278e-03 -1.83185183e+00] [-1.83178089e-02 3.37300454e-05 9.99832214e-01 -7.99951413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.84, Z:-0.08 [[ 9.88677094e-01 1.48959112e-01 1.81324548e-02 1.68128821e+01] [-1.48933040e-01 9.88843355e-01 -2.78746391e-03 -1.83728542e+00] [-1.83453756e-02 5.53801040e-05 9.99831708e-01 -7.95345260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.84, Z:-0.08 [[ 9.88590031e-01 1.49293341e-01 2.00311930e-02 1.68459019e+01] [-1.49261498e-01 9.88792948e-01 -3.08390116e-03 -1.84311503e+00] [-2.02671082e-02 5.88280725e-05 9.99794599e-01 -7.81618652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.85, Z:-0.07 [[ 9.88179989e-01 1.51329719e-01 2.44872511e-02 1.68787952e+01] [-1.51282608e-01 9.88483341e-01 -3.77585642e-03 -1.84682072e+00] [-2.47766390e-02 2.67305545e-05 9.99693012e-01 -7.43953211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.85, Z:-0.07 [[ 9.87715891e-01 1.54143962e-01 2.56311638e-02 1.69117122e+01] [-1.54093150e-01 9.88048398e-01 -3.95774863e-03 -1.84956762e+00] [-2.59348934e-02 -4.04555665e-05 9.99663633e-01 -7.48257771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.85, Z:-0.08 [[ 9.87074156e-01 1.58067130e-01 2.64460237e-02 1.69449382e+01] [-1.58014285e-01 9.87428358e-01 -4.08944675e-03 -1.85279811e+00] [-2.67599609e-02 -1.42262326e-04 9.99641878e-01 -7.54875334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.86, Z:-0.08 [[ 9.86142807e-01 1.63550971e-01 2.78108513e-02 1.69780978e+01] [-1.63494428e-01 9.86534841e-01 -4.31043067e-03 -1.85652991e+00] [-2.81413489e-02 -2.96219036e-04 9.99603910e-01 -7.67793449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.86, Z:-0.08 [[ 9.85418960e-01 1.67686765e-01 2.88205068e-02 1.70111055e+01] [-1.67627334e-01 9.85840240e-01 -4.48318382e-03 -1.86081866e+00] [-2.91641859e-02 -4.13290381e-04 9.99574549e-01 -7.83981990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.86, Z:-0.08 [[ 9.84993440e-01 1.70153152e-01 2.89106872e-02 1.70435241e+01] [-1.70093944e-01 9.85417517e-01 -4.51312969e-03 -1.86487093e+00] [-2.92570208e-02 -4.72129657e-04 9.99571810e-01 -7.86915469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.87, Z:-0.08 [[ 9.84774152e-01 1.71741558e-01 2.69203859e-02 1.70762158e+01] [-1.71690430e-01 9.85141927e-01 -4.21660344e-03 -1.86861571e+00] [-2.72445669e-02 -4.69570541e-04 9.99628688e-01 -8.01544637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.87, Z:-0.08 [[ 9.84733412e-01 1.71975291e-01 2.69185214e-02 1.71093279e+01] [-1.71923925e-01 9.85101154e-01 -4.22847713e-03 -1.87373379e+00] [-2.72446601e-02 -4.64015127e-04 9.99628688e-01 -8.07723719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.88, Z:-0.08 [[ 9.84649786e-01 1.72527460e-01 2.64400022e-02 1.71419341e+01] [-1.72477865e-01 9.85004600e-01 -4.16220082e-03 -1.87622988e+00] [-2.67616178e-02 -4.62004982e-04 9.99641737e-01 -8.06434760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.88, Z:-0.08 [[ 9.84749246e-01 1.72247507e-01 2.44891536e-02 1.71749602e+01] [-1.72204559e-01 9.85053618e-01 -3.86785429e-03 -1.87828892e+00] [-2.47893576e-02 -4.08277298e-04 9.99692613e-01 -8.06197074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.88, Z:-0.08 [[ 9.85316358e-01 1.68973255e-01 2.44890574e-02 1.72081400e+01] [-1.68929016e-01 9.85620586e-01 -3.87911892e-03 -1.87888513e+00] [-2.47923865e-02 -3.14753048e-04 9.99692572e-01 -8.10409035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:-1.88, Z:-0.08 [[ 9.85422607e-01 1.68458497e-01 2.37491185e-02 1.72409039e+01] [-1.68416625e-01 9.85708705e-01 -3.76675703e-03 -1.88186330e+00] [-2.40442551e-02 -2.87898850e-04 9.99710854e-01 -8.30223050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.88, Z:-0.09 [[ 9.85387777e-01 1.68781113e-01 2.28880728e-02 1.72736458e+01] [-1.68742202e-01 9.85653518e-01 -3.63484561e-03 -1.88450100e+00] [-2.31732027e-02 -2.80451354e-04 9.99731426e-01 -8.51847024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.89, Z:-0.09 [[ 9.85213053e-01 1.69708923e-01 2.35397895e-02 1.73068799e+01] [-1.69667909e-01 9.85494185e-01 -3.74336575e-03 -1.88654605e+00] [-2.38336082e-02 -3.05934072e-04 9.99715892e-01 -8.57221888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.89, Z:-0.09 [[ 9.84861779e-01 1.71570422e-01 2.47157211e-02 1.73400812e+01] [-1.71525660e-01 9.85171791e-01 -3.93570115e-03 -1.89004554e+00] [-2.50244812e-02 -3.63258747e-04 9.99686773e-01 -8.58636745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.90, Z:-0.08 [[ 9.84697649e-01 1.72476984e-01 2.49445585e-02 1.73720841e+01] [-1.72431547e-01 9.85013473e-01 -3.97737424e-03 -1.90010729e+00] [-2.52567317e-02 -3.84717747e-04 9.99680924e-01 -8.47425439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.91, Z:-0.09 [[ 9.84880141e-01 1.71586432e-01 2.38580070e-02 1.74038522e+01] [-1.71544491e-01 9.85169011e-01 -3.80891619e-03 -1.90871295e+00] [-2.41577275e-02 -3.41383751e-04 9.99708101e-01 -8.60572381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.91, Z:-0.09 [[ 9.84987109e-01 1.70913226e-01 2.42706607e-02 1.74362775e+01] [-1.70869490e-01 9.85286031e-01 -3.87993707e-03 -1.91487525e+00] [-2.45766756e-02 -3.25427436e-04 9.99697895e-01 -8.74699223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.92, Z:-0.09 [[ 9.84851409e-01 1.71552606e-01 2.52468759e-02 1.74690501e+01] [-1.71505353e-01 9.85174899e-01 -4.04143221e-03 -1.91862634e+00] [-2.55659066e-02 -3.49764142e-04 9.99673078e-01 -8.80794907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.92, Z:-0.09 [[ 9.84439321e-01 1.73762102e-01 2.61907376e-02 1.75015860e+01] [-1.73711881e-01 9.84787570e-01 -4.19811805e-03 -1.92177590e+00] [-2.65217866e-02 -4.16849817e-04 9.99648149e-01 -8.75777981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.93, Z:-0.09 [[ 9.83621227e-01 1.77910660e-01 2.89323338e-02 1.75343695e+01] [-1.77850977e-01 9.84046474e-01 -4.64398351e-03 -1.92579799e+00] [-2.92969752e-02 -5.77723074e-04 9.99570585e-01 -8.57925690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.93, Z:-0.08 [[ 9.81958481e-01 1.86504709e-01 3.12015067e-02 1.75678133e+01] [-1.86439273e-01 9.82453665e-01 -5.01931306e-03 -1.92687846e+00] [-3.15901602e-02 -8.88429195e-04 9.99500511e-01 -8.19688968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.93, Z:-0.08 [[ 9.80896089e-01 1.91998378e-01 3.12967439e-02 1.76016089e+01] [-1.91934795e-01 9.81394679e-01 -5.05155358e-03 -1.92703322e+00] [-3.16843480e-02 -1.05188497e-03 9.99497371e-01 -8.36839813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.93, Z:-0.08 [[ 9.80852611e-01 1.92220695e-01 3.12947242e-02 1.76347019e+01] [-1.92156827e-01 9.81351165e-01 -5.06404015e-03 -1.93230656e+00] [-3.16845274e-02 -1.04641791e-03 9.99497372e-01 -8.43017687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.93, Z:-0.09 [[ 9.79649826e-01 1.98491903e-01 2.97856116e-02 1.76683558e+01] [-1.98436632e-01 9.80101819e-01 -4.82993969e-03 -1.93233642e+00] [-3.01516360e-02 -1.17890687e-03 9.99544641e-01 -9.18106765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.94, Z:-0.09 [[ 9.79621139e-01 1.98871049e-01 2.81554580e-02 1.77005365e+01] [-1.98821497e-01 9.80025032e-01 -4.57692387e-03 -1.93763777e+00] [-2.85032713e-02 -1.11425893e-03 9.99593078e-01 -9.43766245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.94, Z:-0.09 [[ 9.79952979e-01 1.97250344e-01 2.80082419e-02 1.77334834e+01] [-1.97200473e-01 9.80352583e-01 -4.55915107e-03 -1.94053041e+00] [-2.83572465e-02 -1.05548488e-03 9.99597295e-01 -9.40720173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.94, Z:-0.09 [[ 9.80587389e-01 1.94249761e-01 2.67470183e-02 1.77669041e+01] [-1.94203023e-01 9.80951673e-01 -4.35906391e-03 -1.94021636e+00] [-2.70842795e-02 -9.19908715e-04 9.99632730e-01 -9.28732243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.94, Z:-0.09 [[ 9.81151678e-01 1.91625967e-01 2.49173501e-02 1.78001409e+01] [-1.91584435e-01 9.81467714e-01 -4.06583469e-03 -1.93866820e+00] [-2.52346941e-02 -7.84575905e-04 9.99681247e-01 -9.29368811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.94, Z:-0.10 [[ 9.81697345e-01 1.89130162e-01 2.23630154e-02 1.78336272e+01] [-1.89095956e-01 9.81951816e-01 -3.65370674e-03 -1.93968617e+00] [-2.26504297e-02 -6.41921563e-04 9.99743240e-01 -9.55571276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.94, Z:-0.10 [[ 9.82030587e-01 1.87764874e-01 1.89810003e-02 1.78672362e+01] [-1.87739914e-01 9.82213870e-01 -3.10446609e-03 -1.94124054e+00] [-1.92263115e-02 -5.14810718e-04 9.99815025e-01 -1.00189357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.94, Z:-0.10 [[ 9.81801883e-01 1.88746518e-01 2.09717564e-02 1.79002752e+01] [-1.88716175e-01 9.82025666e-01 -3.43458148e-03 -1.94175410e+00] [-2.12430683e-02 -5.85631084e-04 9.99774169e-01 -9.96685734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.94, Z:-0.10 [[ 9.81458191e-01 1.90250543e-01 2.33356058e-02 1.79328550e+01] [-1.90213316e-01 9.81735332e-01 -3.82517526e-03 -1.93905768e+00] [-2.36371304e-02 -6.84493374e-04 9.99720370e-01 -9.85151981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.94, Z:-0.10 [[ 9.81325799e-01 1.90795221e-01 2.44307345e-02 1.79663328e+01] [-1.90754502e-01 9.81629592e-01 -4.00811038e-03 -1.93568451e+00] [-2.47466602e-02 -7.27010476e-04 9.99693490e-01 -9.69314404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.93, Z:-0.10 [[ 9.81257726e-01 1.91268166e-01 2.34470332e-02 1.79995240e+01] [-1.91230722e-01 9.81537564e-01 -3.84980073e-03 -1.93495692e+00] [-2.37504882e-02 -7.06146381e-04 9.99717668e-01 -9.73581052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.94, Z:-0.10 [[ 9.81958126e-01 1.87570744e-01 2.39886546e-02 1.80318809e+01] [-1.87530366e-01 9.82250896e-01 -3.94206147e-03 -1.93663690e+00] [-2.43022928e-02 -6.27661867e-04 9.99704459e-01 -9.87817496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.94, Z:-0.10 [[ 9.83692384e-01 1.77813338e-01 2.70501582e-02 1.80638492e+01] [-1.77758191e-01 9.84064139e-01 -4.44917086e-03 -1.93886795e+00] [-2.74102126e-02 -4.31771714e-04 9.99624176e-01 -1.01056665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.94, Z:-0.10 [[ 9.85937536e-01 1.64695958e-01 2.83269441e-02 1.80963523e+01] [-1.64629941e-01 9.86344381e-01 -4.66319346e-03 -1.93645895e+00] [-2.87081312e-02 -6.58456620e-05 9.99587834e-01 -1.02303572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.94, Z:-0.10 [[ 9.88062305e-01 1.51805695e-01 2.62280783e-02 1.81295799e+01] [-1.51744445e-01 9.88410313e-01 -4.32163314e-03 -1.93972874e+00] [-2.65801516e-02 2.90077614e-04 9.99646643e-01 -9.96585631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.96, Z:-0.10 [[ 9.89062519e-01 1.45633372e-01 2.33721088e-02 1.81605702e+01] [-1.45582911e-01 9.89338543e-01 -3.85534023e-03 -1.95505605e+00] [-2.36843943e-02 4.10592892e-04 9.99719401e-01 -1.03961278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.97, Z:-0.11 [[ 9.90218645e-01 1.37500615e-01 2.36773298e-02 1.81911572e+01] [-1.37446389e-01 9.90501489e-01 -3.91036455e-03 -1.97056536e+00] [-2.39901080e-02 6.17752403e-04 9.99712005e-01 -1.05897269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.99, Z:-0.10 [[ 9.90622498e-01 1.34517762e-01 2.39173314e-02 1.82219470e+01] [-1.34461449e-01 9.90910934e-01 -3.95466035e-03 -1.98633451e+00] [-2.42319172e-02 7.01616473e-04 9.99706118e-01 -1.03481975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:-2.00, Z:-0.10 [[ 9.89837284e-01 1.38823123e-01 3.08268140e-02 1.82528529e+01] [-1.38731430e-01 9.90316888e-01 -5.10405597e-03 -2.00008654e+00] [-3.12368755e-02 7.75536915e-04 9.99511709e-01 -1.02171653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:-2.01, Z:-0.11 [[ 9.88029262e-01 1.52652761e-01 2.22556024e-02 1.82846840e+01] [-1.52608397e-01 9.88279856e-01 -3.68837779e-03 -2.01095451e+00] [-2.25578046e-02 2.47833382e-04 9.99745510e-01 -1.08827695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:-2.01, Z:-0.11 [[ 9.86274229e-01 1.64057051e-01 1.86662838e-02 1.83174074e+01] [-1.64027814e-01 9.86450852e-01 -3.09714601e-03 -2.01298231e+00] [-1.89214802e-02 -7.15443142e-06 9.99820973e-01 -1.05396697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:-2.02, Z:-0.11 [[ 9.85579960e-01 1.67986308e-01 2.03160717e-02 1.83495730e+01] [-1.67952405e-01 9.85789325e-01 -3.37586772e-03 -2.01774787e+00] [-2.05944662e-02 -8.49455361e-05 9.99787908e-01 -1.09564480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:-2.02, Z:-0.11 [[ 9.84951418e-01 1.71043842e-01 2.47933069e-02 1.83816653e+01] [-1.70994216e-01 9.85263403e-01 -4.12377741e-03 -2.02069377e+00] [-2.51332846e-02 -1.77791654e-04 9.99684093e-01 -1.07057424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:-2.02, Z:-0.11 [[ 9.83732186e-01 1.78442793e-01 2.07160800e-02 1.84150561e+01] [-1.78409726e-01 9.83950241e-01 -3.44851193e-03 -2.02422289e+00] [-2.09989540e-02 -3.03537981e-04 9.99779452e-01 -1.07756611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-2.04, Z:-0.11 [[ 9.83926949e-01 1.76912501e-01 2.42842835e-02 1.84462261e+01] [-1.76866398e-01 9.84226534e-01 -4.05046288e-03 -2.03693327e+00] [-2.46178137e-02 -3.09714154e-04 9.99696888e-01 -1.10814404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:-2.04, Z:-0.11 [[ 9.84702563e-01 1.72425469e-01 2.51061802e-02 1.84792291e+01] [-1.72374596e-01 9.85022547e-01 -4.19290770e-03 -2.04241520e+00] [-2.54531176e-02 -1.98900710e-04 9.99675997e-01 -1.05278432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:18.51, Y:-2.04, Z:-0.11 [[ 9.84386415e-01 1.73740648e-01 2.82413419e-02 1.85128163e+01] [-1.73676633e-01 9.84791410e-01 -4.72283212e-03 -2.04377399e+00] [-2.86323788e-02 -2.55769394e-04 9.99589977e-01 -1.06336492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:-2.05, Z:-0.11 [[ 9.84182811e-01 1.75003134e-01 2.75335768e-02 1.85453801e+01] [-1.74942625e-01 9.84567837e-01 -4.61009320e-03 -2.04837744e+00] [-2.79154549e-02 -2.79621731e-04 9.99610249e-01 -1.06843008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:-2.05, Z:-0.11 [[ 9.85780681e-01 1.66652701e-01 2.15250080e-02 1.85782992e+01] [-1.66613650e-01 9.86015657e-01 -3.60767650e-03 -2.05168970e+00] [-2.18252239e-02 -2.99823389e-05 9.99761801e-01 -1.10282687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-2.07, Z:-0.11 [[ 9.87792979e-01 1.53990907e-01 2.34910739e-02 1.86093748e+01] [-1.53940684e-01 9.88072226e-01 -3.94241721e-03 -2.06660900e+00] [-2.38179741e-02 2.78060068e-04 9.99716273e-01 -1.09730797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:-2.07, Z:-0.11 [[ 9.89229719e-01 1.44377621e-01 2.40762288e-02 1.86421004e+01] [-1.44321892e-01 9.89522523e-01 -4.04561376e-03 -2.07391869e+00] [-2.44080667e-02 5.27314476e-04 9.99701940e-01 -1.09922403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:-2.09, Z:-0.11 [[ 9.89737428e-01 1.40549820e-01 2.57986932e-02 1.86728363e+01] [-1.40484389e-01 9.90073380e-01 -4.34040727e-03 -2.08813201e+00] [-2.61526428e-02 6.71549867e-04 9.99657736e-01 -1.10673892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:-2.10, Z:-0.11 [[ 9.88837053e-01 1.46664006e-01 2.62859610e-02 1.87042437e+01] [-1.46598099e-01 9.89186228e-01 -4.42756567e-03 -2.10052211e+00] [-2.66510751e-02 5.24669068e-04 9.99644659e-01 -1.10292931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.11, Z:-0.11 [[ 9.87390695e-01 1.56106613e-01 2.62743356e-02 1.87361098e+01] [-1.56043956e-01 9.87740173e-01 -4.43103081e-03 -2.10829428e+00] [-2.66439300e-02 2.75207319e-04 9.99644950e-01 -1.11510638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-2.11, Z:-0.11 [[ 9.86132737e-01 1.64400838e-01 2.26845830e-02 1.87693826e+01] [-1.64356221e-01 9.86393614e-01 -3.83021392e-03 -2.11073212e+00] [-2.30056182e-02 4.87469966e-05 9.99735335e-01 -1.12351469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.11, Z:-0.12 [[ 9.84904306e-01 1.71970530e-01 1.97394220e-02 1.88028615e+01] [-1.71938194e-01 9.85102089e-01 -3.33649126e-03 -2.11216233e+00] [-2.00191240e-02 -1.07835959e-04 9.99799591e-01 -1.15000562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-2.11, Z:-0.11 [[ 9.84881763e-01 1.71508876e-01 2.43437478e-02 1.88356554e+01] [-1.71459407e-01 9.85182568e-01 -4.12063399e-03 -2.11421900e+00] [-2.46897613e-02 -1.15627299e-04 9.99695155e-01 -1.14609197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-2.12, Z:-0.11 [[ 9.85567425e-01 1.67239805e-01 2.62239865e-02 1.88682691e+01] [-1.67180734e-01 9.85916248e-01 -4.44464200e-03 -2.12026697e+00] [-2.65979755e-02 -3.65092971e-06 9.99646211e-01 -1.13332458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:-2.12, Z:-0.12 [[ 9.86256057e-01 1.62982645e-01 2.71228061e-02 1.89011932e+01] [-1.62917685e-01 9.86628929e-01 -4.60273007e-03 -2.12474957e+00] [-2.75103103e-02 1.20685630e-04 9.99621513e-01 -1.15534379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:-2.13, Z:-0.12 [[ 9.87677062e-01 1.54316603e-01 2.60846178e-02 1.89338949e+01] [-1.54253358e-01 9.88021387e-01 -4.43173462e-03 -2.12871645e+00] [-2.64560505e-02 3.53482740e-04 9.99649915e-01 -1.16799508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:18.97, Y:-2.14, Z:-0.12 [[ 9.88813005e-01 1.46732868e-01 2.68012377e-02 1.89654894e+01] [-1.46663164e-01 9.89175986e-01 -4.55895572e-03 -2.13803240e+00] [-2.71800894e-02 5.77200375e-04 9.99630386e-01 -1.15876614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-2.15, Z:-0.12 [[ 9.89781765e-01 1.40021172e-01 2.69467715e-02 1.89975495e+01] [-1.39948075e-01 9.90148210e-01 -4.58905093e-03 -2.14746244e+00] [-2.73238619e-02 7.71010133e-04 9.99626336e-01 -1.16908756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:-2.16, Z:-0.12 [[ 9.90179440e-01 1.37582956e-01 2.48114181e-02 1.90287996e+01] [-1.37520107e-01 9.90489943e-01 -4.22995017e-03 -2.16209416e+00] [-2.51574292e-02 7.76340815e-04 9.99683200e-01 -1.16372084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.17, Z:-0.12 [[ 9.89678324e-01 1.41064733e-01 2.52498868e-02 1.90606010e+01] [-1.41000649e-01 9.90000123e-01 -4.30962261e-03 -2.16944833e+00] [-2.56053268e-02 7.04889663e-04 9.99671881e-01 -1.16496468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-2.18, Z:-0.12 [[ 9.89390859e-01 1.43415383e-01 2.31895516e-02 1.90923158e+01] [-1.43361877e-01 9.89662404e-01 -3.96217703e-03 -2.18183314e+00] [-2.35180645e-02 5.95644075e-04 9.99723235e-01 -1.21333796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.20, Z:-0.12 [[ 9.89180636e-01 1.44872996e-01 2.30972867e-02 1.91232842e+01] [-1.44820190e-01 9.89450098e-01 -3.95167348e-03 -2.19703769e+00] [-2.34261034e-02 5.63965445e-04 9.99725412e-01 -1.22854933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.16, Y:-2.20, Z:-0.12 [[ 9.89129633e-01 1.45221031e-01 2.30959086e-02 1.91563458e+01] [-1.45168132e-01 9.89399077e-01 -3.95971339e-03 -2.20251914e+00] [-2.34261043e-02 5.63879937e-04 9.99725412e-01 -1.23473013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.19, Y:-2.21, Z:-0.12 [[ 9.88382939e-01 1.49876585e-01 2.52225095e-02 1.91883765e+01] [-1.49814788e-01 9.88704584e-01 -4.33289769e-03 -2.20885002e+00] [-2.55870107e-02 5.03857232e-04 9.99672472e-01 -1.21127483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.22, Y:-2.22, Z:-0.12 [[ 9.87129245e-01 1.57877679e-01 2.55047433e-02 1.92201993e+01] [-1.57817024e-01 9.87458630e-01 -4.38649924e-03 -2.21590248e+00] [-2.58774092e-02 3.04958998e-04 9.99665077e-01 -1.20995999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.25, Y:-2.22, Z:-0.12 [[ 9.85297348e-01 1.68935351e-01 2.54947758e-02 1.92522616e+01] [-1.68878240e-01 9.85627134e-01 -4.39241365e-03 -2.22289158e+00] [-2.58703767e-02 2.23206599e-05 9.99665306e-01 -1.21353510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:-2.23, Z:-0.12 [[ 9.83646273e-01 1.78694595e-01 2.25444123e-02 1.92854578e+01] [-1.78652259e-01 9.83904570e-01 -3.89449369e-03 -2.22623310e+00] [-2.28774753e-02 -1.96805988e-04 9.99738257e-01 -1.21753518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.32, Y:-2.23, Z:-0.12 [[ 9.82677536e-01 1.84282663e-01 1.96153302e-02 1.93184621e+01] [-1.84251600e-01 9.82873249e-01 -3.39483142e-03 -2.23135835e+00] [-1.99049919e-02 -2.78131411e-04 9.99801837e-01 -1.23976259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:-2.23, Z:-0.12 [[ 9.81960918e-01 1.87851558e-01 2.15533729e-02 1.93524144e+01] [-1.87814791e-01 9.82197357e-01 -3.73579162e-03 -2.23057895e+00] [-2.18714401e-02 -3.79640855e-04 9.99760719e-01 -1.23315549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.23, Z:-0.12 [[ 9.81496279e-01 1.89811600e-01 2.52311352e-02 1.93855873e+01] [-1.89761709e-01 9.81820410e-01 -4.37919969e-03 -2.23116957e+00] [-2.56036664e-02 -4.89735127e-04 9.99672052e-01 -1.21625555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.24, Z:-0.12 [[ 9.81460951e-01 1.90184996e-01 2.37501411e-02 1.94181527e+01] [-1.90140785e-01 9.81748161e-01 -4.12689546e-03 -2.23667730e+00] [-2.41015309e-02 -4.65483708e-04 9.99709408e-01 -1.23318858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.23, Z:-0.13 [[ 9.81418126e-01 1.90451332e-01 2.33827184e-02 1.94533981e+01] [-1.90408440e-01 9.81696531e-01 -4.06786400e-03 -2.22657937e+00] [-2.37294636e-02 -4.59991467e-04 9.99718311e-01 -1.25046726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:19.49, Y:-2.23, Z:-0.12 [[ 9.80947309e-01 1.92611223e-01 2.53632227e-02 1.94864954e+01] [-1.92561333e-01 9.81274994e-01 -4.41802734e-03 -2.22739923e+00] [-2.57392578e-02 -5.50123941e-04 9.99668539e-01 -1.23807193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-2.23, Z:-0.12 [[ 9.79915123e-01 1.97800215e-01 2.53264166e-02 1.95194682e+01] [-1.97752064e-01 9.80242119e-01 -4.41689445e-03 -2.23047025e+00] [-2.56996829e-02 -6.80169494e-04 9.99669477e-01 -1.23018584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-2.22, Z:-0.12 [[ 9.78450562e-01 2.04773063e-01 2.65045456e-02 1.95549295e+01] [-2.04722727e-01 9.78809065e-01 -4.62799045e-03 -2.21743870e+00] [-2.68905773e-02 -8.97823015e-04 9.99637980e-01 -1.24577409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.21, Z:-0.13 [[ 9.77661513e-01 2.08251835e-01 2.84453679e-02 1.95899475e+01] [-2.08195152e-01 9.78074664e-01 -4.97291737e-03 -2.21020437e+00] [-2.88573128e-02 -1.06035777e-03 9.99582979e-01 -1.27197621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:-2.22, Z:-0.13 [[ 9.79250765e-01 2.01232396e-01 2.39470792e-02 1.96216108e+01] [-2.01190016e-01 9.79543268e-01 -4.19096242e-03 -2.22373140e+00] [-2.43005576e-02 -7.13910097e-04 9.99704443e-01 -1.27449637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.22, Z:-0.13 [[ 9.80758211e-01 1.93762356e-01 2.38638136e-02 1.96548874e+01] [-1.93717936e-01 9.81048356e-01 -4.18145242e-03 -2.22045676e+00] [-2.42217632e-02 -5.21854910e-04 9.99706474e-01 -1.28685685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.21, Z:-0.13 [[ 9.80204743e-01 1.96034620e-01 2.77324766e-02 1.96893831e+01] [-1.95975416e-01 9.80596748e-01 -4.86354936e-03 -2.21191520e+00] [-2.81478004e-02 -6.67609497e-04 9.99603549e-01 -1.28861388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.21, Z:-0.13 [[ 9.79178821e-01 2.01212411e-01 2.68775479e-02 1.97214131e+01] [-2.01158650e-01 9.79547316e-01 -4.71722380e-03 -2.21415168e+00] [-2.72769939e-02 -7.87645638e-04 9.99627603e-01 -1.27360563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.22, Z:-0.13 [[ 9.78692797e-01 2.03515739e-01 2.72351324e-02 1.97536858e+01] [-2.03461325e-01 9.79071297e-01 -4.78372820e-03 -2.21619278e+00] [-2.76387004e-02 -8.59495795e-04 9.99617609e-01 -1.27458877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.22, Z:-0.13 [[ 9.79180166e-01 2.00960178e-01 2.86567408e-02 1.97849910e+01] [-2.00898723e-01 9.79599064e-01 -5.03745354e-03 -2.22458042e+00] [-2.90844441e-02 -8.24528054e-04 9.99576618e-01 -1.31001217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-2.23, Z:-0.13 [[ 9.80733448e-01 1.92905834e-01 3.08097810e-02 1.98171667e+01] [-1.92830681e-01 9.81217075e-01 -5.42032136e-03 -2.22909871e+00] [-3.12766948e-02 -6.25180610e-04 9.99510569e-01 -1.28272906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.23, Z:-0.13 [[ 9.82228226e-01 1.85103466e-01 3.10550835e-02 1.98506745e+01] [-1.85023072e-01 9.82718966e-01 -5.46777709e-03 -2.22651459e+00] [-3.15305241e-02 -3.75301973e-04 9.99502719e-01 -1.27256972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-2.24, Z:-0.13 [[ 9.83097777e-01 1.80936759e-01 2.79401142e-02 1.98827825e+01] [-1.80869882e-01 9.83494710e-01 -4.92360521e-03 -2.23552144e+00] [-2.83698156e-02 -2.13139826e-04 9.99597473e-01 -1.33284127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.24, Z:-0.14 [[ 9.84050740e-01 1.75804388e-01 2.71469689e-02 1.99137123e+01] [-1.75739166e-01 9.84425118e-01 -4.78871867e-03 -2.24421473e+00] [-2.75660358e-02 -5.84435114e-05 9.99619983e-01 -1.35652318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-2.25, Z:-0.14 [[ 9.84601615e-01 1.72678192e-01 2.72378772e-02 1.99450172e+01] [-1.72611233e-01 9.84978295e-01 -4.80846640e-03 -2.24985629e+00] [-2.76590351e-02 3.28602235e-05 9.99617415e-01 -1.35547994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-2.26, Z:-0.13 [[ 9.86105993e-01 1.63545664e-01 2.91167589e-02 1.99755804e+01] [-1.63465039e-01 9.86535715e-01 -5.14424844e-03 -2.25956098e+00] [-2.95660421e-02 3.13202088e-04 9.99562780e-01 -1.33608076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.27, Z:-0.13 [[ 9.87125758e-01 1.57229607e-01 2.93528246e-02 2.00077104e+01] [-1.57144736e-01 9.87561942e-01 -5.19061728e-03 -2.26759709e+00] [-2.98038512e-02 5.11150137e-04 9.99555636e-01 -1.33054232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.28, Z:-0.14 [[ 9.89469838e-01 1.42155277e-01 2.72271283e-02 2.00375105e+01] [-1.42076409e-01 9.89843961e-01 -4.81951024e-03 -2.27973159e+00] [-2.76357273e-02 9.00427415e-04 9.99617655e-01 -1.38762070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-2.29, Z:-0.14 [[ 9.90236848e-01 1.36983253e-01 2.58180892e-02 2.00690141e+01] [-1.36910471e-01 9.90572864e-01 -4.57431172e-03 -2.29254855e+00] [-2.62013026e-02 9.94885270e-04 9.99656192e-01 -1.40635958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:-2.32, Z:-0.14 [[ 9.91468172e-01 1.28059301e-01 2.43244548e-02 2.00982730e+01] [-1.27991907e-01 9.91765830e-01 -4.31406514e-03 -2.31552904e+00] [-2.46766192e-02 1.16392493e-03 9.99694808e-01 -1.39754831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-2.33, Z:-0.14 [[ 9.91948078e-01 1.24127550e-01 2.51268968e-02 2.01291311e+01] [-1.24054254e-01 9.92265408e-01 -4.46114469e-03 -2.32953628e+00] [-2.54863015e-02 1.30812545e-03 9.99674316e-01 -1.39590918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:-2.36, Z:-0.14 [[ 9.92020105e-01 1.24429938e-01 2.03298152e-02 2.01579015e+01] [-1.24560409e-01 9.92197989e-01 5.27777369e-03 -2.36039323e+00] [-1.95144887e-02 -7.76794771e-03 9.99779398e-01 -1.40150788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:-2.37, Z:-0.14 [[ 9.92070360e-01 1.23189606e-01 2.49142746e-02 2.01886313e+01] [-1.22882743e-01 9.92329374e-01 -1.34998024e-02 -2.36501632e+00] [-2.63862019e-02 1.03312194e-02 9.99598437e-01 -1.38933938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:-2.39, Z:-0.14 [[ 9.91516420e-01 1.28285782e-01 2.09271826e-02 2.02183616e+01] [-1.28235596e-01 9.91736725e-01 -3.72826897e-03 -2.38670173e+00] [-2.12325394e-02 1.01303017e-03 9.99774051e-01 -1.41477557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:-2.40, Z:-0.14 [[ 9.91012725e-01 1.32382276e-01 1.92018861e-02 2.02497228e+01] [-1.32340728e-01 9.91198369e-01 -3.42418264e-03 -2.40047694e+00] [-1.94861793e-02 8.52216983e-04 9.99809763e-01 -1.43967085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.43, Z:-0.14 [[ 9.89587492e-01 1.41766444e-01 2.48771202e-02 2.02791781e+01] [-1.41699513e-01 9.89899751e-01 -4.44191207e-03 -2.42585928e+00] [-2.52555692e-02 8.70584815e-04 9.99680648e-01 -1.44958123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.44, Z:-0.14 [[ 9.88234315e-01 1.50180012e-01 2.89638128e-02 2.03111916e+01] [-1.50092603e-01 9.88658367e-01 -5.18111345e-03 -2.43750147e+00] [-2.94134156e-02 7.72900046e-04 9.99567033e-01 -1.40901732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.44, Z:-0.14 [[ 9.86684367e-01 1.59916588e-01 2.96756706e-02 2.03438116e+01] [-1.59828805e-01 9.87130400e-01 -5.32227997e-03 -2.44434974e+00] [-3.01448774e-02 5.08383464e-04 9.99545411e-01 -1.40380580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.38, Y:-2.45, Z:-0.14 [[ 9.85795363e-01 1.65523560e-01 2.84509036e-02 2.03762772e+01] [-1.65444862e-01 9.86205779e-01 -5.11454657e-03 -2.45097745e+00] [-2.89050235e-02 3.34840467e-04 9.99582106e-01 -1.41978859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.41, Y:-2.45, Z:-0.14 [[ 9.83797147e-01 1.77464746e-01 2.54840613e-02 2.04091531e+01] [-1.77405331e-01 9.84127158e-01 -4.59179975e-03 -2.45294965e+00] [-2.58944394e-02 -3.60883323e-06 9.99664683e-01 -1.44418886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.46, Z:-0.14 [[ 9.81985858e-01 1.87425028e-01 2.39923481e-02 2.04425169e+01] [-1.87375198e-01 9.82278880e-01 -4.32854951e-03 -2.45612505e+00] [-2.43784553e-02 -2.44996569e-04 9.99702771e-01 -1.44714450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-2.46, Z:-0.14 [[ 9.81220166e-01 1.91158100e-01 2.57985627e-02 2.04745460e+01] [-1.91101537e-01 9.81559196e-01 -4.66338141e-03 -2.46360310e+00] [-2.62142596e-02 -3.54341110e-04 9.99656284e-01 -1.42415111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:-2.47, Z:-0.14 [[ 9.81551958e-01 1.89807353e-01 2.29983172e-02 2.05074813e+01] [-1.89761759e-01 9.81821315e-01 -4.16895590e-03 -2.46529888e+00] [-2.33715365e-02 -2.72154305e-04 9.99726811e-01 -1.43825664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:-2.47, Z:-0.15 [[ 9.81726241e-01 1.88985357e-01 2.23186694e-02 2.05401435e+01] [-1.88941929e-01 9.81979878e-01 -4.05794848e-03 -2.46759875e+00] [-2.26833771e-02 -2.33137960e-04 9.99742672e-01 -1.45496816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.47, Z:-0.15 [[ 9.82028082e-01 1.87313405e-01 2.31199985e-02 2.05739468e+01] [-1.87266026e-01 9.82300185e-01 -4.21697940e-03 -2.46712884e+00] [-2.35006756e-02 -1.88398035e-04 9.99723803e-01 -1.46281379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:-2.47, Z:-0.15 [[ 9.82588166e-01 1.83836834e-01 2.69167876e-02 2.06070859e+01] [-1.83770847e-01 9.82956768e-01 -4.92631100e-03 -2.46676459e+00] [-2.73636759e-02 -1.05985966e-04 9.99625539e-01 -1.46477425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.47, Z:-0.15 [[ 9.83042161e-01 1.81446970e-01 2.65538420e-02 2.06396964e+01] [-1.81381482e-01 9.83400730e-01 -4.87456888e-03 -2.47029511e+00] [-2.69975434e-02 -2.44684986e-05 9.99635500e-01 -1.47474761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:-2.47, Z:-0.15 [[ 9.84052966e-01 1.76194572e-01 2.43974098e-02 2.06722879e+01] [-1.76137359e-01 9.84355351e-01 -4.49141063e-03 -2.47278809e+00] [-2.48070830e-02 1.22490617e-04 9.99692249e-01 -1.49296173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.48, Z:-0.15 [[ 9.84309828e-01 1.74486169e-01 2.62438454e-02 2.07045537e+01] [-1.74418954e-01 9.84659606e-01 -4.84653736e-03 -2.47876608e+00] [-2.66869082e-02 1.93070302e-04 9.99643822e-01 -1.51992162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.48, Z:-0.15 [[ 9.83946424e-01 1.75935643e-01 2.99346656e-02 2.07379311e+01] [-1.75848318e-01 9.84401652e-01 -5.54587677e-03 -2.48244931e+00] [-3.04434517e-02 1.92885028e-04 9.99536472e-01 -1.49317120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.77, Y:-2.49, Z:-0.15 [[ 9.83583270e-01 1.77638501e-01 3.17570949e-02 2.07706721e+01] [-1.77540525e-01 9.84095796e-01 -5.90143176e-03 -2.48529560e+00] [-3.23003451e-02 1.66378254e-04 9.99478194e-01 -1.48054506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.49, Z:-0.15 [[ 9.82773331e-01 1.82666189e-01 2.81005742e-02 2.08041733e+01] [-1.82591127e-01 9.83174991e-01 -5.23613891e-03 -2.48668453e+00] [-2.85842473e-02 1.50221682e-05 9.99591387e-01 -1.48154789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.49, Z:-0.15 [[ 9.82225707e-01 1.85987191e-01 2.53263916e-02 2.08367455e+01] [-1.85926991e-01 9.82552167e-01 -4.73212945e-03 -2.49241363e+00] [-2.57646165e-02 -6.08405913e-05 9.99668035e-01 -1.52955305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.50, Z:-0.15 [[ 9.82228293e-01 1.85473588e-01 2.87598559e-02 2.08693677e+01] [-1.85395228e-01 9.82649249e-01 -5.39095697e-03 -2.49909392e+00] [-2.92607309e-02 -3.67895832e-05 9.99571812e-01 -1.53401046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.51, Z:-0.15 [[ 9.82211605e-01 1.85269704e-01 3.05859410e-02 2.09013325e+01] [-1.85180429e-01 9.82687711e-01 -5.75084080e-03 -2.50526618e+00] [-3.11218849e-02 -1.53751075e-05 9.99515597e-01 -1.53297484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.51, Z:-0.15 [[ 9.81936241e-01 1.87137591e-01 2.79417163e-02 2.09333106e+01] [-1.87063430e-01 9.82333711e-01 -5.26820703e-03 -2.51202620e+00] [-2.84339694e-02 -5.38298960e-05 9.99595672e-01 -1.54370644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.51, Z:-0.16 [[ 9.80801264e-01 1.93428571e-01 2.47844360e-02 2.09670857e+01] [-1.93371916e-01 9.81114340e-01 -4.68540743e-03 -2.51271377e+00] [-2.52226572e-02 -1.97160349e-04 9.99681839e-01 -1.55354175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.51, Z:-0.16 [[ 9.79042098e-01 2.02141395e-01 2.48077942e-02 2.10012245e+01] [-2.02087130e-01 9.79356262e-01 -4.70145508e-03 -2.51092264e+00] [-2.52460273e-02 -4.10413495e-04 9.99681184e-01 -1.56506792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.51, Z:-0.16 [[ 9.78059658e-01 2.06889348e-01 2.44152388e-02 2.10344924e+01] [-2.06838124e-01 9.78364211e-01 -4.63269859e-03 -2.51335622e+00] [-2.48454519e-02 -5.18946606e-04 9.99691169e-01 -1.57158695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.51, Z:-0.16 [[ 9.76376587e-01 2.14896224e-01 2.25471512e-02 2.10680390e+01] [-2.14854568e-01 9.76636664e-01 -4.28266261e-03 -2.51412493e+00] [-2.29407025e-02 -6.62866937e-04 9.99736608e-01 -1.60069440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.50, Z:-0.16 [[ 9.76265113e-01 2.14634404e-01 2.89568989e-02 2.11036482e+01] [-2.14565370e-01 9.76694104e-01 -5.50720000e-03 -2.50184100e+00] [-2.94640670e-02 -8.36660504e-04 9.99565490e-01 -1.55701527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.46, Z:-0.16 [[ 9.79896537e-01 1.97195062e-01 3.02800953e-02 2.11443549e+01] [-1.97111049e-01 9.80364221e-01 -5.76446834e-03 -2.46086576e+00] [-3.08222467e-02 -3.19958800e-04 9.99524830e-01 -1.63759357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.46, Z:-0.17 [[ 9.78599017e-01 2.04254532e-01 2.49810077e-02 2.11769617e+01] [-2.04199569e-01 9.78917713e-01 -4.75891425e-03 -2.45921877e+00] [-2.54263807e-02 -4.44042191e-04 9.99676599e-01 -1.68835832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.21, Y:-2.46, Z:-0.17 [[ 9.77434184e-01 2.09837455e-01 2.43034793e-02 2.12083107e+01] [-2.09787071e-01 9.77736119e-01 -4.63325760e-03 -2.46431158e+00] [-2.47346205e-02 -5.69851396e-04 9.99693890e-01 -1.70324603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.47, Z:-0.17 [[ 9.77413608e-01 2.09933312e-01 2.43031390e-02 2.12395962e+01] [-2.09882913e-01 9.77715541e-01 -4.63504207e-03 -2.47023676e+00] [-2.47346065e-02 -5.70460433e-04 9.99693890e-01 -1.70918522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.46, Z:-0.17 [[ 9.75651462e-01 2.17632268e-01 2.72106847e-02 2.12715240e+01] [-2.17572016e-01 9.76030463e-01 -5.19164762e-03 -2.46380014e+00] [-2.76883272e-02 -8.55044926e-04 9.99616239e-01 -1.66864299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.46, Z:-0.16 [[ 9.75535451e-01 2.18151386e-01 2.72131734e-02 2.13021078e+01] [-2.18091341e-01 9.75914553e-01 -5.19151688e-03 -2.45964795e+00] [-2.76902686e-02 -8.70448728e-04 9.99616172e-01 -1.62542215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.47, Z:-0.17 [[ 9.77261083e-01 2.10480263e-01 2.56677795e-02 2.13312675e+01] [-2.10424215e-01 9.77597913e-01 -4.89602701e-03 -2.47496498e+00] [-2.61232847e-02 -6.16425694e-04 9.99658539e-01 -1.65356283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.48, Z:-0.17 [[ 9.78644482e-01 2.03688357e-01 2.76772697e-02 2.13603100e+01] [-2.03620431e-01 9.79035666e-01 -5.28068881e-03 -2.48298814e+00] [-2.81726490e-02 -4.67740634e-04 9.99602963e-01 -1.66920704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.48, Z:-0.17 [[ 9.80809879e-01 1.92169915e-01 3.29044795e-02 2.13924857e+01] [-1.92067374e-01 9.81361655e-01 -6.27901025e-03 -2.48184258e+00] [-3.34978313e-02 -1.61361686e-04 9.99438777e-01 -1.65921484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.49, Z:-0.16 [[ 9.81686770e-01 1.87526086e-01 3.35417889e-02 2.14241924e+01] [-1.87416708e-01 9.82259623e-01 -6.40395151e-03 -2.48551084e+00] [-3.41476529e-02 3.82819951e-07 9.99416799e-01 -1.63774672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.50, Z:-0.16 [[ 9.81896277e-01 1.86590122e-01 3.26163701e-02 2.14550390e+01] [-1.86486038e-01 9.82437848e-01 -6.23157969e-03 -2.49602366e+00] [-3.32063076e-02 3.62672838e-05 9.99448518e-01 -1.62905684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.50, Z:-0.17 [[ 9.82324542e-01 1.85188662e-01 2.72700215e-02 2.14861207e+01] [-1.85115279e-01 9.82702984e-01 -5.21338117e-03 -2.50227568e+00] [-2.77637906e-02 7.31346398e-05 9.99614509e-01 -1.68347912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.51, Z:-0.17 [[ 9.82558998e-01 1.84164336e-01 2.57160007e-02 2.15175053e+01] [-1.84098642e-01 9.82895461e-01 -4.91963508e-03 -2.50970304e+00] [-2.61821617e-02 9.95509080e-05 9.99657183e-01 -1.73249514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.52, Z:-0.17 [[ 9.82634243e-01 1.84146725e-01 2.28019225e-02 2.15472434e+01] [-1.84095014e-01 9.82898762e-01 -4.36468017e-03 -2.51953318e+00] [-2.32157230e-02 9.11639582e-05 9.99730475e-01 -1.74949859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:-2.52, Z:-0.17 [[ 9.82397683e-01 1.85292565e-01 2.36951104e-02 2.15780750e+01] [-1.85237024e-01 9.82683398e-01 -4.53695521e-03 -2.52200067e+00] [-2.41254556e-02 6.78825581e-05 9.99708937e-01 -1.70507217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.52, Z:-0.17 [[ 9.82421756e-01 1.85307951e-01 2.25489742e-02 2.16090011e+01] [-1.85257658e-01 9.82680497e-01 -4.31750199e-03 -2.52451206e+00] [-2.29585047e-02 6.42377328e-05 9.99736417e-01 -1.70707249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:-2.53, Z:-0.17 [[ 9.82336528e-01 1.85543847e-01 2.42574975e-02 2.16385181e+01] [-1.85485715e-01 9.82635984e-01 -4.64463671e-03 -2.53080117e+00] [-2.46980736e-02 6.31770376e-05 9.99694954e-01 -1.74387417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.54, Z:-0.18 [[ 9.82243251e-01 1.85694482e-01 2.67536029e-02 2.16689562e+01] [-1.85623809e-01 9.82607528e-01 -5.12314233e-03 -2.53828653e+00] [-2.72396308e-02 6.60663184e-05 9.99628930e-01 -1.75039257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.70, Y:-2.55, Z:-0.17 [[ 9.81544847e-01 1.88824581e-01 3.02488289e-02 2.17000059e+01] [-1.88735623e-01 9.82010834e-01 -5.79547295e-03 -2.54644103e+00] [-3.07990054e-02 -2.05149485e-05 9.99525598e-01 -1.72156919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:-2.55, Z:-0.17 [[ 9.80979083e-01 1.91630094e-01 3.09506822e-02 2.17321570e+01] [-1.91538220e-01 9.81467216e-01 -5.93420650e-03 -2.54794530e+00] [-3.15142525e-02 -1.06906124e-04 9.99503297e-01 -1.69861672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.55, Z:-0.17 [[ 9.80401493e-01 1.95289329e-01 2.59805872e-02 2.17654942e+01] [-1.95225797e-01 9.80745657e-01 -4.98442309e-03 -2.54712853e+00] [-2.64537527e-02 -1.85345001e-04 9.99650021e-01 -1.74679774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.55, Z:-0.18 [[ 9.79834705e-01 1.98509415e-01 2.27587883e-02 2.17951345e+01] [-1.98461483e-01 9.80098952e-01 -4.36849002e-03 -2.55237942e+00] [-2.31730509e-02 -2.36344736e-04 9.99731441e-01 -1.79379803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.56, Z:-0.18 [[ 9.78638276e-01 2.04603154e-01 2.01164928e-02 2.18237184e+01] [-2.04567009e-01 9.78844950e-01 -3.86046197e-03 -2.55821360e+00] [-2.04807901e-02 -3.37174910e-04 9.99790190e-01 -1.82294801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.56, Z:-0.18 [[ 9.77448594e-01 2.09768442e-01 2.43196701e-02 2.18522190e+01] [-2.09717542e-01 9.77750938e-01 -4.65360193e-03 -2.55656194e+00] [-2.47547590e-02 -5.51604765e-04 9.99693402e-01 -1.77069819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.55, Z:-0.17 [[ 9.76657340e-01 2.13132108e-01 2.67421869e-02 2.18814743e+01] [-2.13072224e-01 9.77023129e-01 -5.10232754e-03 -2.55075581e+00] [-2.72152050e-02 -7.14791583e-04 9.99629342e-01 -1.72971936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.55, Z:-0.17 [[ 9.76240259e-01 2.14900308e-01 2.77995290e-02 2.19097830e+01] [-2.14836749e-01 9.76635655e-01 -5.28853960e-03 -2.55046711e+00] [-2.82865200e-02 -8.09475169e-04 9.99599529e-01 -1.72711620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.55, Z:-0.17 [[ 9.76032452e-01 2.15560172e-01 2.99076155e-02 2.19384035e+01] [-2.15487431e-01 9.76490137e-01 -5.67268039e-03 -2.54762546e+00] [-3.04272955e-02 -9.07995095e-04 9.99536570e-01 -1.74000729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.54, Z:-0.17 [[ 9.76540023e-01 2.12651914e-01 3.38931732e-02 2.19673822e+01] [-2.12557416e-01 9.77127560e-01 -6.40902169e-03 -2.54292980e+00] [-3.44808443e-02 -9.45579115e-04 9.99404912e-01 -1.72542884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.54, Z:-0.17 [[ 9.77161716e-01 2.09097336e-01 3.78587522e-02 2.19957117e+01] [-2.08977591e-01 9.77894384e-01 -7.13730909e-03 -2.54173932e+00] [-3.85142535e-02 -9.37325642e-04 9.99257611e-01 -1.71055402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.55, Z:-0.17 [[ 9.77825907e-01 2.05999775e-01 3.76906874e-02 2.20253160e+01] [-2.05879219e-01 9.78551693e-01 -7.09445518e-03 -2.54729891e+00] [-3.83437422e-02 -8.22587223e-04 9.99264270e-01 -1.71108316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.55, Z:-0.17 [[ 9.79503236e-01 1.98578194e-01 3.37655336e-02 2.20546916e+01] [-1.98477104e-01 9.80084931e-01 -6.35350327e-03 -2.55285398e+00] [-3.43547579e-02 -4.78408318e-04 9.99409587e-01 -1.73631927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.56, Z:-0.18 [[ 9.80851578e-01 1.92179093e-01 3.15812838e-02 2.20826807e+01] [-1.92087607e-01 9.81359840e-01 -5.93426772e-03 -2.55645553e+00] [-3.21330458e-02 -2.45737352e-04 9.99483570e-01 -1.76601293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:-2.56, Z:-0.18 [[ 9.81436930e-01 1.89141587e-01 3.17334750e-02 2.21103772e+01] [-1.89048178e-01 9.81949812e-01 -5.94582768e-03 -2.56074518e+00] [-3.22852831e-02 -1.63700787e-04 9.99478681e-01 -1.77710758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.56, Z:-0.18 [[ 9.82378249e-01 1.84454151e-01 3.01602831e-02 2.21389668e+01] [-1.84368045e-01 9.82841119e-01 -5.63546093e-03 -2.56188819e+00] [-3.06822506e-02 -2.44382143e-05 9.99529189e-01 -1.78861474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.57, Z:-0.18 [[ 9.83567053e-01 1.78322131e-01 2.82324453e-02 2.21667797e+01] [-1.78244567e-01 9.83972153e-01 -5.26088314e-03 -2.56534689e+00] [-2.87180719e-02 1.42151336e-04 9.99587541e-01 -1.79395979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.58, Z:-0.18 [[ 9.84899255e-01 1.70259355e-01 3.13880621e-02 2.21930058e+01] [-1.70159942e-01 9.85399203e-01 -5.83128147e-03 -2.57801072e+00] [-3.19226016e-02 4.02233934e-04 9.99490263e-01 -1.77036124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.59, Z:-0.18 [[ 9.85640778e-01 1.65992356e-01 3.09644180e-02 2.22222177e+01] [-1.65893800e-01 9.86126900e-01 -5.74317539e-03 -2.58772030e+00] [-3.14881687e-02 5.23902904e-04 9.99503987e-01 -1.77332142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.60, Z:-0.18 [[ 9.87567842e-01 1.54803947e-01 2.73037792e-02 2.22509745e+01] [-1.54723024e-01 9.87944904e-01 -5.06477573e-03 -2.60284458e+00] [-2.77586768e-02 7.77286366e-04 9.99614351e-01 -1.83300118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.62, Z:-0.19 [[ 9.88982054e-01 1.45736240e-01 2.59893145e-02 2.22792430e+01] [-1.45659751e-01 9.89322991e-01 -4.82251280e-03 -2.62352116e+00] [-2.64146413e-02 9.83781549e-04 9.99650588e-01 -1.86393091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.31, Y:-2.64, Z:-0.18 [[ 9.89202414e-01 1.44718143e-01 2.31353368e-02 2.23080175e+01] [-1.44657224e-01 9.89472510e-01 -4.29422954e-03 -2.63894261e+00] [-2.35132327e-02 9.01168623e-04 9.99723120e-01 -1.84924900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.65, Z:-0.18 [[ 9.89039730e-01 1.45642572e-01 2.42621737e-02 2.23379321e+01] [-1.45575813e-01 9.89336843e-01 -4.50491502e-03 -2.64932466e+00] [-2.46595697e-02 9.23554277e-04 9.99695480e-01 -1.84679803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:-2.67, Z:-0.19 [[ 9.88087022e-01 1.51510608e-01 2.69920970e-02 2.23673088e+01] [-1.51430098e-01 9.88455251e-01 -5.01411029e-03 -2.66907785e+00] [-2.74401709e-02 8.66961415e-04 9.99623072e-01 -1.85168823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.69, Z:-0.18 [[ 9.86120188e-01 1.62711721e-01 3.30434753e-02 2.23965654e+01] [-1.62597150e-01 9.86673414e-01 -6.14333648e-03 -2.68782657e+00] [-3.36027115e-02 6.85293211e-04 9.99435034e-01 -1.84748056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.70, Z:-0.19 [[ 9.84189091e-01 1.74499001e-01 3.03633368e-02 2.24281556e+01] [-1.74407692e-01 9.84657315e-01 -5.65056345e-03 -2.69983715e+00] [-3.08834993e-02 2.65623403e-04 9.99522956e-01 -1.85362105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.71, Z:-0.19 [[ 9.83496732e-01 1.78893200e-01 2.70444077e-02 2.24606074e+01] [-1.78822270e-01 9.83868492e-01 -5.03855544e-03 -2.70766321e+00] [-2.75095039e-02 1.19260428e-04 9.99621535e-01 -1.88223009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.72, Z:-0.19 [[ 9.82337214e-01 1.85298159e-01 2.60420895e-02 2.24912005e+01] [-1.85234514e-01 9.82682344e-01 -4.85649835e-03 -2.71754022e+00] [-2.64910018e-02 -5.31747177e-05 9.99649050e-01 -1.89829250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.73, Z:-0.19 [[ 9.82032116e-01 1.86111553e-01 3.12315965e-02 2.25205737e+01] [-1.86020269e-01 9.82528617e-01 -5.82898283e-03 -2.73338829e+00] [-3.17707784e-02 -8.54616444e-05 9.99495178e-01 -1.87205718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.74, Z:-0.19 [[ 9.81991573e-01 1.86156757e-01 3.22213044e-02 2.25519975e+01] [-1.86059441e-01 9.82520053e-01 -6.01911278e-03 -2.74405920e+00] [-3.27785762e-02 -8.43598600e-05 9.99462635e-01 -1.86935428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.75, Z:-0.19 [[ 9.81913302e-01 1.86587716e-01 3.21137130e-02 2.25847754e+01] [-1.86491065e-01 9.82438301e-01 -6.00557026e-03 -2.74906177e+00] [-3.26703073e-02 -9.19712187e-05 9.99466179e-01 -1.87834808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.75, Z:-0.19 [[ 9.81853131e-01 1.87337409e-01 2.94809114e-02 2.26184622e+01] [-1.87256125e-01 9.82295620e-01 -5.51895252e-03 -2.75009768e+00] [-2.99928764e-02 -1.01680419e-04 9.99550107e-01 -1.90882350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.76, Z:-0.19 [[ 9.81926591e-01 1.87468585e-01 2.59942381e-02 2.26503995e+01] [-1.87405309e-01 9.82270595e-01 -4.87114598e-03 -2.75992999e+00] [-2.64465625e-02 -8.83504583e-05 9.99650225e-01 -1.91560960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.77, Z:-0.19 [[ 9.81807252e-01 1.88103200e-01 2.59172867e-02 2.26818029e+01] [-1.88040393e-01 9.82149264e-01 -4.86151552e-03 -2.76538174e+00] [-2.63691107e-02 -1.00425601e-04 9.99652269e-01 -1.89637369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.77, Z:-0.19 [[ 9.81777411e-01 1.88256140e-01 2.59372677e-02 2.27143500e+01] [-1.88193196e-01 9.82119960e-01 -4.86882845e-03 -2.76820167e+00] [-2.63900952e-02 -1.01111511e-04 9.99651716e-01 -1.88812591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.77, Z:-0.19 [[ 9.82097018e-01 1.86940146e-01 2.32126762e-02 2.27460716e+01] [-1.86889296e-01 9.82371304e-01 -4.36030492e-03 -2.77459546e+00] [-2.36185830e-02 -5.59582542e-05 9.99721041e-01 -1.92898542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.79, Z:-0.20 [[ 9.82331221e-01 1.85821080e-01 2.22687809e-02 2.27763733e+01] [-1.85773928e-01 9.82583597e-01 -4.18594311e-03 -2.78680767e+00] [-2.26587753e-02 -2.49762985e-05 9.99743257e-01 -2.00347128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.80, Z:-0.20 [[ 9.82464888e-01 1.85100532e-01 2.23726769e-02 2.28073705e+01] [-1.85052682e-01 9.82719590e-01 -4.20854137e-03 -2.79855000e+00] [-2.27650711e-02 -5.37973576e-06 9.99740842e-01 -2.00588430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.81, Z:-0.19 [[ 9.82089436e-01 1.86890148e-01 2.39251349e-02 2.28373719e+01] [-1.86835872e-01 9.82380817e-01 -4.50404597e-03 -2.81230326e+00] [-2.43453554e-02 -4.66974722e-05 9.99703607e-01 -1.93986903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.81, Z:-0.19 [[ 9.80955500e-01 1.92087810e-01 2.87850827e-02 2.28708936e+01] [-1.92011323e-01 9.81377721e-01 -5.42414226e-03 -2.81472061e+00] [-2.92909505e-02 -2.06219636e-04 9.99570907e-01 -1.88294876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-2.82, Z:-0.20 [[ 9.79545487e-01 1.98890216e-01 3.05503088e-02 2.29028867e+01] [-1.98807158e-01 9.80021683e-01 -5.76328738e-03 -2.82300265e+00] [-3.10862265e-02 -4.28217917e-04 9.99516615e-01 -1.95393826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.83, Z:-0.20 [[ 9.79319045e-01 1.99998308e-01 3.05758921e-02 2.29347274e+01] [-1.99915455e-01 9.79796136e-01 -5.77440016e-03 -2.83341708e+00] [-3.11130111e-02 -4.57613323e-04 9.99515768e-01 -1.98912389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.85, Z:-0.20 [[ 9.79450289e-01 1.99281845e-01 3.10463693e-02 2.29656647e+01] [-1.99195857e-01 9.79942119e-01 -5.86972740e-03 -2.84942734e+00] [-3.15933750e-02 -4.35201943e-04 9.99500710e-01 -1.97200994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.86, Z:-0.19 [[ 9.79316921e-01 2.00264570e-01 2.88525650e-02 2.29969876e+01] [-2.00190566e-01 9.79741761e-01 -5.46065977e-03 -2.86206586e+00] [-2.93616395e-02 -4.28294812e-04 9.99568762e-01 -1.92378488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.86, Z:-0.19 [[ 9.78576223e-01 2.03661442e-01 3.01760226e-02 2.30310457e+01] [-2.03581907e-01 9.79041223e-01 -5.71757394e-03 -2.85923132e+00] [-3.07080194e-02 -5.48210325e-04 9.99528247e-01 -1.92715469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.86, Z:-0.20 [[ 9.77822180e-01 2.07501284e-01 2.84077766e-02 2.30652292e+01] [-2.07432252e-01 9.78234547e-01 -5.38822593e-03 -2.85623508e+00] [-2.89075323e-02 -6.23962245e-04 9.99581895e-01 -1.95701452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.85, Z:-0.20 [[ 9.75681051e-01 2.17662035e-01 2.58790349e-02 2.31004375e+01] [-2.17608178e-01 9.76023841e-01 -4.91359521e-03 -2.85017042e+00] [-2.63280581e-02 -8.37387892e-04 9.99653006e-01 -1.99298306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:-2.85, Z:-0.19 [[ 9.74838593e-01 2.21317275e-01 2.66154517e-02 2.31321873e+01] [-2.21261534e-01 9.75201388e-01 -5.05840349e-03 -2.85360873e+00] [-2.70749375e-02 -9.57848720e-04 9.99632948e-01 -1.94935085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.86, Z:-0.20 [[ 9.74802722e-01 2.21475300e-01 2.66147411e-02 2.31643027e+01] [-2.21419515e-01 9.75165511e-01 -5.06214005e-03 -2.85966109e+00] [-2.70749165e-02 -9.58435166e-04 9.99632948e-01 -1.95544571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-2.86, Z:-0.19 [[ 9.74923245e-01 2.20932756e-01 2.67092494e-02 2.31965062e+01] [-2.20876257e-01 9.75288587e-01 -5.08433296e-03 -2.86247383e+00] [-2.71725218e-02 -9.42604653e-04 9.99630314e-01 -1.94347947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:-2.86, Z:-0.20 [[ 9.76268601e-01 2.14589522e-01 2.91711543e-02 2.32297173e+01] [-2.14519169e-01 9.76703970e-01 -5.55715239e-03 -2.85711971e+00] [-2.96840889e-02 -8.32498388e-04 9.99558984e-01 -1.98571012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:-2.85, Z:-0.20 [[ 9.78066028e-01 2.05758813e-01 3.24061038e-02 2.32633668e+01] [-2.05666980e-01 9.78602536e-01 -6.17814693e-03 -2.85324305e+00] [-3.29839036e-02 -6.22229887e-04 9.99455689e-01 -2.01500597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.85, Z:-0.20 [[ 9.79425091e-01 1.99620591e-01 2.96329294e-02 2.32971709e+01] [-1.99540877e-01 9.79873195e-01 -5.65333736e-03 -2.84651443e+00] [-3.01650358e-02 -3.75960258e-04 9.99544861e-01 -2.01013167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.85, Z:-0.20 [[ 9.80065328e-01 1.96733326e-01 2.77119461e-02 2.33297571e+01] [-1.96662356e-01 9.80457000e-01 -5.29050374e-03 -2.84900276e+00] [-2.82111899e-02 -2.64857312e-04 9.99601950e-01 -2.00758851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.86, Z:-0.20 [[ 9.81467899e-01 1.89291637e-01 2.98234837e-02 2.33604629e+01] [-1.89205892e-01 9.81920910e-01 -5.69709563e-03 -2.85641829e+00] [-3.03627148e-02 -5.12623459e-05 9.99538945e-01 -2.00354236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.86, Z:-0.20 [[ 9.83138670e-01 1.80170832e-01 3.12542147e-02 2.33921192e+01] [-1.80071948e-01 9.83635304e-01 -5.97345234e-03 -2.86390038e+00] [-3.18189908e-02 2.44724672e-04 9.99493618e-01 -2.02946950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.87, Z:-0.21 [[ 9.84139618e-01 1.74678715e-01 3.09282975e-02 2.34231022e+01] [-1.74579041e-01 9.84625395e-01 -5.91525340e-03 -2.87203643e+00] [-3.14860560e-02 4.22002707e-04 9.99504102e-01 -2.06197695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.89, Z:-0.21 [[ 9.85649741e-01 1.65512058e-01 3.31714708e-02 2.34541424e+01] [-1.65392014e-01 9.86207464e-01 -6.34977615e-03 -2.88736370e+00] [-3.37649166e-02 7.72358864e-04 9.99429504e-01 -2.05685724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.90, Z:-0.20 [[ 9.86559806e-01 1.60385633e-01 3.12441699e-02 2.34859446e+01] [-1.60276381e-01 9.87054021e-01 -5.98670214e-03 -2.89818157e+00] [-3.17998645e-02 8.98537241e-04 9.99493853e-01 -2.02331863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-2.90, Z:-0.20 [[ 9.86446161e-01 1.61468165e-01 2.91890928e-02 2.35188363e+01] [-1.61373131e-01 9.86877587e-01 -5.59826796e-03 -2.90304123e+00] [-2.97100035e-02 8.12054655e-04 9.99558231e-01 -2.03667060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-2.91, Z:-0.21 [[ 9.85670440e-01 1.66281048e-01 2.83618924e-02 2.35504168e+01] [-1.66193160e-01 9.86078185e-01 -5.44493686e-03 -2.91197013e+00] [-2.88724332e-02 6.53360796e-04 9.99582891e-01 -2.07996083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-2.92, Z:-0.21 [[ 9.85075386e-01 1.69014314e-01 3.25675588e-02 2.35817376e+01] [-1.68899685e-01 9.85613372e-01 -6.25917252e-03 -2.92453617e+00] [-3.31569112e-02 6.65106381e-04 9.99449937e-01 -2.06367894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.93, Z:-0.21 [[ 9.85075600e-01 1.69165272e-01 3.17674924e-02 2.36133385e+01] [-1.69056089e-01 9.85587484e-01 -6.11149231e-03 -2.93305729e+00] [-3.23434952e-02 6.49793917e-04 9.99476601e-01 -2.06825180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.94, Z:-0.21 [[ 9.85132928e-01 1.69143839e-01 3.00578891e-02 2.36450723e+01] [-1.69045911e-01 9.85591181e-01 -5.78826326e-03 -2.94314103e+00] [-3.06038395e-02 6.21045485e-04 9.99531400e-01 -2.08425817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:-2.97, Z:-0.21 [[ 9.85493906e-01 1.67685398e-01 2.61413323e-02 2.36743242e+01] [-1.67610696e-01 9.85840386e-01 -5.03868822e-03 -2.96507501e+00] [-2.66160955e-02 5.84029636e-04 9.99645558e-01 -2.12304083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.71, Y:-2.98, Z:-0.21 [[ 9.85773587e-01 1.66009697e-01 2.62909900e-02 2.37052962e+01] [-1.65933403e-01 9.86123914e-01 -5.07268558e-03 -2.97918470e+00] [-2.67682890e-02 6.37966016e-04 9.99641462e-01 -2.13146330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:-2.99, Z:-0.21 [[ 9.85892172e-01 1.65191195e-01 2.69906365e-02 2.37372897e+01] [-1.65110332e-01 9.86261326e-01 -5.21304881e-03 -2.98890108e+00] [-2.74809707e-02 6.83071064e-04 9.99622093e-01 -2.11151165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-2.99, Z:-0.21 [[ 9.85586116e-01 1.66796684e-01 2.82643707e-02 2.37698011e+01] [-1.66708502e-01 9.85991081e-01 -5.46475756e-03 -2.99290327e+00] [-2.87799209e-02 6.74078272e-04 9.99585545e-01 -2.10671026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:-3.00, Z:-0.21 [[ 9.84875134e-01 1.70579868e-01 3.03888008e-02 2.38021541e+01] [-1.70479533e-01 9.85343663e-01 -5.88174473e-03 -2.99806554e+00] [-3.09467195e-02 6.12115573e-04 9.99520848e-01 -2.12354487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:-3.01, Z:-0.22 [[ 9.83152463e-01 1.80449827e-01 2.91392128e-02 2.38340642e+01] [-1.80361725e-01 9.83584146e-01 -5.64585244e-03 -3.00780448e+00] [-2.96796609e-02 2.95135055e-04 9.99559418e-01 -2.16464880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.02, Z:-0.22 [[ 9.82133323e-01 1.86226017e-01 2.70925503e-02 2.38658042e+01] [-1.86151895e-01 9.82506924e-01 -5.25503652e-03 -3.01610538e+00] [-2.75972428e-02 1.17816891e-04 9.99619117e-01 -2.18444617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-3.03, Z:-0.22 [[ 9.81321711e-01 1.90568946e-01 2.62902411e-02 2.38971126e+01] [-1.90500566e-01 9.81673814e-01 -5.10467447e-03 -3.02661606e+00] [-2.67812337e-02 1.02207463e-06 9.99641318e-01 -2.17770878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-3.04, Z:-0.22 [[ 9.81330391e-01 1.90708867e-01 2.49156868e-02 2.39287364e+01] [-1.90647370e-01 9.81646641e-01 -4.84272800e-03 -3.03540807e+00] [-2.53819514e-02 2.20599031e-06 9.99677826e-01 -2.17046426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-3.04, Z:-0.22 [[ 9.81158998e-01 1.91498559e-01 2.55992665e-02 2.39604468e+01] [-1.91433769e-01 9.81492894e-01 -4.98101725e-03 -3.04465337e+00] [-2.60793558e-02 -1.33941769e-05 9.99659876e-01 -2.17049506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-3.05, Z:-0.22 [[ 9.81055619e-01 1.92032109e-01 2.55644566e-02 2.39920671e+01] [-1.91967537e-01 9.81388643e-01 -4.97957221e-03 -3.05309229e+00] [-2.60449052e-02 -2.23084833e-05 9.99660774e-01 -2.18771627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:-3.06, Z:-0.22 [[ 9.80573635e-01 1.94204461e-01 2.75676305e-02 2.40248728e+01] [-1.94130059e-01 9.80961070e-01 -5.37581368e-03 -3.05739863e+00] [-2.80867794e-02 -8.03245867e-05 9.99605485e-01 -2.19458402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:-3.06, Z:-0.22 [[ 9.79363188e-01 1.99450528e-01 3.26685237e-02 2.40584611e+01] [-1.99348701e-01 9.79907861e-01 -6.37802276e-03 -3.06000637e+00] [-3.32842432e-02 -2.66027074e-04 9.99445891e-01 -2.15955168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:-3.07, Z:-0.22 [[ 9.78564157e-01 2.03153221e-01 3.37781041e-02 2.40912277e+01] [-2.03046315e-01 9.79146879e-01 -6.60179325e-03 -3.06714406e+00] [-3.44149008e-02 -3.98241316e-04 9.99407553e-01 -2.15327679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.07, Z:-0.21 [[ 9.77956106e-01 2.06137378e-01 3.33052073e-02 2.41231557e+01] [-2.06034942e-01 9.78522939e-01 -6.51619676e-03 -3.07436418e+00] [-3.39331410e-02 -4.89482043e-04 9.99423985e-01 -2.14688372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.08, Z:-0.22 [[ 9.76660592e-01 2.12585816e-01 3.06815573e-02 2.41557337e+01] [-2.12501873e-01 9.77142184e-01 -6.00893798e-03 -3.07790913e+00] [-3.12576589e-02 -6.51195453e-04 9.99511148e-01 -2.16686166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.08, Z:-0.22 [[ 9.76026420e-01 2.15442770e-01 3.09328250e-02 2.41888065e+01] [-2.15358676e-01 9.76516186e-01 -6.06457694e-03 -3.08167135e+00] [-3.15129736e-02 -7.42464923e-04 9.99503067e-01 -2.19005409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.22, Y:-3.08, Z:-0.22 [[ 9.76080765e-01 2.15394498e-01 2.95220229e-02 2.42224331e+01] [-2.15317700e-01 9.76526865e-01 -5.79394410e-03 -3.08378806e+00] [-3.00770321e-02 -7.01256663e-04 9.99547338e-01 -2.21164393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-3.09, Z:-0.22 [[ 9.76617576e-01 2.13185933e-01 2.77465081e-02 2.42554038e+01] [-2.13117047e-01 9.77011469e-01 -5.45106047e-03 -3.08897803e+00] [-2.82707460e-02 -5.89652395e-04 9.99600129e-01 -2.22541192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.29, Y:-3.09, Z:-0.22 [[ 9.77290645e-01 2.10312577e-01 2.59155289e-02 2.42876588e+01] [-2.10251336e-01 9.77634083e-01 -5.09653233e-03 -3.09407343e+00] [-2.64077692e-02 -4.67981215e-04 9.99651145e-01 -2.23404929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.10, Z:-0.23 [[ 9.78526159e-01 2.04401046e-01 2.65851361e-02 2.43197706e+01] [-2.04334261e-01 9.78887182e-01 -5.23392396e-03 -3.10078928e+00] [-2.70936685e-02 -3.10722621e-04 9.99632851e-01 -2.26308298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.11, Z:-0.23 [[ 9.78996254e-01 2.01883811e-01 2.84475127e-02 2.43522181e+01] [-2.01806095e-01 9.79409446e-01 -5.60684481e-03 -3.10853901e+00] [-2.89936939e-02 -2.51801395e-04 9.99579563e-01 -2.26878726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.12, Z:-0.23 [[ 9.79862202e-01 1.97179265e-01 3.14706634e-02 2.43842511e+01] [-1.97081497e-01 9.80367443e-01 -6.20965586e-03 -3.11504970e+00] [-3.20772291e-02 -1.17678397e-04 9.99485386e-01 -2.26298700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-3.12, Z:-0.23 [[ 9.80088337e-01 1.96067528e-01 3.13747603e-02 2.44173172e+01] [-1.95969578e-01 9.80590393e-01 -6.19725268e-03 -3.11923977e+00] [-3.19808685e-02 -7.46434466e-05 9.99488478e-01 -2.25714832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:-3.12, Z:-0.23 [[ 9.80375479e-01 1.94723366e-01 3.07689913e-02 2.44503112e+01] [-1.94628302e-01 9.80858201e-01 -6.08390133e-03 -3.12392962e+00] [-3.13646952e-02 -2.40088557e-05 9.99508007e-01 -2.25822623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:-3.14, Z:-0.23 [[ 9.81462554e-01 1.89724031e-01 2.71301785e-02 2.44812979e+01] [-1.89648071e-01 9.81837449e-01 -5.36959738e-03 -3.13791256e+00] [-2.76561669e-02 1.24872736e-04 9.99617487e-01 -2.27202316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:-3.16, Z:-0.23 [[ 9.82829918e-01 1.82557483e-01 2.67977122e-02 2.45102745e+01] [-1.82480557e-01 9.83195127e-01 -5.30930821e-03 -3.15945096e+00] [-2.73166340e-02 3.28085512e-04 9.99626777e-01 -2.27573354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:-3.17, Z:-0.23 [[ 9.83365968e-01 1.79641007e-01 2.68417858e-02 2.45420418e+01] [-1.79562591e-01 9.83732147e-01 -5.32351761e-03 -3.16985362e+00] [-2.73614496e-02 4.15185441e-04 9.99625519e-01 -2.27435498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.57, Y:-3.18, Z:-0.23 [[ 9.83808906e-01 1.77106245e-01 2.74484145e-02 2.45741901e+01] [-1.77023099e-01 9.84191610e-01 -5.44946150e-03 -3.17835401e+00] [-2.79796329e-02 5.02225371e-04 9.99608367e-01 -2.27273251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.61, Y:-3.19, Z:-0.23 [[ 9.84072404e-01 1.75590512e-01 2.77394281e-02 2.46062268e+01] [-1.75504833e-01 9.84463134e-01 -5.51282217e-03 -3.18830554e+00] [-2.82764436e-02 5.56612465e-04 9.99599986e-01 -2.28821506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:24.64, Y:-3.21, Z:-0.23 [[ 9.84087032e-01 1.75052346e-01 3.04858953e-02 2.46365092e+01] [-1.74948274e-01 9.84558920e-01 -6.06908072e-03 -3.20698240e+00] [-3.10775670e-02 6.39048866e-04 9.99516771e-01 -2.28792648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.22, Z:-0.23 [[ 9.84110502e-01 1.74211194e-01 3.43071442e-02 2.46665471e+01] [-1.74078204e-01 9.84708012e-01 -6.84901725e-03 -3.22413076e+00] [-3.49756952e-02 7.68063752e-04 9.99387868e-01 -2.29802721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.70, Y:-3.24, Z:-0.23 [[ 9.84392784e-01 1.72561965e-01 3.45429544e-02 2.46981037e+01] [-1.72425487e-01 9.84998297e-01 -6.91419946e-03 -3.23603177e+00] [-3.52178791e-02 8.50202326e-04 9.99379296e-01 -2.33585822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.25, Z:-0.24 [[ 9.84792826e-01 1.70733613e-01 3.21422438e-02 2.47293639e+01] [-1.70613951e-01 9.85316843e-01 -6.44974639e-03 -3.24973149e+00] [-3.27714827e-02 8.67748760e-04 9.99462494e-01 -2.37797259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.76, Y:-3.26, Z:-0.24 [[ 9.85273898e-01 1.68377163e-01 2.97401630e-02 2.47604765e+01] [-1.68273204e-01 9.85722242e-01 -5.98245672e-03 -3.26479484e+00] [-3.03228492e-02 8.89885931e-04 9.99539761e-01 -2.39939039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-3.29, Z:-0.24 [[ 9.86208402e-01 1.63420837e-01 2.62033843e-02 2.47902333e+01] [-1.63338058e-01 9.86556012e-01 -5.28341964e-03 -3.28515441e+00] [-2.67145272e-02 9.30542916e-04 9.99642670e-01 -2.37620945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-3.30, Z:-0.24 [[ 9.86055150e-01 1.63961416e-01 2.84937762e-02 2.48205324e+01] [-1.63863305e-01 9.86466234e-01 -5.76073790e-03 -3.30189265e+00] [-2.90526869e-02 1.01132094e-03 9.99577370e-01 -2.37116632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.31, Z:-0.24 [[ 9.85582536e-01 1.66352876e-01 3.08834147e-02 2.48518837e+01] [-1.66238256e-01 9.86065741e-01 -6.26065431e-03 -3.31241505e+00] [-3.14945551e-02 1.03638654e-03 9.99503386e-01 -2.37195412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-3.32, Z:-0.24 [[ 9.85082777e-01 1.69145492e-01 3.16500533e-02 2.48836537e+01] [-1.69026010e-01 9.85590599e-01 -6.43271472e-03 -3.32031361e+00] [-3.22820597e-02 9.87074263e-04 9.99478311e-01 -2.38411366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.92, Y:-3.33, Z:-0.24 [[ 9.84594985e-01 1.72406221e-01 2.91343547e-02 2.49163247e+01] [-1.72305978e-01 9.85025591e-01 -5.93586198e-03 -3.32732491e+00] [-2.97214645e-02 8.24396454e-04 9.99557880e-01 -2.40308767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.95, Y:-3.34, Z:-0.24 [[ 9.83089219e-01 1.81562381e-01 2.38891062e-02 2.49474102e+01] [-1.81497463e-01 9.83379323e-01 -4.87638590e-03 -3.33870287e+00] [-2.43774213e-02 4.58110255e-04 9.99702722e-01 -2.44026298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.36, Z:-0.24 [[ 9.81310482e-01 1.89973502e-01 3.06562709e-02 2.49767404e+01] [-1.89870296e-01 9.81789162e-01 -6.26994099e-03 -3.35779514e+00] [-3.12891171e-02 3.32043581e-04 9.99510321e-01 -2.41258003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-3.37, Z:-0.24 [[ 9.80240833e-01 1.94986326e-01 3.32902594e-02 2.50086347e+01] [-1.94866856e-01 9.80805939e-01 -6.82773503e-03 -3.36574684e+00] [-3.39825991e-02 2.05656488e-04 9.99422404e-01 -2.38028353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.37, Z:-0.24 [[ 9.79256236e-01 1.99970230e-01 3.26975680e-02 2.50414010e+01] [-1.99857151e-01 9.79801972e-01 -6.72417763e-03 -3.36892930e+00] [-3.33817770e-02 4.98500760e-05 9.99442672e-01 -2.36919335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-3.37, Z:-0.24 [[ 9.78172271e-01 2.05456542e-01 3.10904647e-02 2.50741877e+01] [-2.05356538e-01 9.78666233e-01 -6.41061447e-03 -3.37105579e+00] [-3.17442906e-02 -1.13944876e-04 9.99496017e-01 -2.38231307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.38, Z:-0.24 [[ 9.76098929e-01 2.15525821e-01 2.79195374e-02 2.51063350e+01] [-2.15448870e-01 9.76498067e-01 -5.77141987e-03 -3.37756507e+00] [-2.85072643e-02 -3.81756046e-04 9.99593512e-01 -2.44514428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.14, Y:-3.39, Z:-0.25 [[ 9.75160191e-01 2.19678698e-01 2.83526253e-02 2.51383046e+01] [-2.19600633e-01 9.75572152e-01 -5.87685207e-03 -3.38623047e+00] [-2.89510509e-02 -4.95382288e-04 9.99580708e-01 -2.46094815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.39, Z:-0.25 [[ 9.73750281e-01 2.25620670e-01 3.00949160e-02 2.51711891e+01] [-2.25535024e-01 9.74214980e-01 -6.25499111e-03 -3.38912223e+00] [-3.07301733e-02 -6.96658261e-04 9.99527474e-01 -2.45187191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-3.40, Z:-0.25 [[ 9.73699121e-01 2.25841692e-01 3.00923836e-02 2.52039937e+01] [-2.25755776e-01 9.74163771e-01 -6.26715465e-03 -3.39586595e+00] [-3.07302947e-02 -6.91206444e-04 9.99527474e-01 -2.45812449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.24, Y:-3.40, Z:-0.25 [[ 9.72836166e-01 2.29550764e-01 2.99372858e-02 2.52372145e+01] [-2.29467162e-01 9.73296366e-01 -6.24540789e-03 -3.39870986e+00] [-3.05714897e-02 -7.93865350e-04 9.99532268e-01 -2.46195434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:-3.40, Z:-0.24 [[ 9.71640357e-01 2.34439487e-01 3.08730086e-02 2.52704161e+01] [-2.34352509e-01 9.72130240e-01 -6.45740938e-03 -3.40033523e+00] [-3.15264570e-02 -9.60887444e-04 9.99502456e-01 -2.44837241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.30, Y:-3.40, Z:-0.24 [[ 9.71394575e-01 2.35156655e-01 3.30745785e-02 2.53036580e+01] [-2.35056626e-01 9.71956930e-01 -6.93611584e-03 -3.40405478e+00] [-3.37781396e-02 -1.03669355e-03 9.99428818e-01 -2.43910787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:-3.41, Z:-0.24 [[ 9.71572991e-01 2.34236651e-01 3.43382387e-02 2.53365403e+01] [-2.34127606e-01 9.72179068e-01 -7.21966044e-03 -3.40758816e+00] [-3.50740260e-02 -1.02510254e-03 9.99384191e-01 -2.43965587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.37, Y:-3.41, Z:-0.25 [[ 9.72293438e-01 2.31923623e-01 2.92729099e-02 2.53694515e+01] [-2.31842965e-01 9.72733678e-01 -6.16698668e-03 -3.41205268e+00] [-2.99050152e-02 -7.90597546e-04 9.99552432e-01 -2.47689449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-3.42, Z:-0.25 [[ 9.72779656e-01 2.30253452e-01 2.61359805e-02 2.54016949e+01] [-2.30188279e-01 9.73130477e-01 -5.51640399e-03 -3.41811181e+00] [-2.67038902e-02 -6.49950787e-04 9.99643176e-01 -2.50234016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.43, Y:-3.42, Z:-0.25 [[ 9.73306709e-01 2.28462035e-01 2.18894511e-02 2.54342109e+01] [-2.28415640e-01 9.73552698e-01 -4.63036349e-03 -3.42337714e+00] [-2.23683964e-02 -4.93129122e-04 9.99749675e-01 -2.52690328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.43, Z:-0.25 [[ 9.73703659e-01 2.26893844e-01 2.05028665e-02 2.54666031e+01] [-2.26852572e-01 9.73919406e-01 -4.34759832e-03 -3.42798370e+00] [-2.09545829e-02 -4.17855611e-04 9.99780341e-01 -2.53176821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.43, Z:-0.25 [[ 9.74128512e-01 2.24273399e-01 2.78403274e-02 2.54991762e+01] [-2.24195688e-01 9.74526151e-01 -5.92238151e-03 -3.43167749e+00] [-2.84593597e-02 -4.72520656e-04 9.99594839e-01 -2.48250728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:-3.44, Z:-0.25 [[ 9.74443012e-01 2.22563214e-01 3.04373539e-02 2.55319743e+01] [-2.22468935e-01 9.74918160e-01 -6.49269081e-03 -3.43809404e+00] [-3.11189632e-02 -4.44608512e-04 9.99515589e-01 -2.46511989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-3.44, Z:-0.25 [[ 9.74880799e-01 2.20589264e-01 3.07864420e-02 2.55646069e+01] [-2.20491280e-01 9.75366721e-01 -6.58445944e-03 -3.44388950e+00] [-3.14805321e-02 -3.69078927e-04 9.99504297e-01 -2.46212808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.45, Z:-0.25 [[ 9.75170705e-01 2.19509643e-01 2.92850257e-02 2.55974047e+01] [-2.19420021e-01 9.75610283e-01 -6.27925649e-03 -3.44852098e+00] [-2.99491296e-02 -3.02373986e-04 9.99551378e-01 -2.49436058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.45, Z:-0.26 [[ 9.75497354e-01 2.18290846e-01 2.74594043e-02 2.56296095e+01] [-2.18211154e-01 9.75883729e-01 -5.90260180e-03 -3.45375743e+00] [-2.80856698e-02 -2.33975863e-04 9.99605492e-01 -2.55361253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.46, Z:-0.26 [[ 9.75361318e-01 2.18615139e-01 2.96263432e-02 2.56617147e+01] [-2.18521985e-01 9.75811130e-01 -6.38599581e-03 -3.46239175e+00] [-3.03057908e-02 -2.45354051e-04 9.99540644e-01 -2.55688525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.47, Z:-0.25 [[ 9.75158990e-01 2.19296283e-01 3.12103234e-02 2.56934158e+01] [-2.19192665e-01 9.75658276e-01 -6.74570034e-03 -3.47110485e+00] [-3.19299173e-02 -2.62943640e-04 9.99490076e-01 -2.53700530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:-3.48, Z:-0.25 [[ 9.74996980e-01 2.19856907e-01 3.23083591e-02 2.57258305e+01] [-2.19745560e-01 9.75532094e-01 -7.00165228e-03 -3.47896351e+00] [-3.30572029e-02 -2.73028651e-04 9.99453424e-01 -2.51601497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:-3.48, Z:-0.25 [[ 9.75150833e-01 2.19635663e-01 2.90004982e-02 2.57581840e+01] [-2.19545399e-01 9.75581942e-01 -6.30016195e-03 -3.48445330e+00] [-2.96761026e-02 -2.23317775e-04 9.99559543e-01 -2.51001452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.49, Z:-0.25 [[ 9.74766188e-01 2.21412861e-01 2.84116892e-02 2.57906068e+01] [-2.21326518e-01 9.75180127e-01 -6.18814579e-03 -3.48993161e+00] [-2.90766498e-02 -2.56264970e-04 9.99577152e-01 -2.53134913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.50, Z:-0.25 [[ 9.74040603e-01 2.24408444e-01 2.97616075e-02 2.58233613e+01] [-2.24314570e-01 9.74495116e-01 -6.49945527e-03 -3.49512718e+00] [-3.04610738e-02 -3.45228836e-04 9.99535894e-01 -2.54590265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.86, Y:-3.50, Z:-0.25 [[ 9.73591859e-01 2.26281927e-01 3.02552641e-02 2.58560692e+01] [-2.26185284e-01 9.74061771e-01 -6.62443761e-03 -3.50055826e+00] [-3.09694866e-02 -3.93796958e-04 9.99520253e-01 -2.54756467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.89, Y:-3.50, Z:-0.25 [[ 9.72956483e-01 2.29106431e-01 2.94266041e-02 2.58894292e+01] [-2.29015811e-01 9.73401272e-01 -6.45924259e-03 -3.50465672e+00] [-3.01237479e-02 -4.54595637e-04 9.99546074e-01 -2.54963097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.92, Y:-3.51, Z:-0.25 [[ 9.72246668e-01 2.32158876e-01 2.89598633e-02 2.59226914e+01] [-2.32071983e-01 9.72677737e-01 -6.37288743e-03 -3.50741121e+00] [-2.96481367e-02 -5.24754346e-04 9.99560260e-01 -2.54621303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.51, Z:-0.26 [[ 9.71026728e-01 2.37440263e-01 2.70039961e-02 2.59565565e+01] [-2.37366352e-01 9.71401941e-01 -5.95688901e-03 -3.50628263e+00] [-2.76461395e-02 -6.25541615e-04 9.99617577e-01 -2.55270907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:-3.51, Z:-0.26 [[ 9.70581293e-01 2.39171426e-01 2.77305408e-02 2.59893915e+01] [-2.39093745e-01 9.70977121e-01 -6.13283860e-03 -3.51177781e+00] [-2.83925204e-02 -6.77780421e-04 9.99596621e-01 -2.55058615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.52, Z:-0.26 [[ 9.70543174e-01 2.39276989e-01 2.81508227e-02 2.60213078e+01] [-2.39196526e-01 9.70951114e-01 -6.24149715e-03 -3.51937612e+00] [-2.88265193e-02 -6.75936555e-04 9.99584201e-01 -2.55010696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.05, Y:-3.53, Z:-0.25 [[ 9.70808943e-01 2.37858642e-01 3.08749429e-02 2.60530471e+01] [-2.37760562e-01 9.71299546e-01 -6.86352592e-03 -3.52765991e+00] [-3.16213669e-02 -6.77671415e-04 9.99499690e-01 -2.54674396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.53, Z:-0.26 [[ 9.72701881e-01 2.29908559e-01 3.15135649e-02 2.60849552e+01] [-2.29801700e-01 9.73212148e-01 -7.02098846e-03 -3.53477510e+00] [-3.22835696e-02 -4.12542123e-04 9.99478665e-01 -2.57236975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.12, Y:-3.54, Z:-0.26 [[ 9.73610955e-01 2.26353294e-01 2.90842538e-02 2.61178910e+01] [-2.26260311e-01 9.74045235e-01 -6.49248804e-03 -3.53856904e+00] [-2.97989749e-02 -2.59454835e-04 9.99555878e-01 -2.59563580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.15, Y:-3.54, Z:-0.26 [[ 9.74266539e-01 2.23745132e-01 2.72548499e-02 2.61502771e+01] [-2.23662045e-01 9.74647676e-01 -6.09897240e-03 -3.54279469e+00] [-2.79284915e-02 -1.53850721e-04 9.99609912e-01 -2.62477103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:-3.55, Z:-0.26 [[ 9.75686179e-01 2.17859234e-01 2.39548589e-02 2.61833396e+01] [-2.17792972e-01 9.75980201e-01 -5.37287901e-03 -3.54775759e+00] [-2.45499993e-02 2.50438833e-05 9.99698603e-01 -2.63181887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.55, Z:-0.26 [[ 9.76169052e-01 2.15499482e-01 2.55725514e-02 2.62158001e+01] [-2.15422756e-01 9.76503949e-01 -5.75100002e-03 -3.55338391e+00] [-2.62110349e-02 1.05038748e-04 9.99656426e-01 -2.61949861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.25, Y:-3.56, Z:-0.26 [[ 9.76202001e-01 2.15112122e-01 2.75032547e-02 2.62489021e+01] [-2.15022761e-01 9.76589348e-01 -6.20136486e-03 -3.55808772e+00] [-2.81933743e-02 1.39959019e-04 9.99602478e-01 -2.61135500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.28, Y:-3.56, Z:-0.26 [[ 9.75978364e-01 2.15652719e-01 3.09860817e-02 2.62816144e+01] [-2.15538968e-01 9.76470112e-01 -7.00526872e-03 -3.56413170e+00] [-3.17676880e-02 1.58282625e-04 9.99495267e-01 -2.62723459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.57, Z:-0.27 [[ 9.75893718e-01 2.16219398e-01 2.96752931e-02 2.63135880e+01] [-2.16114841e-01 9.76344790e-01 -6.72502484e-03 -3.57397949e+00] [-3.04273986e-02 1.49638245e-04 9.99536968e-01 -2.65499515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.58, Z:-0.27 [[ 9.75746720e-01 2.17223693e-01 2.70592833e-02 2.63450886e+01] [-2.17136753e-01 9.76121843e-01 -6.14641703e-03 -3.58334562e+00] [-2.77483049e-02 1.21781351e-04 9.99614934e-01 -2.67139673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.59, Z:-0.27 [[ 9.75481614e-01 2.18511766e-01 2.62341319e-02 2.63777399e+01] [-2.18430127e-01 9.75834309e-01 -5.97336595e-03 -3.58783773e+00] [-2.69054167e-02 9.65839106e-05 9.99637979e-01 -2.66870310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.59, Z:-0.27 [[ 9.75090437e-01 2.20246986e-01 2.62660545e-02 2.64104521e+01] [-2.20165379e-01 9.75444135e-01 -5.99540129e-03 -3.59301084e+00] [-2.69415379e-02 6.31826285e-05 9.99637009e-01 -2.66944952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.60, Z:-0.27 [[ 9.74804854e-01 2.21671911e-01 2.48407179e-02 2.64423675e+01] [-2.21599097e-01 9.75121307e-01 -5.68132309e-03 -3.59980205e+00] [-2.54821030e-02 3.35006876e-05 9.99675278e-01 -2.68350342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.61, Z:-0.27 [[ 9.74634371e-01 2.22646682e-01 2.27221783e-02 2.64740708e+01] [-2.22585867e-01 9.74899202e-01 -5.20354959e-03 -3.60894390e+00] [-2.33103866e-02 1.39225194e-05 9.99728276e-01 -2.70938278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.62, Z:-0.27 [[ 9.74630214e-01 2.22556067e-01 2.37643093e-02 2.65053710e+01] [-2.22489175e-01 9.74919892e-01 -5.45629468e-03 -3.62105547e+00] [-2.43826293e-02 3.05680891e-05 9.99702699e-01 -2.72509564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-3.63, Z:-0.27 [[ 9.74699083e-01 2.22004377e-01 2.59952580e-02 2.65377890e+01] [-2.21923720e-01 9.75045667e-01 -5.98414735e-03 -3.62775126e+00] [-2.66750706e-02 6.37785622e-05 9.99644155e-01 -2.71401544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.63, Z:-0.27 [[ 9.74660606e-01 2.21828771e-01 2.87871560e-02 2.65707133e+01] [-2.21729267e-01 9.75085631e-01 -6.64413691e-03 -3.63286619e+00] [-2.95438029e-02 9.28235026e-05 9.99563482e-01 -2.70421704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.64, Z:-0.27 [[ 9.73894959e-01 2.24680490e-01 3.23618122e-02 2.66037789e+01] [-2.24555660e-01 9.74432490e-01 -7.48856542e-03 -3.63630002e+00] [-3.32169358e-02 2.60479990e-05 9.99448165e-01 -2.71818484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:-3.64, Z:-0.27 [[ 9.73351522e-01 2.27144550e-01 3.14986942e-02 2.66356513e+01] [-2.27027021e-01 9.73861054e-01 -7.30614482e-03 -3.64367271e+00] [-3.23349025e-02 -3.96075203e-05 9.99477090e-01 -2.73588817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:-3.65, Z:-0.28 [[ 9.72687861e-01 2.30277592e-01 2.91642904e-02 2.66674550e+01] [-2.30177888e-01 9.73124974e-01 -6.77675044e-03 -3.65118795e+00] [-2.99410331e-02 -1.21311873e-04 9.99551659e-01 -2.75741223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:-3.66, Z:-0.28 [[ 9.72070568e-01 2.33204163e-01 2.63558173e-02 2.66992523e+01] [-2.33123578e-01 9.72427779e-01 -6.13287921e-03 -3.65824905e+00] [-2.70593418e-02 -1.82571047e-04 9.99633812e-01 -2.76944034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.67, Z:-0.28 [[ 9.71570923e-01 2.35398298e-01 2.52504173e-02 2.67313256e+01] [-2.35324711e-01 9.71898962e-01 -5.88960857e-03 -3.66516907e+00] [-2.59272582e-02 -2.19874712e-04 9.99663808e-01 -2.76078689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.67, Z:-0.27 [[ 9.71295872e-01 2.36396392e-01 2.64778019e-02 2.67635185e+01] [-2.36315422e-01 9.71656671e-01 -6.19152549e-03 -3.67326403e+00] [-2.71909872e-02 -2.43309776e-04 9.99630227e-01 -2.74545707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.80, Y:-3.68, Z:-0.27 [[ 9.70999020e-01 2.37464349e-01 2.77774442e-02 2.67957602e+01] [-2.37375201e-01 9.71396217e-01 -6.51184047e-03 -3.68119125e+00] [-2.85292341e-02 -2.70685685e-04 9.99592922e-01 -2.73514134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.69, Z:-0.27 [[ 9.70610881e-01 2.38822854e-01 2.96338079e-02 2.68283590e+01] [-2.38721485e-01 9.71063101e-01 -6.96468871e-03 -3.68697427e+00] [-3.04396242e-02 -3.14223996e-04 9.99536558e-01 -2.73177428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.86, Y:-3.68, Z:-0.27 [[ 9.70218912e-01 2.40148266e-01 3.16871229e-02 2.68627494e+01] [-2.40032454e-01 9.70736153e-01 -7.46605493e-03 -3.68362584e+00] [-3.25527959e-02 -3.62230173e-04 9.99469952e-01 -2.74456087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:-3.69, Z:-0.28 [[ 9.69803247e-01 2.41813601e-01 3.17465569e-02 2.68958635e+01] [-2.41697659e-01 9.70322638e-01 -7.49803887e-03 -3.68645350e+00] [-3.26175306e-02 -4.01446015e-04 9.99467826e-01 -2.76005468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.93, Y:-3.69, Z:-0.28 [[ 9.69469069e-01 2.43384076e-01 2.98984372e-02 2.69283113e+01] [-2.43281489e-01 9.69929906e-01 -7.07781127e-03 -3.69228262e+00] [-3.07220149e-02 -4.12017231e-04 9.99527883e-01 -2.77533540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.96, Y:-3.70, Z:-0.28 [[ 9.68892426e-01 2.45817472e-01 2.86572463e-02 2.69605049e+01] [-2.45723823e-01 9.69316029e-01 -6.79984377e-03 -3.69985194e+00] [-2.94494486e-02 -4.53451007e-04 9.99566168e-01 -2.78487236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.99, Y:-3.71, Z:-0.28 [[ 9.68114589e-01 2.49258541e-01 2.49864455e-02 2.69925352e+01] [-2.49188163e-01 9.68436862e-01 -5.94174577e-03 -3.70589529e+00] [-2.56788258e-02 -4.74035687e-04 9.99670132e-01 -2.79356118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.71, Z:-0.28 [[ 9.67801444e-01 2.50593484e-01 2.37333147e-02 2.70256049e+01] [-2.50530076e-01 9.68092291e-01 -5.65665389e-03 -3.71071394e+00] [-2.43935596e-02 -4.71391337e-04 9.99702322e-01 -2.79945571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-3.72, Z:-0.28 [[ 9.67600408e-01 2.51328939e-01 2.41498419e-02 2.70588862e+01] [-2.51263223e-01 9.67901610e-01 -5.76764878e-03 -3.71543359e+00] [-2.48242479e-02 -4.87187793e-04 9.99691712e-01 -2.80835139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.72, Z:-0.28 [[ 9.67604113e-01 2.51150091e-01 2.58052874e-02 2.70916244e+01] [-2.51074839e-01 9.67948021e-01 -6.16877346e-03 -3.72134644e+00] [-2.65274649e-02 -5.10127810e-04 9.99647955e-01 -2.80580164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.12, Y:-3.73, Z:-0.28 [[ 9.67280924e-01 2.51842056e-01 3.07114500e-02 2.71241501e+01] [-2.51735441e-01 9.67768152e-01 -7.35331489e-03 -3.72860609e+00] [-3.15734371e-02 -6.18439184e-04 9.99501243e-01 -2.80016663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:-3.74, Z:-0.28 [[ 9.66930056e-01 2.53127320e-01 3.11901681e-02 2.71560963e+01] [-2.53017453e-01 9.67432754e-01 -7.48571810e-03 -3.73515665e+00] [-3.20692300e-02 -6.53491065e-04 9.99485436e-01 -2.79975413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.74, Z:-0.28 [[ 9.66650729e-01 2.54105986e-01 3.18828434e-02 2.71894436e+01] [-2.53991118e-01 9.67176137e-01 -7.67014903e-03 -3.73962187e+00] [-3.27853561e-02 -6.83603902e-04 9.99462182e-01 -2.80130975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-3.74, Z:-0.28 [[ 9.67072479e-01 2.52453088e-01 3.22220131e-02 2.72229289e+01] [-2.52334242e-01 9.67608939e-01 -7.76994143e-03 -3.73985587e+00] [-3.31398536e-02 -6.16620731e-04 9.99450534e-01 -2.79931826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.75, Z:-0.28 [[ 9.66979322e-01 2.52810133e-01 3.22184383e-02 2.72555560e+01] [-2.52690992e-01 9.67515716e-01 -7.78474267e-03 -3.74754807e+00] [-3.31399072e-02 -6.13623935e-04 9.99450534e-01 -2.80556775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.29, Y:-3.75, Z:-0.28 [[ 9.67286610e-01 2.51808120e-01 3.08104628e-02 2.72878149e+01] [-2.51698218e-01 9.67777029e-01 -7.45845965e-03 -3.75480578e+00] [-3.16957588e-02 -5.40470433e-04 9.99497417e-01 -2.81630743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.32, Y:-3.76, Z:-0.28 [[ 9.67545312e-01 2.51030643e-01 2.89773331e-02 2.73194127e+01] [-2.50932614e-01 9.67979027e-01 -7.03041667e-03 -3.76488660e+00] [-2.98143007e-02 -4.69111262e-04 9.99555345e-01 -2.83023045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.78, Z:-0.28 [[ 9.68176102e-01 2.48304175e-01 3.13060972e-02 2.73510092e+01] [-2.48187731e-01 9.68682032e-01 -7.61394579e-03 -3.77593823e+00] [-3.22162284e-02 -3.98148863e-04 9.99480843e-01 -2.83825104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.79, Z:-0.28 [[ 9.70854133e-01 2.37072868e-01 3.51952835e-02 2.73825409e+01] [-2.36917508e-01 9.71491871e-01 -8.58132283e-03 -3.78523878e+00] [-3.62263306e-02 -7.16613190e-06 9.99343611e-01 -2.80848682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:-3.79, Z:-0.28 [[ 9.72346431e-01 2.30429790e-01 3.80069661e-02 2.74137771e+01] [-2.30242647e-01 9.73088913e-01 -9.28929523e-03 -3.79484776e+00] [-3.91246877e-02 2.81588569e-04 9.99234297e-01 -2.80810525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:-3.81, Z:-0.28 [[ 9.73572464e-01 2.25315198e-01 3.72789247e-02 2.74442379e+01] [-2.25130625e-01 9.74285797e-01 -9.13169578e-03 -3.80770191e+00] [-3.83778367e-02 4.97739935e-04 9.99263175e-01 -2.82201433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.82, Z:-0.29 [[ 9.74476309e-01 2.21419469e-01 3.70046283e-02 2.74750864e+01] [-2.21234030e-01 9.75178433e-01 -9.08453779e-03 -3.82161082e+00] [-3.80976090e-02 6.65983810e-04 9.99273801e-01 -2.85752926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.87, Z:-0.29 [[ 9.75486999e-01 2.18174106e-01 2.87258360e-02 2.74947220e+01] [-2.19203243e-01 9.74875607e-01 3.95915212e-02 -3.87204764e+00] [-1.93662721e-02 -4.49178106e-02 9.98802952e-01 -2.88948971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.80, Z:-0.29 [[ 9.75561349e-01 2.19003592e-01 1.78180100e-02 2.75453222e+01] [-2.17884387e-01 9.74673904e-01 -5.03703785e-02 -3.79948950e+00] [-2.83980432e-02 4.52571282e-02 9.98571652e-01 -2.90312884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-3.85, Z:-0.30 [[ 9.75165385e-01 2.20161772e-01 2.41094489e-02 2.75660485e+01] [-2.20082299e-01 9.75463255e-01 -5.93458909e-03 -3.85196110e+00] [-2.48244512e-02 4.81142914e-04 9.99691710e-01 -2.95495298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.87, Z:-0.29 [[ 9.75083761e-01 2.20277941e-01 2.62542873e-02 2.75965251e+01] [-2.20183517e-01 9.75437004e-01 -6.47066426e-03 -3.86629686e+00] [-2.70347480e-02 5.28678328e-04 9.99634355e-01 -2.93661980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.88, Z:-0.29 [[ 9.75075115e-01 2.19961452e-01 2.90771449e-02 2.76276005e+01] [-2.19844980e-01 9.75508373e-01 -7.18328276e-03 -3.87887897e+00] [-2.99450436e-02 6.11775928e-04 9.99551359e-01 -2.91220113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.66, Y:-3.89, Z:-0.29 [[ 9.75253761e-01 2.19076162e-01 2.97613309e-02 2.76595550e+01] [-2.18953226e-01 9.75707531e-01 -7.36876169e-03 -3.88897285e+00] [-3.06526747e-02 6.70073151e-04 9.99529872e-01 -2.90274624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:-3.90, Z:-0.30 [[ 9.75951396e-01 2.16117430e-01 2.84978718e-02 2.76900795e+01] [-2.16003012e-01 9.76367093e-01 -7.07089989e-03 -3.90224248e+00] [-2.93525290e-02 7.45228473e-04 9.99568844e-01 -2.95122782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:-3.91, Z:-0.30 [[ 9.75920145e-01 2.16093967e-01 2.97198341e-02 2.77206846e+01] [-2.15969012e-01 9.76372248e-01 -7.39046473e-03 -3.91432376e+00] [-3.06146561e-02 7.93940187e-04 9.99530946e-01 -2.97781043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:-3.93, Z:-0.30 [[ 9.75542900e-01 2.17307316e-01 3.30693332e-02 2.77515295e+01] [-2.17152650e-01 9.76102859e-01 -8.24228305e-03 -3.92642655e+00] [-3.40701791e-02 8.59607368e-04 9.99419073e-01 -2.97450034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:-3.94, Z:-0.30 [[ 9.75200038e-01 2.18441005e-01 3.56147786e-02 2.77827631e+01] [-2.18261623e-01 9.75849739e-01 -8.89671089e-03 -3.93829610e+00] [-3.66980789e-02 9.02733408e-04 9.99325991e-01 -2.96334890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:-3.95, Z:-0.30 [[ 9.74746769e-01 2.20882310e-01 3.28594084e-02 2.78132141e+01] [-2.20730429e-01 9.75300169e-01 -8.22539928e-03 -3.95433229e+00] [-3.38646318e-02 7.64610045e-04 9.99426136e-01 -2.96232963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:-3.97, Z:-0.30 [[ 9.74376838e-01 2.23024720e-01 2.91505082e-02 2.78437353e+01] [-2.22905809e-01 9.74812590e-01 -7.30855063e-03 -3.96809486e+00] [-3.00462699e-02 6.23464840e-04 9.99548314e-01 -2.99240629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.88, Y:-3.98, Z:-0.30 [[ 9.73458570e-01 2.27147089e-01 2.79752032e-02 2.78750746e+01] [-2.27039007e-01 9.73860341e-01 -7.02317552e-03 -3.98065684e+00] [-2.88392348e-02 4.85308042e-04 9.99583945e-01 -3.00851001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.91, Y:-3.99, Z:-0.30 [[ 9.70940173e-01 2.37005827e-01 3.32177508e-02 2.79069584e+01] [-2.36858478e-01 9.71508197e-01 -8.35976082e-03 -3.98878317e+00] [-3.42526292e-02 2.48921730e-04 9.99413176e-01 -2.97012802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:-4.00, Z:-0.30 [[ 9.69628064e-01 2.41962589e-01 3.57144576e-02 2.79389675e+01] [-2.41794834e-01 9.70285574e-01 -9.00902295e-03 -3.99561997e+00] [-3.68330695e-02 9.98301392e-05 9.99321427e-01 -2.95288227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:-4.00, Z:-0.30 [[ 9.68416495e-01 2.46764466e-01 3.57322151e-02 2.79709750e+01] [-2.46599057e-01 9.69075484e-01 -9.03386779e-03 -4.00360207e+00] [-3.68564512e-02 -6.29839577e-05 9.99320568e-01 -2.95696665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:-4.02, Z:-0.30 [[ 9.66844588e-01 2.52727098e-01 3.66136082e-02 2.80017722e+01] [-2.52556890e-01 9.67537564e-01 -9.27791543e-03 -4.01719765e+00] [-3.77698219e-02 -2.76716706e-04 9.99286427e-01 -2.99997794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:-4.03, Z:-0.30 [[ 9.66452251e-01 2.53857897e-01 3.90667998e-02 2.80335327e+01] [-2.53664099e-01 9.67241472e-01 -9.92267291e-03 -4.02669719e+00] [-4.03059778e-02 -3.20054994e-04 9.99187333e-01 -3.01641485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.03, Z:-0.30 [[ 9.66056866e-01 2.55005679e-01 4.13066131e-02 2.80663453e+01] [-2.54789030e-01 9.66939486e-01 -1.05157145e-02 -4.03309834e+00] [-4.26225622e-02 -3.65693684e-04 9.99091179e-01 -3.01147347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.03, Z:-0.30 [[ 9.65116519e-01 2.58890800e-01 3.90596678e-02 2.80996448e+01] [-2.58699402e-01 9.65906474e-01 -9.96510962e-03 -4.03460654e+00] [-4.03078612e-02 -4.87220783e-04 9.99187189e-01 -3.00491834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:-4.04, Z:-0.30 [[ 9.64830405e-01 2.60320883e-01 3.65421436e-02 2.81315424e+01] [-2.60153646e-01 9.65522033e-01 -9.34265042e-03 -4.04456156e+00] [-3.77143318e-02 -4.92498720e-04 9.99288440e-01 -3.03094654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.06, Z:-0.31 [[ 9.64591401e-01 2.61675903e-01 3.30022728e-02 2.81626069e+01] [-2.61539700e-01 9.65155685e-01 -8.45515443e-03 -4.05712308e+00] [-3.40648414e-02 -4.75635265e-04 9.99419512e-01 -3.05270429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.07, Z:-0.31 [[ 9.64708012e-01 2.61504175e-01 3.08871847e-02 2.81927323e+01] [-2.61384253e-01 9.65202252e-01 -7.93000370e-03 -4.07130462e+00] [-3.18861093e-02 -4.23285602e-04 9.99491419e-01 -3.06923415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-4.08, Z:-0.31 [[ 9.64478593e-01 2.62331706e-01 3.10341702e-02 2.82253462e+01] [-2.62210504e-01 9.64977661e-01 -7.98533822e-03 -4.07892338e+00] [-3.20420883e-02 -4.35797621e-04 9.99486425e-01 -3.06531643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-4.09, Z:-0.31 [[ 9.63978095e-01 2.64033222e-01 3.21355053e-02 2.82575485e+01] [-2.63903592e-01 9.64513461e-01 -8.28724517e-03 -4.08671062e+00] [-3.31832355e-02 -4.91952476e-04 9.99449164e-01 -3.05899363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:-4.09, Z:-0.31 [[ 9.62724136e-01 2.68591507e-01 3.19505787e-02 2.82899931e+01] [-2.68465278e-01 9.63253969e-01 -8.25749599e-03 -4.09400956e+00] [-3.29944150e-02 -6.27930309e-04 9.99455339e-01 -3.06622638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:-4.10, Z:-0.31 [[ 9.61958364e-01 2.71155344e-01 3.33299430e-02 2.83230050e+01] [-2.71018857e-01 9.62535324e-01 -8.63307879e-03 -4.09947754e+00] [-3.44221529e-02 -7.28380703e-04 9.99407117e-01 -3.08148619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.36, Y:-4.11, Z:-0.31 [[ 9.61197593e-01 2.73628301e-01 3.50248638e-02 2.83552278e+01] [-2.73478496e-01 9.61835146e-01 -9.09196503e-03 -4.10506559e+00] [-3.61759640e-02 -8.39372183e-04 9.99345083e-01 -3.08670349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-4.11, Z:-0.31 [[ 9.60389340e-01 2.76278205e-01 3.63685238e-02 2.83869735e+01] [-2.76117809e-01 9.61077229e-01 -9.46124738e-03 -4.11285696e+00] [-3.75668965e-02 -9.55515970e-04 9.99293658e-01 -3.09113352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-4.12, Z:-0.31 [[ 9.60075727e-01 2.77666921e-01 3.39952692e-02 2.84184407e+01] [-2.77527016e-01 9.60676960e-01 -8.86189181e-03 -4.12317999e+00] [-3.51191261e-02 -9.26518390e-04 9.99382704e-01 -3.08127237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-4.13, Z:-0.31 [[ 9.60515632e-01 2.76433379e-01 3.15326474e-02 2.84511676e+01] [-2.76311811e-01 9.61032749e-01 -8.23641918e-03 -4.12969604e+00] [-3.25807280e-02 -8.01633543e-04 9.99468786e-01 -3.10108998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-4.14, Z:-0.31 [[ 9.61068956e-01 2.74761675e-01 2.91973271e-02 2.84838583e+01] [-2.74656220e-01 9.61512125e-01 -7.64162492e-03 -4.13500761e+00] [-3.01732097e-02 -6.75099013e-04 9.99544457e-01 -3.13231878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.52, Y:-4.14, Z:-0.32 [[ 9.61316783e-01 2.73988068e-01 2.82945535e-02 2.85158277e+01] [-2.73888255e-01 9.61732894e-01 -7.42056686e-03 -4.14170566e+00] [-2.92449495e-02 -6.16030417e-04 9.99572085e-01 -3.17020069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.15, Z:-0.32 [[ 9.61864842e-01 2.72008768e-01 2.87620643e-02 2.85472935e+01] [-2.71904264e-01 9.62294616e-01 -7.55929686e-03 -4.15156032e+00] [-2.97337746e-02 -5.49506044e-04 9.99557703e-01 -3.16203800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.16, Z:-0.31 [[ 9.62046554e-01 2.71127841e-01 3.09212293e-02 2.85801149e+01] [-2.71006023e-01 9.62543193e-01 -8.14481020e-03 -4.15780570e+00] [-3.19713035e-02 -5.44152791e-04 9.99488639e-01 -3.14200405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-4.16, Z:-0.31 [[ 9.62057424e-01 2.71098370e-01 3.08413157e-02 2.86130310e+01] [-2.70976612e-01 9.62551504e-01 -8.14108253e-03 -4.16150703e+00] [-3.18933891e-02 -5.25086371e-04 9.99491139e-01 -3.13036610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.17, Z:-0.32 [[ 9.62206602e-01 2.70565571e-01 3.08662912e-02 2.86459313e+01] [-2.70442902e-01 9.62701422e-01 -8.16143977e-03 -4.16639715e+00] [-3.19232270e-02 -4.94578142e-04 9.99490202e-01 -3.15067410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.18, Z:-0.32 [[ 9.62063212e-01 2.71581856e-01 2.60321153e-02 2.86774163e+01] [-2.71494764e-01 9.62415245e-01 -6.89125711e-03 -4.17513664e+00] [-2.69252450e-02 -4.37758043e-04 9.99637354e-01 -3.19011595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:-4.18, Z:-0.32 [[ 9.61885058e-01 2.72284145e-01 2.52681678e-02 2.87101600e+01] [-2.72201963e-01 9.62216794e-01 -6.70316639e-03 -4.18225553e+00] [-2.61386214e-02 -4.30369292e-04 9.99658235e-01 -3.19637235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:-4.19, Z:-0.32 [[ 9.61536332e-01 2.73436909e-01 2.60794776e-02 2.87436507e+01] [-2.73349381e-01 9.61889829e-01 -6.93344066e-03 -4.18532984e+00] [-2.69814429e-02 -4.62053968e-04 9.99635828e-01 -3.18848124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.19, Z:-0.32 [[ 9.61370209e-01 2.73820464e-01 2.81011439e-02 2.87767338e+01] [-2.73718514e-01 9.61780698e-01 -7.48763598e-03 -4.18778361e+00] [-2.90774058e-02 -4.93413204e-04 9.99577041e-01 -3.18679355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.81, Y:-4.20, Z:-0.32 [[ 9.62136659e-01 2.70813499e-01 3.08722774e-02 2.88083037e+01] [-2.70688305e-01 9.62631741e-01 -8.24455593e-03 -4.19917264e+00] [-3.19513712e-02 -4.24374953e-04 9.99489335e-01 -3.17831842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.21, Z:-0.32 [[ 9.62728765e-01 2.68403757e-01 3.33578816e-02 2.88392338e+01] [-2.68255454e-01 9.63306441e-01 -8.92819849e-03 -4.21264749e+00] [-3.45302242e-02 -3.53000152e-04 9.99403592e-01 -3.18271250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.87, Y:-4.22, Z:-0.32 [[ 9.63923503e-01 2.64085405e-01 3.33223417e-02 2.88707002e+01] [-2.63934177e-01 9.64499283e-01 -8.93776410e-03 -4.22273692e+00] [-3.44997078e-02 -1.79583962e-04 9.99404692e-01 -3.18473198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.23, Z:-0.32 [[ 9.66451245e-01 2.54997457e-01 3.07942746e-02 2.89038981e+01] [-2.54863146e-01 9.66941712e-01 -8.27662385e-03 -4.22772048e+00] [-3.18867866e-02 1.50627722e-04 9.99491476e-01 -3.18616953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.94, Y:-4.24, Z:-0.32 [[ 9.67632141e-01 2.50585431e-01 2.99162471e-02 2.89356960e+01] [-2.50456035e-01 9.68094442e-01 -8.05761165e-03 -4.23788096e+00] [-3.09808727e-02 3.04099375e-04 9.99519931e-01 -3.19355894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:-4.25, Z:-0.32 [[ 9.68824507e-01 2.45923129e-01 3.00148258e-02 2.89659941e+01] [-2.45790109e-01 9.69289220e-01 -8.10121007e-03 -4.25108187e+00] [-3.10853221e-02 4.71303539e-04 9.99516623e-01 -3.20483092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.00, Y:-4.27, Z:-0.32 [[ 9.70371154e-01 2.39354414e-01 3.30043710e-02 2.89957943e+01] [-2.39189098e-01 9.70931961e-01 -8.92760187e-03 -4.26835332e+00] [-3.41818596e-02 7.68801598e-04 9.99415334e-01 -3.21944660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.03, Y:-4.28, Z:-0.32 [[ 9.70435175e-01 2.38751162e-01 3.54041402e-02 2.90272767e+01] [-2.38559776e-01 9.71080393e-01 -9.59702207e-03 -4.28018231e+00] [-3.66715665e-02 8.67284058e-04 9.99326996e-01 -3.21597141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.06, Y:-4.29, Z:-0.32 [[ 9.70149245e-01 2.39569212e-01 3.76435344e-02 2.90583066e+01] [-2.39352624e-01 9.70878862e-01 -1.02252989e-02 -4.29216777e+00] [-3.89969786e-02 9.09987247e-04 9.99238914e-01 -3.20786239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:-4.30, Z:-0.32 [[ 9.69618127e-01 2.41518263e-01 3.88537849e-02 2.90894753e+01] [-2.41288212e-01 9.70395876e-01 -1.05756181e-02 -4.30346390e+00] [-4.02577575e-02 8.79350784e-04 9.99188941e-01 -3.20360489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:-4.31, Z:-0.32 [[ 9.68450888e-01 2.46778761e-01 3.46860411e-02 2.91208439e+01] [-2.46598157e-01 9.69071656e-01 -9.45909791e-03 -4.31332292e+00] [-3.59475637e-02 6.07157976e-04 9.99353493e-01 -3.23323768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:-4.32, Z:-0.33 [[ 9.68072251e-01 2.48711147e-01 3.12871078e-02 2.91525749e+01] [-2.48564694e-01 9.68577574e-01 -8.54845176e-03 -4.32298471e+00] [-3.24300862e-02 4.98648542e-04 9.99473882e-01 -3.25041574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-4.33, Z:-0.33 [[ 9.67627954e-01 2.50620721e-01 2.97556339e-02 2.91838205e+01] [-2.50488664e-01 9.68085260e-01 -8.14610267e-03 -4.33482210e+00] [-3.08475727e-02 4.28947667e-04 9.99524008e-01 -3.26935445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.35, Z:-0.33 [[ 9.67693514e-01 2.50106323e-01 3.18761858e-02 2.92129625e+01] [-2.49953869e-01 9.68218251e-01 -8.74536342e-03 -4.35430842e+00] [-3.30503756e-02 4.95255483e-04 9.99453564e-01 -3.27947263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:-4.37, Z:-0.33 [[ 9.67932868e-01 2.49001583e-01 3.32291159e-02 2.92434173e+01] [-2.48834595e-01 9.68502907e-01 -9.13579136e-03 -4.36793786e+00] [-3.44573219e-02 5.74279141e-04 9.99406005e-01 -3.27814150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.28, Y:-4.38, Z:-0.33 [[ 9.67874946e-01 2.49227120e-01 3.32254635e-02 2.92757210e+01] [-2.49059809e-01 9.68444891e-01 -9.14905901e-03 -4.37674338e+00] [-3.44572240e-02 5.80017404e-04 9.99406005e-01 -3.28474166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:-4.39, Z:-0.33 [[ 9.68269904e-01 2.47455880e-01 3.49138981e-02 2.93062848e+01] [-2.47269466e-01 9.68898917e-01 -9.62802793e-03 -4.38922885e+00] [-3.62105502e-02 6.89388754e-04 9.99343945e-01 -3.29472286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:-4.40, Z:-0.33 [[ 9.68516068e-01 2.46341012e-01 3.59545773e-02 2.93376804e+01] [-2.46141782e-01 9.69182908e-01 -9.93551762e-03 -4.40059762e+00] [-3.72940872e-02 7.72784753e-04 9.99304035e-01 -3.29873137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-4.42, Z:-0.33 [[ 9.68985776e-01 2.44928600e-01 3.28107707e-02 2.93671987e+01] [-2.44761299e-01 9.69540812e-01 -9.08409069e-03 -4.41608697e+00] [-3.40363349e-02 7.71547785e-04 9.99420298e-01 -3.31518831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.43, Z:-0.33 [[ 9.68681476e-01 2.46400234e-01 3.07103031e-02 2.93982370e+01] [-2.46253887e-01 9.69167916e-01 -8.51906288e-03 -4.42833095e+00] [-3.18625396e-02 6.89726897e-04 9.99492022e-01 -3.32561444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-4.44, Z:-0.33 [[ 9.66515936e-01 2.55159707e-01 2.72115600e-02 2.94298589e+01] [-2.55047949e-01 9.66898852e-01 -7.56006229e-03 -4.43854844e+00] [-2.82398494e-02 3.66668130e-04 9.99601109e-01 -3.34564026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.45, Z:-0.34 [[ 9.64506337e-01 2.62674860e-01 2.70082000e-02 2.94621585e+01] [-2.62567440e-01 9.64884394e-01 -7.51303917e-03 -4.44585213e+00] [-2.80332772e-02 1.54899963e-04 9.99606978e-01 -3.36482405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.45, Z:-0.34 [[ 9.61998067e-01 2.71783770e-01 2.63306052e-02 2.94945285e+01] [-2.71684660e-01 9.62358339e-01 -7.33973202e-03 -4.45378475e+00] [-2.73342975e-02 -9.28135177e-05 9.99626344e-01 -3.37278231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.46, Z:-0.34 [[ 9.59252046e-01 2.81165891e-01 2.79509181e-02 2.95269539e+01] [-2.81057683e-01 9.59659110e-01 -7.80837655e-03 -4.46120376e+00] [-2.90188024e-02 -3.65619094e-04 9.99578799e-01 -3.36927468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:-4.46, Z:-0.33 [[ 9.54111647e-01 2.97647072e-01 3.28205201e-02 2.95588691e+01] [-2.97506874e-01 9.54675456e-01 -9.18877726e-03 -4.46490082e+00] [-3.40679577e-02 -9.97210944e-04 9.99419021e-01 -3.33850137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:-4.47, Z:-0.33 [[ 9.52371557e-01 3.03269805e-01 3.18722771e-02 2.95915497e+01] [-3.03140183e-01 9.52904039e-01 -8.93988427e-03 -4.47094662e+00] [-3.30824185e-02 -1.14767638e-03 9.99451968e-01 -3.34456081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-4.48, Z:-0.34 [[ 9.51278976e-01 3.06831447e-01 3.03771769e-02 2.96242785e+01] [-3.06715012e-01 9.51763117e-01 -8.53641255e-03 -4.47704598e+00] [-3.15311164e-02 -1.19662637e-03 9.99502054e-01 -3.35807641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.48, Z:-0.34 [[ 9.50816010e-01 3.08460585e-01 2.83016239e-02 2.96567084e+01] [-3.08359815e-01 9.51236428e-01 -7.96760010e-03 -4.48174961e+00] [-2.93792262e-02 -1.15136177e-03 9.99567674e-01 -3.37572256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.48, Z:-0.34 [[ 9.50743344e-01 3.08511081e-01 3.01331389e-02 2.96913431e+01] [-3.08396349e-01 9.51219977e-01 -8.49985589e-03 -4.47894014e+00] [-3.12855435e-02 -1.21176862e-03 9.99509753e-01 -3.37345844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:29.72, Y:-4.48, Z:-0.34 [[ 9.51132816e-01 3.07224029e-01 3.09800240e-02 2.97245323e+01] [-3.07101533e-01 9.51636479e-01 -8.75554552e-03 -4.48388890e+00] [-3.21716349e-02 -1.18632619e-03 9.99481655e-01 -3.36711717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.49, Z:-0.34 [[ 9.51672525e-01 3.05648400e-01 2.99743205e-02 2.97568891e+01] [-3.05532459e-01 9.52143837e-01 -8.48706606e-03 -4.49128891e+00] [-3.11339227e-02 -1.08122025e-03 9.99514637e-01 -3.38487766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.50, Z:-0.34 [[ 9.52777701e-01 3.02185815e-01 2.99730726e-02 2.97896509e+01] [-3.02067665e-01 9.53248565e-01 -8.50293956e-03 -4.49827519e+00] [-3.11412562e-02 -9.52484845e-04 9.99514540e-01 -3.40490692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.50, Z:-0.34 [[ 9.52947859e-01 3.01351241e-01 3.28299787e-02 2.98220648e+01] [-3.01208351e-01 9.53512684e-01 -9.33224401e-03 -4.50390585e+00] [-3.41160844e-02 -9.95521803e-04 9.99417381e-01 -3.40141875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.51, Z:-0.34 [[ 9.53152768e-01 3.00434875e-01 3.51949975e-02 2.98546937e+01] [-3.00269294e-01 9.53801793e-01 -1.00245406e-02 -4.50942283e+00] [-3.65807733e-02 -1.01305840e-03 9.99330186e-01 -3.38333504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.52, Z:-0.34 [[ 9.53630322e-01 2.98776472e-01 3.63569551e-02 2.98870712e+01] [-2.98597798e-01 9.54322637e-01 -1.03759057e-02 -4.51785701e+00] [-3.77963417e-02 -9.61328432e-04 9.99285001e-01 -3.37387230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:-4.53, Z:-0.34 [[ 9.56042488e-01 2.91182649e-01 3.45749315e-02 2.99173593e+01] [-2.91015594e-01 9.56667281e-01 -9.88115841e-03 -4.53229426e+00] [-3.59539276e-02 -6.15036966e-04 9.99353259e-01 -3.39587884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.95, Y:-4.54, Z:-0.34 [[ 9.57270066e-01 2.87243164e-01 3.35467721e-02 2.99489613e+01] [-2.87083028e-01 9.57857594e-01 -9.60023466e-03 -4.54213116e+00] [-3.48906322e-02 -4.40691642e-04 9.99391039e-01 -3.41712088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:-4.55, Z:-0.34 [[ 9.58254869e-01 2.84103427e-01 3.21379711e-02 2.99804134e+01] [-2.83954095e-01 9.58793594e-01 -9.21501196e-03 -4.55063795e+00] [-3.34316973e-02 -2.95378441e-04 9.99440961e-01 -3.43630083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.56, Z:-0.35 [[ 9.59414759e-01 2.80223179e-01 3.15957382e-02 3.00124352e+01] [-2.80076146e-01 9.59934868e-01 -9.07755881e-03 -4.55979144e+00] [-3.28735932e-02 -1.40068688e-04 9.99459508e-01 -3.45423039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:-4.57, Z:-0.35 [[ 9.61065741e-01 2.74933170e-01 2.76476607e-02 3.00427046e+01] [-2.74817976e-01 9.61463338e-01 -7.95805970e-03 -4.57295609e+00] [-2.87701467e-02 5.01443987e-05 9.99586052e-01 -3.46728483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.07, Y:-4.58, Z:-0.35 [[ 9.61013398e-01 2.75103510e-01 2.77724403e-02 3.00736044e+01] [-2.74986869e-01 9.61414611e-01 -8.01042160e-03 -4.58404668e+00] [-2.89045250e-02 6.10660736e-05 9.99582175e-01 -3.47013576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-4.59, Z:-0.35 [[ 9.60777286e-01 2.75826717e-01 2.87511562e-02 3.01049057e+01] [-2.75701513e-01 9.61207376e-01 -8.31005433e-03 -4.59433944e+00] [-2.99279584e-02 5.73741942e-05 9.99552057e-01 -3.45957008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.60, Z:-0.34 [[ 9.60615427e-01 2.76313048e-01 2.94805248e-02 3.01363800e+01] [-2.76181096e-01 9.61067685e-01 -8.53850668e-03 -4.60426500e+00] [-3.06920806e-02 6.02575716e-05 9.99528885e-01 -3.44563462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.62, Z:-0.35 [[ 9.60766866e-01 2.75695669e-01 3.03138015e-02 3.01666324e+01] [-2.75555271e-01 9.61244968e-01 -8.79800421e-03 -4.61650574e+00] [-3.15645608e-02 9.97031626e-05 9.99501710e-01 -3.45890071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.63, Z:-0.35 [[ 9.61148811e-01 2.74234557e-01 3.14383563e-02 3.01969789e+01] [-2.74082144e-01 9.61662819e-01 -9.14332487e-03 -4.62943828e+00] [-3.27405140e-02 1.71403732e-04 9.99463871e-01 -3.46984578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.64, Z:-0.35 [[ 9.62364123e-01 2.69610909e-01 3.41358011e-02 3.02264280e+01] [-2.69427555e-01 9.62969270e-01 -9.94871989e-03 -4.64451910e+00] [-3.55540109e-02 3.77165666e-04 9.99367685e-01 -3.47903883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.26, Y:-4.66, Z:-0.35 [[ 9.62522916e-01 2.69317392e-01 3.19026575e-02 3.02573211e+01] [-2.69156498e-01 9.63051400e-01 -9.31563854e-03 -4.65681406e+00] [-3.32327624e-02 3.79707994e-04 9.99447567e-01 -3.50514913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-4.67, Z:-0.35 [[ 9.62639490e-01 2.69383333e-01 2.75287436e-02 3.02873812e+01] [-2.69263155e-01 9.63032972e-01 -8.05287808e-03 -4.66997302e+00] [-2.86803989e-02 3.39542083e-04 9.99588575e-01 -3.53846846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-4.68, Z:-0.36 [[ 9.62583903e-01 2.69999854e-01 2.30718243e-02 3.03175728e+01] [-2.69915343e-01 9.62860322e-01 -6.76070289e-03 -4.68283785e+00] [-2.40403330e-02 2.80304394e-04 9.99710950e-01 -3.56195589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.69, Z:-0.36 [[ 9.61890403e-01 2.72561819e-01 2.18382270e-02 3.03483863e+01] [-2.72486491e-01 9.62138248e-01 -6.41126083e-03 -4.69344320e+00] [-2.27588584e-02 2.16308431e-04 9.99740960e-01 -3.57114679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-4.70, Z:-0.36 [[ 9.60961741e-01 2.75492398e-01 2.56217018e-02 3.03796848e+01] [-2.75389290e-01 9.61303231e-01 -7.53897585e-03 -4.70382266e+00] [-2.67071553e-02 1.88725078e-04 9.99643282e-01 -3.55608006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:-4.72, Z:-0.35 [[ 9.59570885e-01 2.79870093e-01 2.99407301e-02 3.04098418e+01] [-2.79730798e-01 9.60037875e-01 -8.82943641e-03 -4.71656002e+00] [-3.12153301e-02 9.71257936e-05 9.99512678e-01 -3.53365676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:-4.74, Z:-0.35 [[ 9.57106508e-01 2.87871748e-01 3.28175168e-02 3.04382578e+01] [-2.87708381e-01 9.57668957e-01 -9.69824432e-03 -4.73550042e+00] [-3.42201676e-02 -1.59621869e-04 9.99414306e-01 -3.51264366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:-4.75, Z:-0.35 [[ 9.55805483e-01 2.92497607e-01 2.96821076e-02 3.04700826e+01] [-2.92365694e-01 9.56266214e-01 -8.78800269e-03 -4.74518595e+00] [-3.09544664e-02 -2.78408812e-04 9.99520757e-01 -3.53221491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.50, Y:-4.75, Z:-0.36 [[ 9.54314574e-01 2.97435854e-01 2.85588374e-02 3.05017778e+01] [-2.97315467e-01 9.54741718e-01 -8.47143800e-03 -4.75262690e+00] [-2.97860229e-02 -4.06567351e-04 9.99556215e-01 -3.56296002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.53, Y:-4.76, Z:-0.36 [[ 9.51651687e-01 3.05818601e-01 2.88799162e-02 3.05324392e+01] [-3.05698839e-01 9.52089569e-01 -8.58326475e-03 -4.76467896e+00] [-3.01211890e-02 -6.60278479e-04 9.99546036e-01 -3.59337353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.56, Y:-4.78, Z:-0.36 [[ 9.50222515e-01 3.10105477e-01 3.01954668e-02 3.05636732e+01] [-3.09976164e-01 9.50701808e-01 -8.99164297e-03 -4.77504072e+00] [-3.14952426e-02 -8.15813379e-04 9.99503569e-01 -3.57413420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.78, Z:-0.36 [[ 9.49112573e-01 3.13189500e-01 3.31309542e-02 3.05959811e+01] [-3.13035026e-01 9.49690138e-01 -9.88504499e-03 -4.78141885e+00] [-3.45600328e-02 -9.89128607e-04 9.99402134e-01 -3.55365232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.78, Z:-0.35 [[ 9.47772126e-01 3.17080025e-01 3.44710644e-02 3.06290628e+01] [-3.16914666e-01 9.48398079e-01 -1.03042849e-02 -4.78495304e+00] [-3.59595742e-02 -1.15827183e-03 9.99352574e-01 -3.53806209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.79, Z:-0.35 [[ 9.46508049e-01 3.20709593e-01 3.56071685e-02 3.06621097e+01] [-3.20534975e-01 9.47176654e-01 -1.06637273e-02 -4.78993582e+00] [-3.71462383e-02 -1.32003911e-03 9.99308968e-01 -3.53402303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.80, Z:-0.36 [[ 9.44965231e-01 3.25370578e-01 3.42738788e-02 3.06934735e+01] [-3.25211203e-01 9.45585503e-01 -1.02825351e-02 -4.80024115e+00] [-3.57545173e-02 -1.42961124e-03 9.99359580e-01 -3.55453380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-4.81, Z:-0.36 [[ 9.44726468e-01 3.26219721e-01 3.27504894e-02 3.07255561e+01] [-3.26074128e-01 9.45292964e-01 -9.84253894e-03 -4.80940411e+00] [-3.41696375e-02 -1.38058023e-03 9.99415094e-01 -3.56842420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-4.81, Z:-0.36 [[ 9.44453676e-01 3.27069748e-01 3.21346078e-02 3.07589146e+01] [-3.26929502e-01 9.44999210e-01 -9.67441832e-03 -4.81441297e+00] [-3.35313885e-02 -1.36871136e-03 9.99436728e-01 -3.58801948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.80, Y:-4.81, Z:-0.36 [[ 9.44131618e-01 3.28092656e-01 3.11559940e-02 3.07951972e+01] [-3.27960846e-01 9.44644587e-01 -9.39619446e-03 -4.80679225e+00] [-3.25141635e-02 -1.34670185e-03 9.99470368e-01 -3.62002987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-4.81, Z:-0.36 [[ 9.43646843e-01 3.29544431e-01 3.05139826e-02 3.08290163e+01] [-3.29418243e-01 9.44139099e-01 -9.21864539e-03 -4.80801520e+00] [-3.18473973e-02 -1.35271690e-03 9.99491828e-01 -3.62962097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:30.86, Y:-4.81, Z:-0.36 [[ 9.42751125e-01 3.32212291e-01 2.92456725e-02 3.08624756e+01] [-3.32097193e-01 9.43203648e-01 -8.85061646e-03 -4.81169064e+00] [-3.05249086e-02 -1.36847711e-03 9.99533070e-01 -3.63435799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.90, Y:-4.82, Z:-0.36 [[ 9.42165801e-01 3.34099177e-01 2.64829034e-02 3.08959465e+01] [-3.34005179e-01 9.42537053e-01 -8.02768507e-03 -4.81559648e+00] [-2.76431607e-02 -1.28201655e-03 9.99617033e-01 -3.62760138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:-4.82, Z:-0.36 [[ 9.42606232e-01 3.32835509e-01 2.67210528e-02 3.09278171e+01] [-3.32738907e-01 9.42984083e-01 -8.11419051e-03 -4.82447983e+00] [-2.78982181e-02 -1.24264733e-03 9.99609997e-01 -3.61423139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:-4.83, Z:-0.36 [[ 9.43147045e-01 3.31060748e-01 2.95369704e-02 3.09594565e+01] [-3.30941321e-01 9.43608548e-01 -8.98610118e-03 -4.83395174e+00] [-3.08462832e-02 -1.29978924e-03 9.99523295e-01 -3.60351390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:-4.84, Z:-0.36 [[ 9.44874640e-01 3.25608522e-01 3.45109387e-02 3.09922684e+01] [-3.25441111e-01 9.45503793e-01 -1.05195738e-02 -4.83867785e+00] [-3.60554863e-02 -1.29159967e-03 9.99348955e-01 -3.60030354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:-4.84, Z:-0.36 [[ 9.45836922e-01 3.22814607e-01 3.43983625e-02 3.10263006e+01] [-3.22645769e-01 9.46461503e-01 -1.05038984e-02 -4.84169546e+00] [-3.59475377e-02 -1.16351121e-03 9.99353001e-01 -3.63307081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.06, Y:-4.84, Z:-0.37 [[ 9.46731086e-01 3.20343581e-01 3.28670248e-02 3.10603536e+01] [-3.20187353e-01 9.47300892e-01 -1.00538317e-02 -4.84390620e+00] [-3.43556423e-02 -1.00533067e-03 9.99409165e-01 -3.67866273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.09, Y:-4.85, Z:-0.37 [[ 9.47689358e-01 3.17867642e-01 2.90696243e-02 3.10931242e+01] [-3.17743819e-01 9.48134763e-01 -8.90705879e-03 -4.84818802e+00] [-3.03931871e-02 -7.95568614e-04 9.99537704e-01 -3.70815667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.86, Z:-0.37 [[ 9.47750629e-01 3.17720000e-01 2.86835612e-02 3.11244664e+01] [-3.17598901e-01 9.48184273e-01 -8.80464529e-03 -4.85922556e+00] [-2.99947135e-02 -7.65259396e-04 9.99549764e-01 -3.67776510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.87, Z:-0.36 [[ 9.47669569e-01 3.17741590e-01 3.10269295e-02 3.11557348e+01] [-3.17599309e-01 9.48177000e-01 -9.54225361e-03 -4.86916645e+00] [-3.24509918e-02 -8.11228015e-04 9.99472999e-01 -3.62054429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:-4.88, Z:-0.36 [[ 9.48318365e-01 3.15729658e-01 3.17342387e-02 3.11880414e+01] [-3.15579088e-01 9.48848898e-01 -9.77789239e-03 -4.87698605e+00] [-3.31981681e-02 -7.42107202e-04 9.99448513e-01 -3.60057996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.88, Z:-0.36 [[ 9.50647402e-01 3.08692027e-01 3.12849602e-02 3.12209190e+01] [-3.08541427e-01 9.51161924e-01 -9.65308970e-03 -4.88239913e+00] [-3.27368948e-02 -4.76021617e-04 9.99463891e-01 -3.64581386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.89, Z:-0.37 [[ 9.51818308e-01 3.04893701e-01 3.28898226e-02 3.12530832e+01] [-3.04724525e-01 9.52386323e-01 -1.01614620e-02 -4.89111584e+00] [-3.44219830e-02 -3.50470033e-04 9.99407326e-01 -3.68343112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.90, Z:-0.37 [[ 9.51747086e-01 3.05116394e-01 3.28857081e-02 3.12851049e+01] [-3.04946892e-01 9.52315004e-01 -1.01747638e-02 -4.90092950e+00] [-3.44220405e-02 -3.44592659e-04 9.99407327e-01 -3.69002876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.91, Z:-0.37 [[ 9.52969059e-01 3.01104145e-01 3.44422294e-02 3.13170931e+01] [-3.00915078e-01 9.53591241e-01 -1.06705449e-02 -4.91012273e+00] [-3.60567536e-02 -1.95487004e-04 9.99349725e-01 -3.71534181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.92, Z:-0.37 [[ 9.54915550e-01 2.94646117e-01 3.63312300e-02 3.13480051e+01] [-2.94430216e-01 9.55606436e-01 -1.12777339e-02 -4.92206024e+00] [-3.80412977e-02 7.22715330e-05 9.99276165e-01 -3.70334762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.93, Z:-0.37 [[ 9.55402565e-01 2.93141720e-01 3.56913270e-02 3.13782924e+01] [-2.92931536e-01 9.56068988e-01 -1.10998025e-02 -4.93457660e+00] [-3.73771861e-02 1.49664563e-04 9.99301218e-01 -3.71120265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.95, Z:-0.37 [[ 9.55930707e-01 2.91740204e-01 3.29262388e-02 3.14088200e+01] [-2.91559875e-01 9.56497575e-01 -1.02581020e-02 -4.94593737e+00] [-3.44865683e-02 2.06064662e-04 9.99405140e-01 -3.72204324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.95, Z:-0.37 [[ 9.56673418e-01 2.90061448e-01 2.53046784e-02 3.14402883e+01] [-2.89954044e-01 9.57007999e-01 -7.89578060e-03 -4.95443582e+00] [-2.65070411e-02 2.16489612e-04 9.99648603e-01 -3.74258574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552320587999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.96, Z:-0.38 [[ 9.56712221e-01 2.89985955e-01 2.46956045e-02 3.14719506e+01] [-2.89883266e-01 9.57030874e-01 -7.71992562e-03 -4.96388871e+00] [-2.58731260e-02 2.26904690e-04 9.99665209e-01 -3.75710102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.98, Z:-0.37 [[ 9.56492295e-01 2.90681460e-01 2.50355346e-02 3.15033356e+01] [-2.90575775e-01 9.56819857e-01 -7.84097104e-03 -4.97510062e+00] [-2.62337215e-02 2.25108508e-04 9.99655811e-01 -3.74837955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.99, Z:-0.37 [[ 9.55701099e-01 2.93183506e-01 2.60545623e-02 3.15346540e+01] [-2.93069542e-01 9.56056170e-01 -8.17576726e-03 -4.98687386e+00] [-2.73066251e-02 1.77791116e-04 9.99627089e-01 -3.74879460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.57, Y:-5.00, Z:-0.38 [[ 9.53366420e-01 3.00423971e-01 2.89466083e-02 3.15655812e+01] [-3.00286127e-01 9.53805765e-01 -9.09970542e-03 -4.99793623e+00] [-3.03432115e-02 -1.69113175e-05 9.99539539e-01 -3.75859506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.60, Y:-5.01, Z:-0.38 [[ 9.51917215e-01 3.04818332e-01 3.06496399e-02 3.15972465e+01] [-3.04665568e-01 9.52410500e-01 -9.65039429e-03 -5.00601087e+00] [-3.21326559e-02 -1.51513496e-04 9.99483601e-01 -3.78077009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-5.01, Z:-0.38 [[ 9.51232209e-01 3.06995144e-01 3.01871845e-02 3.16292444e+01] [-3.06847487e-01 9.51711059e-01 -9.52261932e-03 -5.01422788e+00] [-3.16528753e-02 -2.04639488e-04 9.99498901e-01 -3.79776980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-5.02, Z:-0.38 [[ 9.50746980e-01 3.08575959e-01 2.93437837e-02 3.16607931e+01] [-3.08436666e-01 9.51199676e-01 -9.27362636e-03 -5.02335291e+00] [-3.07734157e-02 -2.33826563e-04 9.99526359e-01 -3.83003875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-5.04, Z:-0.38 [[ 9.51270835e-01 3.07257140e-01 2.60163068e-02 3.16911027e+01] [-3.07146807e-01 9.51626516e-01 -8.23490211e-03 -5.03629806e+00] [-2.72880399e-02 -1.57203372e-04 9.99627600e-01 -3.83565903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-5.05, Z:-0.38 [[ 9.51314990e-01 3.07091602e-01 2.63540743e-02 3.17217820e+01] [-3.06977980e-01 9.51679950e-01 -8.35416585e-03 -5.04890763e+00] [-2.76461383e-02 -1.42677275e-04 9.99617762e-01 -3.81902822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:-5.06, Z:-0.38 [[ 9.51442020e-01 3.06633981e-01 2.70866160e-02 3.17530976e+01] [-3.06513298e-01 9.51827499e-01 -8.60293899e-03 -5.06072657e+00] [-2.84197394e-02 -1.17210343e-04 9.99596071e-01 -3.80164251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.79, Y:-5.07, Z:-0.38 [[ 9.50412885e-01 3.09251784e-01 3.28432942e-02 3.17852847e+01] [-3.09075139e-01 9.50980172e-01 -1.04532731e-02 -5.07002796e+00] [-3.44660149e-02 -2.16120273e-04 9.99405847e-01 -3.76904320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-5.08, Z:-0.38 [[ 9.49155367e-01 3.12770273e-01 3.57609466e-02 3.18174755e+01] [-3.12562502e-01 9.49828738e-01 -1.14039656e-02 -5.07764882e+00] [-3.75335962e-02 -3.53395823e-04 9.99295304e-01 -3.76908199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-5.08, Z:-0.38 [[ 9.47249502e-01 3.18122400e-01 3.89425064e-02 3.18495232e+01] [-3.17879546e-01 9.48049464e-01 -1.24421711e-02 -5.08465267e+00] [-4.08775557e-02 -5.93185882e-04 9.99163987e-01 -3.78180773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-5.09, Z:-0.38 [[ 9.45398524e-01 3.23296891e-01 4.12401543e-02 3.18819371e+01] [-3.23028377e-01 9.46297211e-01 -1.32006313e-02 -5.09125373e+00] [-4.32931661e-02 -8.41882749e-04 9.99062057e-01 -3.80039437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-5.09, Z:-0.38 [[ 9.41787114e-01 3.33954575e-01 3.88763946e-02 3.19154615e+01] [-3.33724130e-01 9.42588361e-01 -1.24654042e-02 -5.09381959e+00] [-4.08073159e-02 -1.23423389e-03 9.99166272e-01 -3.81986383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-5.10, Z:-0.38 [[ 9.40260491e-01 3.38636214e-01 3.51528584e-02 3.19480342e+01] [-3.38450384e-01 9.40916506e-01 -1.12900856e-02 -5.10084671e+00] [-3.68991365e-02 -1.28187700e-03 9.99318173e-01 -3.83672901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:-5.11, Z:-0.38 [[ 9.39292248e-01 3.41735614e-01 3.07708126e-02 3.19800702e+01] [-3.41594506e-01 9.39795344e-01 -9.89471210e-03 -5.10958739e+00] [-3.22996419e-02 -1.21711414e-03 9.99477489e-01 -3.83810303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:-5.12, Z:-0.38 [[ 9.38512416e-01 3.44169853e-01 2.72315344e-02 3.20117528e+01] [-3.44060113e-01 9.38906708e-01 -8.76541952e-03 -5.11959477e+00] [-2.85846635e-02 -1.14282976e-03 9.99590722e-01 -3.84669583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:-5.13, Z:-0.38 [[ 9.37976624e-01 3.45431947e-01 2.96078345e-02 3.20434216e+01] [-3.45302300e-01 9.38442946e-01 -9.54774025e-03 -5.12779188e+00] [-3.10833579e-02 -1.26809618e-03 9.99515991e-01 -3.83418161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-5.14, Z:-0.38 [[ 9.37684114e-01 3.45852933e-01 3.36786567e-02 3.20761195e+01] [-3.45684737e-01 9.38287630e-01 -1.08805440e-02 -5.13555961e+00] [-3.53633351e-02 -1.43968434e-03 9.99373485e-01 -3.83432582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:-5.14, Z:-0.38 [[ 9.36446863e-01 3.48906813e-01 3.64870869e-02 3.21098568e+01] [-3.48710894e-01 9.37155944e-01 -1.18088765e-02 -5.13706645e+00] [-3.83142878e-02 -1.66505934e-03 9.99264351e-01 -3.83222883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:-5.14, Z:-0.38 [[ 9.35451530e-01 3.51657641e-01 3.55997084e-02 3.21435675e+01] [-3.51472405e-01 9.36127105e-01 -1.15408219e-02 -5.14153160e+00] [-3.73842702e-02 -1.71643569e-03 9.99299490e-01 -3.84615098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.18, Y:-5.15, Z:-0.39 [[ 9.34265486e-01 3.55185236e-01 3.14872894e-02 3.21768775e+01] [-3.55041805e-01 9.34794522e-01 -1.02234527e-02 -5.14583525e+00] [-3.30653651e-02 -1.62788504e-03 9.99451866e-01 -3.86714067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-5.15, Z:-0.39 [[ 9.33718709e-01 3.56894283e-01 2.82106895e-02 3.22096878e+01] [-3.56779513e-01 9.34143577e-01 -9.17369449e-03 -5.15102521e+00] [-2.96268735e-02 -1.49934586e-03 9.99559903e-01 -3.88810839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:-5.15, Z:-0.39 [[ 9.34105904e-01 3.55925687e-01 2.76236185e-02 3.22433269e+01] [-3.55814876e-01 9.34513172e-01 -8.99472844e-03 -5.15385897e+00] [-2.90160903e-02 -1.42686544e-03 9.99577926e-01 -3.88856248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.28, Y:-5.16, Z:-0.39 [[ 9.34904179e-01 3.53581386e-01 3.05676219e-02 3.22751941e+01] [-3.53444073e-01 9.35402582e-01 -9.96480083e-03 -5.16185974e+00] [-3.21164005e-02 -1.48781084e-03 9.99483028e-01 -3.86170567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.31, Y:-5.17, Z:-0.38 [[ 9.36165621e-01 3.49829173e-01 3.48350458e-02 3.23070824e+01] [-3.49647485e-01 9.36812260e-01 -1.13765909e-02 -5.17132589e+00] [-3.66137613e-02 -1.52961287e-03 9.99328321e-01 -3.83821535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.34, Y:-5.18, Z:-0.38 [[ 9.37944698e-01 3.44918655e-01 3.59286146e-02 3.23388576e+01] [-3.44721119e-01 9.38631590e-01 -1.17510757e-02 -5.18128803e+00] [-3.77768979e-02 -1.36349309e-03 9.99285268e-01 -3.83868552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-5.19, Z:-0.39 [[ 9.41616031e-01 3.34908906e-01 3.45727505e-02 3.23705741e+01] [-3.34718651e-01 9.42250072e-01 -1.13237369e-02 -5.18950384e+00] [-3.63685970e-02 -9.09532270e-04 9.99338030e-01 -3.90598602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:-5.20, Z:-0.39 [[ 9.42813162e-01 3.31605507e-01 3.37806159e-02 3.24027438e+01] [-3.31421065e-01 9.43417846e-01 -1.10836141e-02 -5.19743265e+00] [-3.55446234e-02 -7.45830487e-04 9.99367812e-01 -3.94721039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:-5.21, Z:-0.40 [[ 9.43384716e-01 3.30123587e-01 3.23062727e-02 3.24353626e+01] [-3.29953401e-01 9.43937500e-01 -1.06183101e-02 -5.20509624e+00] [-3.40004570e-02 -6.42413079e-04 9.99421611e-01 -3.96627467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:-5.21, Z:-0.40 [[ 9.44088152e-01 3.28307763e-01 3.01922766e-02 3.24679512e+01] [-3.28157656e-01 9.44570664e-01 -9.94050008e-03 -5.21144418e+00] [-3.17822821e-02 -5.23118391e-04 9.99494679e-01 -3.95318119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.50, Y:-5.22, Z:-0.40 [[ 9.44456104e-01 3.27429730e-01 2.81503045e-02 3.24998183e+01] [-3.27298384e-01 9.44875428e-01 -9.28406046e-03 -5.22056849e+00] [-2.96384084e-02 -4.45161607e-04 9.99560587e-01 -3.95003508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:-5.23, Z:-0.40 [[ 9.45010289e-01 3.25773166e-01 2.87645226e-02 3.25318985e+01] [-3.25634733e-01 9.45447881e-01 -9.50395939e-03 -5.22986576e+00] [-3.02914919e-02 -3.85388223e-04 9.99541033e-01 -3.95513379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.56, Y:-5.24, Z:-0.39 [[ 9.45888211e-01 3.22801063e-01 3.30902606e-02 3.25626165e+01] [-3.22615283e-01 9.46466785e-01 -1.09546012e-02 -5.24081722e+00] [-3.48549895e-02 -3.13595676e-04 9.99392331e-01 -3.93991031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.59, Y:-5.25, Z:-0.39 [[ 9.45642501e-01 3.23404145e-01 3.42055565e-02 3.25942283e+01] [-3.23205277e-01 9.46260879e-01 -1.13444745e-02 -5.25108893e+00] [-3.60362301e-02 -3.27599191e-04 9.99350430e-01 -3.93967861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:-5.26, Z:-0.39 [[ 9.45418781e-01 3.23874466e-01 3.58978971e-02 3.26263937e+01] [-3.23654942e-01 9.46100002e-01 -1.19274946e-02 -5.25862140e+00] [-3.78260114e-02 -3.42054373e-04 9.99284282e-01 -3.93879427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:-5.26, Z:-0.40 [[ 9.44941475e-01 3.25520044e-01 3.35008737e-02 3.26615594e+01] [-3.25329229e-01 9.45535070e-01 -1.11500650e-02 -5.25793239e+00] [-3.53058207e-02 -3.62654496e-04 9.99376489e-01 -3.97380954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:-5.26, Z:-0.40 [[ 9.44829619e-01 3.25922802e-01 3.27309985e-02 3.26940376e+01] [-3.25740244e-01 9.45396321e-01 -1.09128283e-02 -5.26497059e+00] [-3.45005051e-02 -3.51040010e-04 9.99404619e-01 -4.00083424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.73, Y:-5.28, Z:-0.40 [[ 9.44995570e-01 3.25454541e-01 3.25992963e-02 3.27250399e+01] [-3.25272511e-01 9.45557636e-01 -1.08880955e-02 -5.27763101e+00] [-3.43680936e-02 -3.14452945e-04 9.99409193e-01 -4.01265726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:-5.29, Z:-0.40 [[ 9.45177773e-01 3.24858603e-01 3.32545497e-02 3.27548346e+01] [-3.24668111e-01 9.45762555e-01 -1.11268937e-02 -5.29295819e+00] [-3.50655750e-02 -2.79799207e-04 9.99384974e-01 -4.01160000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-5.31, Z:-0.40 [[ 9.46858939e-01 3.19964749e-01 3.28741427e-02 3.27833757e+01] [-3.19774961e-01 9.47429445e-01 -1.10191189e-02 -5.31068032e+00] [-3.46716604e-02 -7.87765044e-05 9.99398754e-01 -4.00566898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:-5.32, Z:-0.40 [[ 9.48084274e-01 3.16332769e-01 3.27076132e-02 3.28140847e+01] [-3.16142066e-01 9.48648288e-01 -1.09827319e-02 -5.32185712e+00] [-3.45022193e-02 7.23030140e-05 9.99404619e-01 -4.02425607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.85, Y:-5.33, Z:-0.40 [[ 9.49043833e-01 3.13451175e-01 3.26215075e-02 3.28451054e+01] [-3.13259106e-01 9.49604298e-01 -1.09731357e-02 -5.33277196e+00] [-3.44170660e-02 1.95002457e-04 9.99407538e-01 -4.03925099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.88, Y:-5.34, Z:-0.40 [[ 9.49417888e-01 3.12186105e-01 3.38453757e-02 3.28761499e+01] [-3.11977914e-01 9.50020929e-01 -1.14024834e-02 -5.34376024e+00] [-3.57135122e-02 2.66712030e-04 9.99362033e-01 -4.03867283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-5.35, Z:-0.40 [[ 9.49005175e-01 3.13125255e-01 3.66299350e-02 3.29086718e+01] [-3.12881354e-01 9.49711800e-01 -1.23594178e-02 -5.35182198e+00] [-3.86579273e-02 2.68327774e-04 9.99252467e-01 -4.00720476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.94, Y:-5.36, Z:-0.40 [[ 9.48281692e-01 3.15265345e-01 3.70080216e-02 3.29398827e+01] [-3.15017158e-01 9.49003541e-01 -1.25087744e-02 -5.36123343e+00] [-3.90643267e-02 2.03679977e-04 9.99236677e-01 -4.00636716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-5.37, Z:-0.40 [[ 9.47703570e-01 3.17084290e-01 3.62697638e-02 3.29705317e+01] [-3.16846441e-01 9.48397349e-01 -1.22800972e-02 -5.37367062e+00] [-3.82919737e-02 1.45946373e-04 9.99266583e-01 -4.02802098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.00, Y:-5.39, Z:-0.41 [[ 9.47405203e-01 3.18118782e-01 3.49831488e-02 3.30005207e+01] [-3.17897478e-01 9.48050856e-01 -1.18645351e-02 -5.38923930e+00] [-3.69401356e-02 1.19467529e-04 9.99317473e-01 -4.06705554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.03, Y:-5.41, Z:-0.41 [[ 9.48040202e-01 3.16170076e-01 3.54437386e-02 3.30278808e+01] [-3.15940757e-01 9.48702501e-01 -1.20416828e-02 -5.41250490e+00] [-3.74327832e-02 2.17877834e-04 9.99299124e-01 -4.11775513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052320587999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:33.06, Y:-5.43, Z:-0.41 [[ 9.48336971e-01 3.15209407e-01 3.60557776e-02 3.30575215e+01] [-3.14970590e-01 9.49022102e-01 -1.22709484e-02 -5.42827194e+00] [-3.80856482e-02 2.80484453e-04 9.99274439e-01 -4.11519888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:-5.44, Z:-0.41 [[ 9.48673294e-01 3.14014201e-01 3.76040177e-02 3.30874239e+01] [-3.13752596e-01 9.49418216e-01 -1.28202908e-02 -5.44206640e+00] [-3.97276928e-02 3.63909312e-04 9.99210477e-01 -4.09829607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:-5.45, Z:-0.41 [[ 9.48879050e-01 3.13170480e-01 3.94055656e-02 3.31185950e+01] [-3.12881489e-01 9.49696823e-01 -1.34579952e-02 -5.45365149e+00] [-4.16379873e-02 4.40737706e-04 9.99132666e-01 -4.07724121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-5.46, Z:-0.41 [[ 9.48604229e-01 3.14333380e-01 3.66680043e-02 3.31509542e+01] [-3.14083234e-01 9.49312583e-01 -1.25436114e-02 -5.46204596e+00] [-3.87522737e-02 3.82117462e-04 9.99248775e-01 -4.06676015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-5.47, Z:-0.41 [[ 9.47453603e-01 3.17771746e-01 3.67802493e-02 3.31819583e+01] [-3.17521818e-01 9.48167205e-01 -1.26034302e-02 -5.47249639e+00] [-3.88788402e-02 2.62633759e-04 9.99243898e-01 -4.08318842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:-5.49, Z:-0.41 [[ 9.45691320e-01 3.22971064e-01 3.68458804e-02 3.32124531e+01] [-3.22723334e-01 9.46408837e-01 -1.26476386e-02 -5.48532457e+00] [-3.89560881e-02 6.97366528e-05 9.99240921e-01 -4.10637927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-5.50, Z:-0.41 [[ 9.42239590e-01 3.32933199e-01 3.66065661e-02 3.32412453e+01] [-3.32695325e-01 9.42950361e-01 -1.25871734e-02 -5.50363189e+00] [-3.87088626e-02 -3.18700344e-04 9.99250480e-01 -4.14199221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.27, Y:-5.52, Z:-0.41 [[ 9.40777886e-01 3.37049274e-01 3.65343175e-02 3.32711129e+01] [-3.36814597e-01 9.41486893e-01 -1.25840262e-02 -5.51731517e+00] [-3.86380180e-02 -4.66517906e-04 9.99253164e-01 -4.14647165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.30, Y:-5.53, Z:-0.42 [[ 9.40698629e-01 3.37270941e-01 3.65294495e-02 3.33028061e+01] [-3.37035884e-01 9.41407510e-01 -1.25981452e-02 -5.52815207e+00] [-3.86380864e-02 -4.60677410e-04 9.99253164e-01 -4.15306854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.33, Y:-5.54, Z:-0.41 [[ 9.39564370e-01 3.40288687e-01 3.77147776e-02 3.33331659e+01] [-3.40039891e-01 9.40320830e-01 -1.30234009e-02 -5.54154642e+00] [-3.98957070e-02 -5.88205425e-04 9.99203676e-01 -4.14607419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.36, Y:-5.55, Z:-0.41 [[ 9.38975635e-01 3.41752443e-01 3.91155278e-02 3.33636259e+01] [-3.41485103e-01 9.39789786e-01 -1.35307805e-02 -5.55453266e+00] [-4.13845508e-02 -6.52296886e-04 9.99143080e-01 -4.13833997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:-5.57, Z:-0.41 [[ 9.38351225e-01 3.43533564e-01 3.84924484e-02 3.33949334e+01] [-3.43275255e-01 9.39140140e-01 -1.33377571e-02 -5.56638150e+00] [-4.07317706e-02 -6.98004354e-04 9.99169873e-01 -4.14398305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-5.58, Z:-0.42 [[ 9.37617810e-01 3.45813542e-01 3.58585780e-02 3.34262856e+01] [-3.45590275e-01 9.38302974e-01 -1.24455083e-02 -5.57669337e+00] [-3.79500357e-02 -7.23245610e-04 9.99279376e-01 -4.17279979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.46, Y:-5.59, Z:-0.42 [[ 9.36665747e-01 3.48659186e-01 3.30764240e-02 3.34576615e+01] [-3.48470346e-01 9.37249274e-01 -1.14985721e-02 -5.58721829e+00] [-3.50099371e-02 -7.55834331e-04 9.99386678e-01 -4.20345752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.49, Y:-5.60, Z:-0.42 [[ 9.35047127e-01 3.53119538e-01 3.15192337e-02 3.34888931e+01] [-3.52949994e-01 9.35577815e-01 -1.09751166e-02 -5.59650116e+00] [-3.33642239e-02 -8.62462159e-04 9.99442887e-01 -4.21783307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.52, Y:-5.60, Z:-0.42 [[ 9.31445807e-01 3.62561822e-01 3.09456638e-02 3.35227582e+01] [-3.62403001e-01 9.31958999e-01 -1.07930430e-02 -5.59871319e+00] [-3.27532351e-02 -1.16166676e-03 9.99462794e-01 -4.19589564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-5.60, Z:-0.42 [[ 9.30072090e-01 3.65946522e-01 3.23890652e-02 3.35556294e+01] [-3.65773933e-01 9.30634941e-01 -1.13153408e-02 -5.60383065e+00] [-3.42832054e-02 -1.32299310e-03 9.99411282e-01 -4.19688081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-5.61, Z:-0.42 [[ 9.29183806e-01 3.68199313e-01 3.23530566e-02 3.35874812e+01] [-3.68027848e-01 9.29745847e-01 -1.13209062e-02 -5.61147649e+00] [-3.42484699e-02 -1.38762309e-03 9.99412386e-01 -4.20756174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:-5.62, Z:-0.42 [[ 9.29199258e-01 3.68069530e-01 3.33700559e-02 3.36187301e+01] [-3.67886356e-01 9.29797202e-01 -1.16958232e-02 -5.62192498e+00] [-3.53322608e-02 -1.40863808e-03 9.99374628e-01 -4.21704720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:-5.63, Z:-0.42 [[ 9.29471036e-01 3.67268789e-01 3.46010082e-02 3.36506603e+01] [-3.67070569e-01 9.30113782e-01 -1.21470394e-02 -5.63152302e+00] [-3.66441031e-02 -1.41069052e-03 9.99327384e-01 -4.20922446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-5.63, Z:-0.42 [[ 9.30348807e-01 3.64769822e-01 3.73373133e-02 3.36864058e+01] [-3.64536129e-01 9.31096681e-01 -1.31294306e-02 -5.62983812e+00] [-3.95538685e-02 -1.39584957e-03 9.99216465e-01 -4.19788900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:-5.63, Z:-0.42 [[ 9.30755303e-01 3.63721017e-01 3.74377701e-02 3.37199035e+01] [-3.63484377e-01 9.31506972e-01 -1.31859347e-02 -5.63309113e+00] [-3.96695455e-02 -1.33516589e-03 9.99211962e-01 -4.21428599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-5.64, Z:-0.42 [[ 9.31273447e-01 3.62556280e-01 3.58149504e-02 3.37523952e+01] [-3.62338099e-01 9.31961092e-01 -1.26342797e-02 -5.63899164e+00] [-3.79587777e-02 -1.21115181e-03 9.99278572e-01 -4.23405706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-5.65, Z:-0.43 [[ 9.32185762e-01 3.60282380e-01 3.50187477e-02 3.37848635e+01] [-3.60071454e-01 9.32842672e-01 -1.23732239e-02 -5.64730583e+00] [-3.71248367e-02 -1.07510831e-03 9.99310057e-01 -4.25688735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:-5.65, Z:-0.43 [[ 9.34654426e-01 3.53958427e-01 3.36828626e-02 3.38176562e+01] [-3.53758495e-01 9.35260837e-01 -1.19203387e-02 -5.65233829e+00] [-3.57215666e-02 -7.74201498e-04 9.99361481e-01 -4.25612604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:-5.66, Z:-0.43 [[ 9.36042467e-01 3.50258317e-01 3.38173323e-02 3.38501925e+01] [-3.50053833e-01 9.36652937e-01 -1.19828538e-02 -5.65922741e+00] [-3.58721978e-02 -6.21426752e-04 9.99356192e-01 -4.25427710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:-5.67, Z:-0.43 [[ 9.37809092e-01 3.45351508e-01 3.53050004e-02 3.38830763e+01] [-3.45124578e-01 9.38473305e-01 -1.25252520e-02 -5.66650173e+00] [-3.74584151e-02 -4.38328175e-04 9.99298091e-01 -4.25472001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:-5.68, Z:-0.43 [[ 9.39636694e-01 3.40284062e-01 3.59115702e-02 3.39151894e+01] [-3.40044724e-01 9.40322662e-01 -1.27623274e-02 -5.67546649e+00] [-3.81112799e-02 -2.19588834e-04 9.99273477e-01 -4.26472250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:-5.69, Z:-0.43 [[ 9.43370053e-01 3.29875697e-01 3.51421057e-02 3.39458297e+01] [-3.29638483e-01 9.44024352e-01 -1.25097173e-02 -5.68715716e+00] [-3.73016553e-02 2.17102209e-04 9.99304028e-01 -4.28824447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:-5.70, Z:-0.43 [[ 9.44870868e-01 3.25817409e-01 3.25892323e-02 3.39767122e+01] [-3.25610361e-01 9.45432642e-01 -1.16194746e-02 -5.69856022e+00] [-3.45967512e-02 3.67511365e-04 9.99401286e-01 -4.30023115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:-5.71, Z:-0.43 [[ 9.46345637e-01 3.21582913e-01 3.18491027e-02 3.40080827e+01] [-3.21382146e-01 9.46881276e-01 -1.13738784e-02 -5.71030923e+00] [-3.38149640e-02 5.27887278e-04 9.99427971e-01 -4.31547350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-5.72, Z:-0.43 [[ 9.48264004e-01 3.15583493e-01 3.46761824e-02 3.40382560e+01] [-3.15340700e-01 9.48897452e-01 -1.24044122e-02 -5.72415487e+00] [-3.68187688e-02 8.27846010e-04 9.99321616e-01 -4.31873674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:-5.74, Z:-0.43 [[ 9.48352318e-01 3.15236724e-01 3.54074652e-02 3.40689761e+01] [-3.14982574e-01 9.49012664e-01 -1.26862880e-02 -5.73647059e+00] [-3.76013167e-02 8.78336137e-04 9.99292434e-01 -4.32025043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:-5.75, Z:-0.43 [[ 9.48477531e-01 3.14809243e-01 3.58540628e-02 3.41005417e+01] [-3.14547559e-01 9.49154510e-01 -1.28666104e-02 -5.74765910e+00] [-3.80815732e-02 9.25882897e-04 9.99274205e-01 -4.32470512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:-5.76, Z:-0.43 [[ 9.48476876e-01 3.15110205e-01 3.31236250e-02 3.41322102e+01] [-3.14886428e-01 9.49054697e-01 -1.19046318e-02 -5.75803505e+00] [-3.51874028e-02 8.61088014e-04 9.99380361e-01 -4.34268824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.77, Z:-0.44 [[ 9.48641679e-01 3.14953684e-01 2.97176866e-02 3.41633072e+01] [-3.14773003e-01 9.49106711e-01 -1.06961568e-02 -5.76944916e+00] [-3.15740498e-02 7.92494740e-04 9.99501101e-01 -4.37140514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.79, Z:-0.44 [[ 9.48599974e-01 3.15335374e-01 2.68642994e-02 3.41917613e+01] [-3.15187482e-01 9.48980024e-01 -9.68324265e-03 -5.78712152e+00] [-2.85471524e-02 7.18232842e-04 9.99592189e-01 -4.40531568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.22, Y:-5.80, Z:-0.44 [[ 9.48039126e-01 3.16754827e-01 2.98026224e-02 3.42208387e+01] [-3.16572935e-01 9.48507139e-01 -1.07603198e-02 -5.80256899e+00] [-3.16763834e-02 7.66500520e-04 9.99497884e-01 -4.39452563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:-5.82, Z:-0.44 [[ 9.47855584e-01 3.16908268e-01 3.37482165e-02 3.42511523e+01] [-3.16674368e-01 9.48455783e-01 -1.22054282e-02 -5.81614586e+00] [-3.58766922e-02 8.81788119e-04 9.99355835e-01 -4.37034443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:-5.83, Z:-0.43 [[ 9.47080126e-01 3.19033257e-01 3.54544196e-02 3.42820918e+01] [-3.18775807e-01 9.47743129e-01 -1.28431381e-02 -5.82646279e+00] [-3.76990708e-02 8.61469632e-04 9.99288766e-01 -4.34666995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-5.84, Z:-0.44 [[ 9.45490293e-01 3.23693038e-01 3.56500022e-02 3.43135836e+01] [-3.23435479e-01 9.46161897e-01 -1.29288454e-02 -5.83714431e+00] [-3.79156510e-02 6.93622259e-04 9.99280702e-01 -4.36583479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-5.85, Z:-0.44 [[ 9.44434130e-01 3.26895698e-01 3.44002478e-02 3.43436052e+01] [-3.26657509e-01 9.45060258e-01 -1.24892447e-02 -5.85123401e+00] [-3.65929874e-02 5.58169710e-04 9.99330096e-01 -4.39915522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:-5.87, Z:-0.44 [[ 9.43373312e-01 3.29960977e-01 3.42424798e-02 3.43738720e+01] [-3.29726260e-01 9.43994463e-01 -1.24518123e-02 -5.86586666e+00] [-3.64333235e-02 4.56062588e-04 9.99335982e-01 -4.42306954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:-5.88, Z:-0.44 [[ 9.41888516e-01 3.34164723e-01 3.43505681e-02 3.44046334e+01] [-3.33930574e-01 9.42514636e-01 -1.25113049e-02 -5.87874485e+00] [-3.65567499e-02 3.13549483e-04 9.99331529e-01 -4.42924324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:-5.89, Z:-0.44 [[ 9.38634802e-01 3.43340332e-01 3.28956689e-02 3.44354269e+01] [-3.43130718e-01 9.39211060e-01 -1.19956268e-02 -5.88937278e+00] [-3.50145585e-02 -2.80017035e-05 9.99386802e-01 -4.42072663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:-5.90, Z:-0.44 [[ 9.37138374e-01 3.47455452e-01 3.23477481e-02 3.44662739e+01] [-3.47254755e-01 9.37696476e-01 -1.18090642e-02 -5.90050330e+00] [-3.44354931e-02 -1.66182167e-04 9.99406909e-01 -4.42436004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.91, Z:-0.44 [[ 9.35839533e-01 3.50905037e-01 3.27112082e-02 3.44973385e+01] [-3.50701206e-01 9.36411009e-01 -1.19618655e-02 -5.91243347e+00] [-3.48286143e-02 -2.77473480e-04 9.99393261e-01 -4.42712941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:-5.92, Z:-0.44 [[ 9.34743604e-01 3.53783244e-01 3.30425793e-02 3.45288471e+01] [-3.53576341e-01 9.35327365e-01 -1.21033492e-02 -5.92377094e+00] [-3.51875908e-02 -3.69546105e-04 9.99380657e-01 -4.43770867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:-5.93, Z:-0.44 [[ 9.32778250e-01 3.58871384e-01 3.37055953e-02 3.45610592e+01] [-3.58658662e-01 9.33386857e-01 -1.23669099e-02 -5.93298787e+00] [-3.58984897e-02 -5.53219099e-04 9.99355288e-01 -4.44706216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.59, Y:-5.94, Z:-0.45 [[ 9.31621205e-01 3.61991440e-01 3.23129720e-02 3.45924726e+01] [-3.61797149e-01 9.32181208e-01 -1.18751472e-02 -5.94426962e+00] [-3.44202469e-02 -6.27602253e-04 9.99407251e-01 -4.45971729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.62, Y:-5.96, Z:-0.45 [[ 9.30766658e-01 3.64079169e-01 3.34632156e-02 3.46234057e+01] [-3.63871409e-01 9.31367733e-01 -1.23184622e-02 -5.95646832e+00] [-3.56514548e-02 -7.10693494e-04 9.99364032e-01 -4.45995492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:-5.97, Z:-0.45 [[ 9.30168798e-01 3.65387731e-01 3.57465127e-02 3.46537420e+01] [-3.65150764e-01 9.30855079e-01 -1.31810806e-02 -5.96839369e+00] [-3.80910280e-02 -7.92236572e-04 9.99273959e-01 -4.45880722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:-5.98, Z:-0.45 [[ 9.30077377e-01 3.65372071e-01 3.82010847e-02 3.46845818e+01] [-3.65100461e-01 9.30861198e-01 -1.41096809e-02 -5.98035374e+00] [-4.07151908e-02 -8.24138580e-04 9.99170453e-01 -4.46015674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:-5.99, Z:-0.45 [[ 9.31290579e-01 3.62324064e-01 3.76713377e-02 3.47142581e+01] [-3.62056542e-01 9.32051950e-01 -1.39364228e-02 -5.99465697e+00] [-4.01611451e-02 -6.60295006e-04 9.99192998e-01 -4.47295607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.74, Y:-6.01, Z:-0.45 [[ 9.32284288e-01 3.59786274e-01 3.74144887e-02 3.47440884e+01] [-3.59519448e-01 9.33034598e-01 -1.38638334e-02 -6.00774641e+00] [-3.98970293e-02 -5.26202283e-04 9.99203658e-01 -4.48287586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:-6.02, Z:-0.45 [[ 9.32871233e-01 3.58055772e-01 3.93360862e-02 3.47747465e+01] [-3.57758264e-01 9.33700091e-01 -1.46001818e-02 -6.01900108e+00] [-4.19557866e-02 -4.52720296e-04 9.99119366e-01 -4.48534727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.81, Y:-6.03, Z:-0.45 [[ 9.34186662e-01 3.54069323e-01 4.39339974e-02 3.48067469e+01] [-3.53692432e-01 9.35219138e-01 -1.63348319e-02 -6.02753695e+00] [-4.68715780e-02 -2.79340295e-04 9.98900885e-01 -4.47801421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.84, Y:-6.04, Z:-0.45 [[ 9.34437764e-01 3.53319580e-01 4.46244272e-02 3.48372368e+01] [-3.52928591e-01 9.35502659e-01 -1.66187751e-02 -6.04145677e+00] [-4.76180090e-02 -2.20025185e-04 9.98865595e-01 -4.49597474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:-6.06, Z:-0.45 [[ 9.34322353e-01 3.53604529e-01 4.47836862e-02 3.48665012e+01] [-3.53209780e-01 9.35394993e-01 -1.67050291e-02 -6.05724627e+00] [-4.77974098e-02 -2.10153849e-04 9.98857029e-01 -4.51680192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.90, Y:-6.07, Z:-0.45 [[ 9.34233717e-01 3.54115135e-01 4.25421435e-02 3.48963172e+01] [-3.53758322e-01 9.35201813e-01 -1.58939739e-02 -6.07163730e+00] [-4.54137864e-02 -2.00951033e-04 9.98968242e-01 -4.53505227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.93, Y:-6.08, Z:-0.46 [[ 9.33255899e-01 3.56883718e-01 4.08342825e-02 3.49282865e+01] [-3.56556575e-01 9.34148769e-01 -1.52802619e-02 -6.08120668e+00] [-4.35985714e-02 -2.99337411e-04 9.99049085e-01 -4.55683965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:-6.09, Z:-0.46 [[ 9.32341366e-01 3.59235754e-01 4.11004942e-02 3.49593519e+01] [-3.58905511e-01 9.33246764e-01 -1.54049326e-02 -6.09198692e+00] [-4.38909058e-02 -3.88537987e-04 9.99036254e-01 -4.56045421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:34.99, Y:-6.10, Z:-0.45 [[ 9.32047755e-01 3.60006485e-01 4.10160137e-02 3.49897050e+01] [-3.59677249e-01 9.32949715e-01 -1.53982510e-02 -6.10469676e+00] [-4.38093485e-02 -4.00621728e-04 9.99039829e-01 -4.54755348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.02, Y:-6.12, Z:-0.45 [[ 9.31770979e-01 3.60619681e-01 4.19080945e-02 3.50196911e+01] [-3.60275422e-01 9.32712857e-01 -1.57589936e-02 -6.11790691e+00] [-4.47712218e-02 -4.14683584e-04 9.98997180e-01 -4.54605210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.05, Y:-6.13, Z:-0.46 [[ 9.32123900e-01 3.59516958e-01 4.35039239e-02 3.50504775e+01] [-3.59143511e-01 9.33138486e-01 -1.63861135e-02 -6.13044917e+00] [-4.64862713e-02 -3.50263898e-04 9.98918868e-01 -4.55458389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:-6.14, Z:-0.46 [[ 9.32383018e-01 3.58603157e-01 4.54497960e-02 3.50815689e+01] [-3.58193070e-01 9.33490059e-01 -1.71474217e-02 -6.14120311e+00] [-4.85760524e-02 -2.91837145e-04 9.98819444e-01 -4.57854645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.11, Y:-6.15, Z:-0.46 [[ 9.32692569e-01 3.57701022e-01 4.62011918e-02 3.51120024e+01] [-3.57274747e-01 9.33836136e-01 -1.74592589e-02 -6.15260997e+00] [-4.93895372e-02 -2.22398035e-04 9.98779567e-01 -4.59661180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:35.14, Y:-6.17, Z:-0.46 [[ 9.33333969e-01 3.55908002e-01 4.70871218e-02 3.51420676e+01] [-3.55461482e-01 9.34520991e-01 -1.78227782e-02 -6.16518475e+00] [-5.03471731e-02 -1.03053813e-04 9.98731772e-01 -4.61057885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.17, Y:-6.18, Z:-0.46 [[ 9.35263720e-01 3.51155353e-01 4.44037399e-02 3.51713958e+01] [-3.50751692e-01 9.36317195e-01 -1.68333326e-02 -6.17948133e+00] [-4.74871001e-02 1.68918350e-04 9.98871837e-01 -4.62397694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.20, Y:-6.19, Z:-0.46 [[ 9.36137910e-01 3.49272763e-01 4.06737147e-02 3.52018869e+01] [-3.48931298e-01 9.37021060e-01 -1.54428829e-02 -6.19249389e+00] [-4.35059056e-02 2.64336050e-04 9.99053135e-01 -4.63641519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-6.21, Z:-0.47 [[ 9.36333950e-01 3.49041981e-01 3.80582399e-02 3.52316091e+01] [-3.48741945e-01 9.37107047e-01 -1.44719520e-02 -6.20598209e+00] [-4.07159636e-02 2.78075333e-04 9.99170723e-01 -4.65210300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.26, Y:-6.22, Z:-0.47 [[ 9.36481794e-01 3.48767849e-01 3.69166309e-02 3.52606271e+01] [-3.48484478e-01 9.37209100e-01 -1.40596092e-02 -6.22163446e+00] [-3.95021420e-02 3.01695166e-04 9.99219440e-01 -4.66647027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.29, Y:-6.23, Z:-0.47 [[ 9.36401308e-01 3.48984447e-01 3.69113332e-02 3.52919566e+01] [-3.48700695e-01 9.37128466e-01 -1.40735070e-02 -6.23348049e+00] [-3.95020961e-02 3.07442810e-04 9.99219440e-01 -4.67306734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.32, Y:-6.25, Z:-0.47 [[ 9.36419127e-01 3.48986986e-01 3.64321572e-02 3.53204734e+01] [-3.48709948e-01 9.37127517e-01 -1.39064626e-02 -6.25006831e+00] [-3.89947515e-02 3.18021895e-04 9.99239365e-01 -4.69029772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.35, Y:-6.27, Z:-0.47 [[ 9.36732388e-01 3.47696237e-01 4.04939540e-02 3.53487173e+01] [-3.47351634e-01 9.37607133e-01 -1.54824730e-02 -6.26816244e+00] [-4.33506177e-02 4.37292765e-04 9.99059824e-01 -4.69027050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.38, Y:-6.28, Z:-0.47 [[ 9.36462132e-01 3.48019565e-01 4.38298723e-02 3.53793917e+01] [-3.47614885e-01 9.37487146e-01 -1.67851758e-02 -6.28169751e+00] [-4.69315115e-02 4.82765544e-04 9.98897993e-01 -4.68292355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.41, Y:-6.30, Z:-0.47 [[ 9.35423963e-01 3.50389382e-01 4.70030945e-02 3.54095710e+01] [-3.49925470e-01 9.36604029e-01 -1.80294037e-02 -6.29599300e+00] [-5.03405993e-02 4.17556333e-04 9.98732021e-01 -4.66998234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.44, Y:-6.31, Z:-0.47 [[ 9.34176108e-01 3.53511580e-01 4.84206699e-02 3.54398710e+01] [-3.53021895e-01 9.35430105e-01 -1.86026735e-02 -6.31023694e+00] [-5.18704129e-02 2.84616464e-04 9.98653783e-01 -4.66113970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.47, Y:-6.33, Z:-0.47 [[ 9.33244196e-01 3.56366631e-01 4.53662366e-02 3.54695489e+01] [-3.55938871e-01 9.34346191e-01 -1.74561338e-02 -6.32564364e+00] [-4.86085540e-02 1.43228505e-04 9.98817895e-01 -4.68640041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:-6.34, Z:-0.47 [[ 9.33336963e-01 3.56614010e-01 4.13347416e-02 3.54991012e+01] [-3.56258095e-01 9.34251801e-01 -1.59292861e-02 -6.33912622e+00] [-4.42976634e-02 1.41555274e-04 9.99018367e-01 -4.72922911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.53, Y:-6.36, Z:-0.48 [[ 9.33159760e-01 3.57105148e-01 4.10947020e-02 3.55283339e+01] [-3.56753066e-01 9.34064182e-01 -1.58541609e-02 -6.35522126e+00] [-4.40466917e-02 1.33804017e-04 9.99029465e-01 -4.76635422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.55, Y:-6.38, Z:-0.48 [[ 9.33325362e-01 3.56697917e-01 4.08700879e-02 3.55540273e+01] [-3.56348454e-01 9.34219764e-01 -1.57864515e-02 -6.38056372e+00] [-4.38126382e-02 1.69902926e-04 9.99039751e-01 -4.77840602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:-6.40, Z:-0.48 [[ 9.33155264e-01 3.57198274e-01 4.03812741e-02 3.55830180e+01] [-3.56856514e-01 9.34028568e-01 -1.56225255e-02 -6.39621155e+00] [-4.32976028e-02 1.67921154e-04 9.99062205e-01 -4.76298060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-6.41, Z:-0.48 [[ 9.32481465e-01 3.58958746e-01 4.03353052e-02 3.56139008e+01] [-3.58618330e-01 9.33353420e-01 -1.56296636e-02 -6.40871364e+00] [-4.32574995e-02 1.09391751e-04 9.99063950e-01 -4.76244550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.64, Y:-6.42, Z:-0.48 [[ 9.31203177e-01 3.62397429e-01 3.90991917e-02 3.56445944e+01] [-3.62079591e-01 9.32023660e-01 -1.51745572e-02 -6.42002002e+00] [-4.19405922e-02 -2.64234624e-05 9.99120106e-01 -4.77234878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:-6.43, Z:-0.48 [[ 9.29768331e-01 3.66357614e-01 3.62346326e-02 3.56748885e+01] [-3.66086821e-01 9.30474110e-01 -1.40843813e-02 -6.43279442e+00] [-3.88753079e-02 -1.69809713e-04 9.99244055e-01 -4.79231622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:-6.45, Z:-0.48 [[ 9.25725460e-01 3.76733386e-01 3.32314404e-02 3.57040249e+01] [-3.76511592e-01 9.26321579e-01 -1.29365032e-02 -6.44879552e+00] [-3.56566130e-02 -5.36372187e-04 9.99363957e-01 -4.83771010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:-6.46, Z:-0.49 [[ 9.23115246e-01 3.83177782e-01 3.21407780e-02 3.57347498e+01] [-3.82973547e-01 9.23674314e-01 -1.25309373e-02 -6.45997776e+00] [-3.44891878e-02 -7.41568496e-04 9.99404796e-01 -4.86221739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:-6.47, Z:-0.49 [[ 9.20688609e-01 3.88966819e-01 3.22071360e-02 3.57665362e+01] [-3.88764611e-01 9.21251282e-01 -1.25758643e-02 -6.46994896e+00] [-3.45624593e-02 -9.42539708e-04 9.99402095e-01 -4.86649098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:-6.48, Z:-0.49 [[ 9.18459505e-01 3.94094303e-01 3.34935478e-02 3.57979322e+01] [-3.93878292e-01 9.19069274e-01 -1.30981618e-02 -6.48005354e+00] [-3.59448015e-02 -1.16225020e-03 9.99353101e-01 -4.86010291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.83, Y:-6.49, Z:-0.48 [[ 9.16466407e-01 3.98840240e-01 3.18714364e-02 3.58297454e+01] [-3.98646897e-01 9.17019552e-01 -1.24816807e-02 -6.48910659e+00] [-3.42049268e-02 -1.26640814e-03 9.99414038e-01 -4.84521860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.86, Y:-6.50, Z:-0.49 [[ 9.15566020e-01 4.00973316e-01 3.09719680e-02 3.58603843e+01] [-4.00791372e-01 9.16088822e-01 -1.21468541e-02 -6.49996753e+00] [-3.32436381e-02 -1.29205065e-03 9.99446442e-01 -4.85899981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.86, Y:-6.59, Z:-0.47 [[ 9.15920571e-01 3.99421276e-01 3.93973565e-02 3.58552217e+01] [-4.01357847e-01 9.11781272e-01 8.69872983e-02 -6.59215729e+00] [-1.17719423e-03 -9.54858941e-02 9.95430087e-01 -4.72440302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:-6.44, Z:-0.49 [[ 9.15068136e-01 4.03299249e-01 -1.45111679e-04 3.59481434e+01] [-4.01246867e-01 9.10375000e-01 -1.01085661e-01 -6.44181074e+00] [-4.06356651e-02 9.25584930e-02 9.94877715e-01 -4.90695158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.95, Y:-6.53, Z:-0.49 [[ 9.13216103e-01 4.05992897e-01 3.47291994e-02 3.59484514e+01] [-4.05766720e-01 9.13874781e-01 -1.36475217e-02 -6.53114541e+00] [-3.72789364e-02 -1.62881676e-03 9.99303571e-01 -4.88050630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:-6.54, Z:-0.49 [[ 9.12753877e-01 4.07151277e-01 3.32895936e-02 3.59815416e+01] [-4.06943581e-01 9.13359354e-01 -1.31000804e-02 -6.53596607e+00] [-3.57390761e-02 -1.58983725e-03 9.99359891e-01 -4.87928003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.02, Y:-6.54, Z:-0.49 [[ 9.12503891e-01 4.07820482e-01 3.19234163e-02 3.60155888e+01] [-4.07629292e-01 9.13060843e-01 -1.25800298e-02 -6.53995931e+00] [-3.42784152e-02 -1.53359343e-03 9.99411146e-01 -4.87666323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:-6.55, Z:-0.49 [[ 9.12267397e-01 4.08399489e-01 3.12738432e-02 3.60486434e+01] [-4.08215754e-01 9.12802051e-01 -1.23415517e-02 -6.54691175e+00] [-3.35871117e-02 -1.50768023e-03 9.99434657e-01 -4.88285404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.08, Y:-6.56, Z:-0.49 [[ 9.12481100e-01 4.07798704e-01 3.28399094e-02 3.60794496e+01] [-4.07595037e-01 9.13070555e-01 -1.29787506e-02 -6.55807883e+00] [-3.52778719e-02 -1.54251943e-03 9.99376352e-01 -4.88294304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.11, Y:-6.57, Z:-0.49 [[ 9.14119673e-01 4.03674965e-01 3.78384223e-02 3.61102289e+01] [-4.03400084e-01 9.14901114e-01 -1.49774448e-02 -6.57126959e+00] [-4.06644342e-02 -1.57284581e-03 9.99171622e-01 -4.86396296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.14, Y:-6.58, Z:-0.49 [[ 9.15671799e-01 4.00008503e-01 3.92218523e-02 3.61419467e+01] [-3.99708824e-01 9.16510296e-01 -1.55478092e-02 -6.58041508e+00] [-4.21664873e-02 -1.44062998e-03 9.99109560e-01 -4.88075434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.17, Y:-6.59, Z:-0.49 [[ 9.17601411e-01 3.95412849e-01 4.06980350e-02 3.61740707e+01] [-3.95084609e-01 9.18502644e-01 -1.61568703e-02 -6.58883324e+00] [-4.37698868e-02 -1.25360029e-03 9.99040853e-01 -4.91567828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:-6.60, Z:-0.49 [[ 9.19974245e-01 3.89897071e-01 4.03443053e-02 3.62049410e+01] [-3.89568185e-01 9.20857943e-01 -1.60398877e-02 -6.59915844e+00] [-4.34052792e-02 -9.60574216e-04 9.99057085e-01 -4.94335348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.24, Y:-6.61, Z:-0.50 [[ 9.22450765e-01 3.84197690e-01 3.84281140e-02 3.62353353e+01] [-3.83893442e-01 9.23250631e-01 -1.53002580e-02 -6.61252832e+00] [-4.13571043e-02 -6.38566297e-04 9.99144225e-01 -4.95953504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:-6.63, Z:-0.49 [[ 9.25856849e-01 3.76243973e-01 3.50651783e-02 3.62643921e+01] [-3.75984281e-01 9.26520596e-01 -1.39787748e-02 -6.62865365e+00] [-3.77480396e-02 -2.41611413e-04 9.99287260e-01 -4.93869389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:-6.72, Z:-0.48 [[ 9.27666905e-01 3.71029865e-01 4.20826872e-02 3.62611455e+01] [-3.73298892e-01 9.24219529e-01 8.04126754e-02 -6.71530963e+00] [-9.05813732e-03 -9.03055982e-02 9.95872908e-01 -4.81878363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:-6.57, Z:-0.49 [[ 9.28256012e-01 3.71931323e-01 2.80498935e-03 3.63526621e+01] [-3.69952977e-01 9.24044861e-01 -9.63114229e-02 -6.57274688e+00] [-3.84131709e-02 8.83639432e-02 9.95347297e-01 -4.94325108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.35, Y:-6.66, Z:-0.50 [[ 9.28362853e-01 3.69797741e-01 3.73101046e-02 3.63521717e+01] [-3.69496972e-01 9.29112279e-01 -1.49117567e-02 -6.66158723e+00] [-4.01796103e-02 5.75502756e-05 9.99192472e-01 -4.95299700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.38, Y:-6.68, Z:-0.50 [[ 9.29486911e-01 3.66721618e-01 3.96148543e-02 3.63821491e+01] [-3.66378625e-01 9.30330696e-01 -1.58587332e-02 -6.67666581e+00] [-4.26706552e-02 2.26449107e-04 9.99089167e-01 -4.96302844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.41, Y:-6.69, Z:-0.50 [[ 9.30643252e-01 3.63727373e-01 4.00691237e-02 3.64111693e+01] [-3.63372608e-01 9.31505365e-01 -1.60655811e-02 -6.69232752e+00] [-4.31680953e-02 3.91302660e-04 9.99067747e-01 -4.96580940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.44, Y:-6.71, Z:-0.50 [[ 9.33140364e-01 3.57210568e-01 4.06161389e-02 3.64381613e+01] [-3.56838757e-01 9.34023599e-01 -1.63100785e-02 -6.71242742e+00] [-4.37625646e-02 7.26180041e-04 9.99041696e-01 -4.98254019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:-6.73, Z:-0.50 [[ 9.34135839e-01 3.54609656e-01 4.05243863e-02 3.64673957e+01] [-3.54236004e-01 9.35014030e-01 -1.62977620e-02 -6.72795071e+00] [-4.36702135e-02 8.69126963e-04 9.99045623e-01 -4.98887573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:-6.74, Z:-0.50 [[ 9.34820425e-01 3.53086710e-01 3.79545628e-02 3.64966836e+01] [-3.52756821e-01 9.35590169e-01 -1.52859988e-02 -6.74265328e+00] [-4.09071988e-02 9.00932961e-04 9.99162544e-01 -5.00155461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:-6.76, Z:-0.50 [[ 9.35119246e-01 3.52535278e-01 3.56493160e-02 3.65259058e+01] [-3.52243076e-01 9.35798103e-01 -1.43779550e-02 -6.75711842e+00] [-3.84292986e-02 8.87877709e-04 9.99260927e-01 -5.01579773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:-6.77, Z:-0.50 [[ 9.35219602e-01 3.52582916e-01 3.23972855e-02 3.65549763e+01] [-3.52341010e-01 9.35780216e-01 -1.30843642e-02 -6.77357265e+00] [-3.49300621e-02 8.21861579e-04 9.99389421e-01 -5.04376569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:-6.80, Z:-0.51 [[ 9.34545764e-01 3.54464202e-01 3.12944744e-02 3.65810785e+01] [-3.54238998e-01 9.35069292e-01 -1.26551088e-02 -6.79614874e+00] [-3.37482850e-02 7.41055102e-04 9.99430090e-01 -5.06905164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.61, Y:-6.81, Z:-0.51 [[ 9.33500140e-01 3.56882742e-01 3.48166332e-02 3.66105163e+01] [-3.56605148e-01 9.34148897e-01 -1.40928105e-02 -6.81046607e+00] [-3.75534003e-02 7.39849945e-04 9.99294348e-01 -5.05674975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-6.82, Z:-0.50 [[ 9.32380738e-01 3.59506548e-01 3.76988233e-02 3.66416523e+01] [-3.59182223e-01 9.33142293e-01 -1.52837182e-02 -6.82281380e+00] [-4.06729632e-02 7.09497241e-04 9.99172261e-01 -5.04580918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:-6.84, Z:-0.50 [[ 9.31304626e-01 3.62216248e-01 3.83547142e-02 3.66725772e+01] [-3.61881847e-01 9.32093880e-01 -1.55732971e-02 -6.83537594e+00] [-4.13910956e-02 6.23608780e-04 9.99142827e-01 -5.04680722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:-6.85, Z:-0.51 [[ 9.30433666e-01 3.64807031e-01 3.47710192e-02 3.67018939e+01] [-3.64533278e-01 9.31083025e-01 -1.41382124e-02 -6.84956217e+00] [-3.75324250e-02 4.79475210e-04 9.99295295e-01 -5.07998356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:-6.87, Z:-0.51 [[ 9.28787421e-01 3.69301687e-01 3.11478827e-02 3.67281145e+01] [-3.69083954e-01 9.29309520e-01 -1.26827324e-02 -6.87198890e+00] [-3.36297783e-02 2.83378590e-04 9.99434319e-01 -5.10892702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:-6.89, Z:-0.51 [[ 9.27599928e-01 3.72243704e-01 3.15118653e-02 3.67579674e+01] [-3.72021866e-01 9.28135004e-01 -1.28508902e-02 -6.88719335e+00] [-3.40309282e-02 1.97381886e-04 9.99420761e-01 -5.10412070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:-6.90, Z:-0.51 [[ 9.25478980e-01 3.77389735e-01 3.26442147e-02 3.67882585e+01] [-3.77154104e-01 9.26054527e-01 -1.33339661e-02 -6.89911928e+00] [-3.52624247e-02 2.84058113e-05 9.99378087e-01 -5.08835062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:-6.91, Z:-0.51 [[ 9.21397068e-01 3.87156248e-01 3.37265967e-02 3.68201993e+01] [-3.86910442e-01 9.22014060e-01 -1.37979375e-02 -6.90866234e+00] [-3.64383540e-02 -3.35793243e-04 9.99335846e-01 -5.06573175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:-6.92, Z:-0.51 [[ 9.19515519e-01 3.91601685e-01 3.37539736e-02 3.68503024e+01] [-3.91357699e-01 9.20134706e-01 -1.38301892e-02 -6.92094870e+00] [-3.64741280e-02 -4.92803841e-04 9.99334476e-01 -5.08326112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.88, Y:-6.93, Z:-0.51 [[ 9.17615357e-01 3.96101888e-01 3.29446712e-02 3.68810057e+01] [-3.95871652e-01 9.18206343e-01 -1.35184009e-02 -6.93357796e+00] [-3.56046702e-02 -6.37169193e-04 9.99365750e-01 -5.10477346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:-6.95, Z:-0.51 [[ 9.16176510e-01 3.99327013e-01 3.40373100e-02 3.69118809e+01] [-3.99082690e-01 9.16808238e-01 -1.39878822e-02 -6.94551693e+00] [-3.67914255e-02 -7.68332170e-04 9.99322671e-01 -5.13266440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:36.94, Y:-6.96, Z:-0.51 [[ 9.13335727e-01 4.05640591e-01 3.56869741e-02 3.69433213e+01] [-4.05375945e-01 9.14032059e-01 -1.46880297e-02 -6.95504315e+00] [-3.85770994e-02 -1.05153855e-03 9.99255073e-01 -5.13513547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:-6.97, Z:-0.51 [[ 9.12310732e-01 4.07922213e-01 3.58970095e-02 3.69739346e+01] [-4.07655371e-01 9.13015980e-01 -1.47959107e-02 -6.96614837e+00] [-3.88101239e-02 -1.13514064e-03 9.99245959e-01 -5.12942150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:-7.00, Z:-0.51 [[ 9.12380041e-01 4.07891895e-01 3.44508826e-02 3.69920993e+01] [-4.08681431e-01 9.12458311e-01 1.99829787e-02 -7.00258075e+00] [-2.32840991e-02 -3.23115069e-02 9.99206594e-01 -5.06466610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:-6.96, Z:-0.52 [[ 9.11287847e-01 4.11034151e-01 2.46046264e-02 3.70462580e+01] [-4.09771161e-01 9.11124330e-01 -4.40460153e-02 -6.95761637e+00] [-4.05222902e-02 3.00563321e-02 9.98726470e-01 -5.15040750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:-6.99, Z:-0.51 [[ 9.11037807e-01 4.10781285e-01 3.56209298e-02 3.70679069e+01] [-4.10519109e-01 9.11733115e-01 -1.47236954e-02 -6.99161482e+00] [-3.85249999e-02 -1.20922918e-03 9.99256905e-01 -5.14054628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:-7.00, Z:-0.52 [[ 9.10647594e-01 4.11732233e-01 3.46053158e-02 3.71002967e+01] [-4.11484747e-01 9.11304086e-01 -1.43235683e-02 -6.99933050e+00] [-3.74334405e-02 -1.19583667e-03 9.99298408e-01 -5.16817464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:-7.01, Z:-0.52 [[ 9.11041835e-01 4.11026299e-01 3.25600539e-02 3.71319096e+01] [-4.10806118e-01 9.11622846e-01 -1.34952044e-02 -7.00963273e+00] [-3.52293729e-02 -1.08117351e-03 9.99378668e-01 -5.21062917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.16, Y:-7.02, Z:-0.52 [[ 9.11821533e-01 4.09255703e-01 3.30342575e-02 3.71616468e+01] [-4.09027198e-01 9.12419175e-01 -1.37113608e-02 -7.02408610e+00] [-3.57525426e-02 -1.00959572e-03 9.99360164e-01 -5.21543566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.19, Y:-7.04, Z:-0.52 [[ 9.12610648e-01 4.07362925e-01 3.46013390e-02 3.71914050e+01] [-4.07110063e-01 9.13265856e-01 -1.43830362e-02 -7.03896984e+00] [-3.74593372e-02 -9.60441333e-04 9.99297691e-01 -5.20799755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.22, Y:-7.05, Z:-0.52 [[ 9.12519659e-01 4.07567236e-01 3.45951015e-02 3.72223437e+01] [-4.07313953e-01 9.13174705e-01 -1.43980253e-02 -7.05174831e+00] [-3.74595349e-02 -9.52586367e-04 9.99297691e-01 -5.21726409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.25, Y:-7.07, Z:-0.52 [[ 9.13048296e-01 4.05982970e-01 3.89953450e-02 3.72525732e+01] [-4.05659027e-01 9.13880110e-01 -1.62449527e-02 -7.06542609e+00] [-4.22322444e-02 -9.86387347e-04 9.99107334e-01 -5.18500238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.28, Y:-7.07, Z:-0.52 [[ 9.12546956e-01 4.07203755e-01 3.79888839e-02 3.72843717e+01] [-4.06896461e-01 9.13336800e-01 -1.58479850e-02 -7.07476417e+00] [-4.11500047e-02 -9.95511923e-04 9.99152484e-01 -5.19644659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:37.32, Y:-7.08, Z:-0.52 [[ 9.12256491e-01 4.08047655e-01 3.58497805e-02 3.73168719e+01] [-4.07773857e-01 9.12960129e-01 -1.49761512e-02 -7.08329235e+00] [-3.88404036e-02 -9.56512113e-04 9.99244969e-01 -5.22628236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:-7.09, Z:-0.52 [[ 9.11829289e-01 4.09238949e-01 3.30277337e-02 3.73489576e+01] [-4.09006689e-01 9.12426793e-01 -1.38157634e-02 -7.09245659e+00] [-3.57893376e-02 -9.10946319e-04 9.99358941e-01 -5.24988539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.38, Y:-7.11, Z:-0.53 [[ 9.12600069e-01 4.07635520e-01 3.15340566e-02 3.73795291e+01] [-4.07422221e-01 9.13144377e-01 -1.32091109e-02 -7.10597231e+00] [-3.41796492e-02 -7.93039837e-04 9.99415390e-01 -5.26214305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:-7.12, Z:-0.52 [[ 9.13020737e-01 4.06412843e-01 3.49533335e-02 3.74086356e+01] [-4.06149007e-01 9.13689197e-01 -1.46640717e-02 -7.12094416e+00] [-3.78961503e-02 -8.07660202e-04 9.99281357e-01 -5.24993828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:-7.14, Z:-0.52 [[ 9.13801025e-01 4.04323035e-01 3.86079058e-02 3.74377777e+01] [-4.03998212e-01 9.14615922e-01 -1.62222212e-02 -7.13623541e+00] [-4.18704230e-02 -7.73642544e-04 9.99122750e-01 -5.22883728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:-7.15, Z:-0.52 [[ 9.14834435e-01 4.01902456e-01 3.94001502e-02 3.74673463e+01] [-4.01560879e-01 9.15682253e-01 -1.65793029e-02 -7.15027515e+00] [-4.27412809e-02 -6.54241752e-04 9.99085960e-01 -5.22800164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:37.50, Y:-7.16, Z:-0.52 [[ 9.16105301e-01 3.99054578e-01 3.88139250e-02 3.74978424e+01] [-3.98719545e-01 9.16927043e-01 -1.63561303e-02 -7.16313044e+00] [-4.21165261e-02 -4.91932774e-04 9.99112584e-01 -5.24504298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:-7.17, Z:-0.53 [[ 9.16828431e-01 3.97459070e-01 3.81040164e-02 3.75284687e+01] [-3.97133844e-01 9.17619821e-01 -1.60802378e-02 -7.17498450e+00] [-4.13562370e-02 -3.89575304e-04 9.99144389e-01 -5.26229994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:-7.19, Z:-0.53 [[ 9.17188614e-01 3.96779640e-01 3.64823809e-02 3.75598221e+01] [-3.96480109e-01 9.17913837e-01 -1.54178800e-02 -7.18586066e+00] [-3.96051831e-02 -3.23434343e-04 9.99215355e-01 -5.29671114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:-7.20, Z:-0.53 [[ 9.16791334e-01 3.97819035e-01 3.51235621e-02 3.75910404e+01] [-3.97541359e-01 9.17463843e-01 -1.48648973e-02 -7.19769701e+00] [-3.81381374e-02 -3.35059626e-04 9.99272420e-01 -5.30870517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:-7.21, Z:-0.53 [[ 9.16489359e-01 3.98605369e-01 3.40736657e-02 3.76214275e+01] [-3.98343822e-01 9.17122481e-01 -1.44413845e-02 -7.21025800e+00] [-3.70061382e-02 -3.37658985e-04 9.99314981e-01 -5.31450023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-7.23, Z:-0.53 [[ 9.15735707e-01 4.00360274e-01 3.37604174e-02 3.76503687e+01] [-4.00103938e-01 9.16357737e-01 -1.43295608e-02 -7.22678674e+00] [-3.66736066e-02 -3.85585438e-04 9.99327223e-01 -5.31772032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:-7.24, Z:-0.53 [[ 9.15314957e-01 4.01336978e-01 3.35731977e-02 3.76804896e+01] [-4.01083370e-01 9.15930384e-01 -1.42710264e-02 -7.24035934e+00] [-3.64782025e-02 -4.03167331e-04 9.99334368e-01 -5.31675460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:-7.25, Z:-0.53 [[ 9.14796170e-01 4.02562416e-01 3.30373776e-02 3.77120032e+01] [-4.02316911e-01 9.15392440e-01 -1.40635557e-02 -7.25166866e+00] [-3.59036247e-02 -4.26208836e-04 9.99355166e-01 -5.32624000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:-7.26, Z:-0.53 [[ 9.14281290e-01 4.03771186e-01 3.25354056e-02 3.77441244e+01] [-4.03533140e-01 9.14859896e-01 -1.38699834e-02 -7.26149251e+00] [-3.53656374e-02 -4.48048018e-04 9.99374340e-01 -5.33648986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:-7.27, Z:-0.54 [[ 9.13023761e-01 4.06348909e-01 3.56114468e-02 3.77752896e+01] [-4.06064742e-01 9.13717807e-01 -1.52050985e-02 -7.27334856e+00] [-3.87173883e-02 -5.77936716e-04 9.99250034e-01 -5.35872201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:-7.29, Z:-0.54 [[ 9.12892177e-01 4.06677457e-01 3.52323635e-02 3.78043140e+01] [-4.06398726e-01 9.13571632e-01 -1.50648321e-02 -7.28858599e+00] [-3.83138154e-02 -5.65820266e-04 9.99265596e-01 -5.37062444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:-7.30, Z:-0.54 [[ 9.12782826e-01 4.06927779e-01 3.51751940e-02 3.78334717e+01] [-4.06649308e-01 9.13460165e-01 -1.50620989e-02 -7.30399237e+00] [-3.82603249e-02 -5.55543103e-04 9.99267651e-01 -5.37133072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.86, Y:-7.32, Z:-0.54 [[ 9.13103403e-01 4.06239778e-01 3.48054333e-02 3.78626748e+01] [-4.05965820e-01 9.13766377e-01 -1.49251934e-02 -7.31856316e+00] [-3.78672419e-02 -5.01571370e-04 9.99282653e-01 -5.36467676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:-7.39, Z:-0.52 [[ 9.13972636e-01 4.04312781e-01 3.44266685e-02 3.78652322e+01] [-4.05738253e-01 9.11747472e-01 6.39766932e-02 -7.39269648e+00] [-5.52183321e-03 -7.24411633e-02 9.97357402e-01 -5.24050076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:-7.28, Z:-0.54 [[ 9.13693723e-01 4.06357587e-01 6.10668239e-03 3.79448091e+01] [-4.04623892e-01 9.10994742e-01 -7.98002949e-02 -7.28491926e+00] [-3.79906108e-02 7.04421189e-02 9.96792166e-01 -5.40001924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:-7.36, Z:-0.54 [[ 9.12735990e-01 4.07034715e-01 3.51532711e-02 3.79498149e+01] [-4.06754881e-01 9.13412543e-01 -1.50994637e-02 -7.35693148e+00] [-3.82554447e-02 -5.16940682e-04 9.99267859e-01 -5.36284005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:-7.37, Z:-0.54 [[ 9.11841215e-01 4.08740175e-01 3.84326435e-02 3.79809802e+01] [-4.08406115e-01 9.12650582e-01 -1.65335977e-02 -7.36841403e+00] [-4.18335200e-02 -6.20110810e-04 9.99124403e-01 -5.36663290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.01, Y:-7.38, Z:-0.54 [[ 9.10603373e-01 4.11340379e-01 4.00073688e-02 3.80120116e+01] [-4.10979765e-01 9.11481506e-01 -1.72365326e-02 -7.38046609e+00] [-4.35560586e-02 -7.46574306e-04 9.99050706e-01 -5.37526058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:-7.40, Z:-0.54 [[ 9.08579768e-01 4.15794535e-01 3.99713538e-02 3.80417442e+01] [-4.15437793e-01 9.09458096e-01 -1.72456510e-02 -7.39597932e+00] [-4.35229187e-02 -9.36561398e-04 9.99051990e-01 -5.38653408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:-7.41, Z:-0.54 [[ 9.07055746e-01 4.19274875e-01 3.81896830e-02 3.80715672e+01] [-4.18951378e-01 9.07858750e-01 -1.64994684e-02 -7.41116354e+00] [-4.15886505e-02 -1.03368273e-03 9.99134283e-01 -5.40298487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:-7.42, Z:-0.54 [[ 9.05698334e-01 4.22303825e-01 3.70136174e-02 3.81018479e+01] [-4.22001597e-01 9.06453657e-01 -1.60131179e-02 -7.42479306e+00] [-4.03135298e-02 -1.11675146e-03 9.99186455e-01 -5.40981109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.13, Y:-7.43, Z:-0.54 [[ 9.03425014e-01 4.27357135e-01 3.44836623e-02 3.81338560e+01] [-4.27097757e-01 9.04082054e-01 -1.49380580e-02 -7.43407047e+00] [-3.75599459e-02 -1.23247958e-03 9.99293616e-01 -5.42073335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:-7.44, Z:-0.54 [[ 9.02429780e-01 4.29490799e-01 3.40315551e-02 3.81657262e+01] [-4.29238953e-01 9.03070319e-01 -1.47621403e-02 -7.44358278e+00] [-3.70730907e-02 -1.28587408e-03 9.99311729e-01 -5.43038336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.20, Y:-7.45, Z:-0.54 [[ 9.01095449e-01 4.32214714e-01 3.48917226e-02 3.81977973e+01] [-4.31951209e-01 9.01769616e-01 -1.51562569e-02 -7.45242090e+00] [-3.80150526e-02 -1.41428764e-03 9.99276166e-01 -5.43785026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:-7.46, Z:-0.54 [[ 8.99473794e-01 4.35192747e-01 3.94229220e-02 3.82300676e+01] [-4.34858094e-01 9.00335672e-01 -1.71497772e-02 -7.46148659e+00] [-4.29573216e-02 -1.71760154e-03 9.99075432e-01 -5.43916052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:-7.47, Z:-0.54 [[ 8.97957369e-01 4.38272984e-01 3.98667147e-02 3.82616601e+01] [-4.37932753e-01 8.98839983e-01 -1.73663410e-02 -7.47164065e+00] [-4.34449953e-02 -1.86470622e-03 9.99054080e-01 -5.44008432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:-7.48, Z:-0.55 [[ 8.95880912e-01 4.42904481e-01 3.51142786e-02 3.82926952e+01] [-4.42643386e-01 8.96566951e-01 -1.53145646e-02 -7.48198180e+00] [-3.82651909e-02 -1.82307708e-03 9.99265956e-01 -5.47419059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:-7.49, Z:-0.55 [[ 8.95072713e-01 4.44816885e-01 3.13492829e-02 3.83239946e+01] [-4.44609399e-01 8.95619951e-01 -1.36888611e-02 -7.49260483e+00] [-3.41660798e-02 -1.68565977e-03 9.99414748e-01 -5.48614545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:-7.50, Z:-0.55 [[ 8.93554642e-01 4.47632803e-01 3.44234749e-02 3.83587097e+01] [-4.47383897e-01 8.94215338e-01 -1.50525442e-02 -7.49681714e+00] [-3.75200118e-02 -1.95023756e-03 9.99293973e-01 -5.46904207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:-7.50, Z:-0.55 [[ 8.92498642e-01 4.49434655e-01 3.81400747e-02 3.83912597e+01] [-4.49129739e-01 8.93310441e-01 -1.67012977e-02 -7.50461277e+00] [-4.15770690e-02 -2.22395627e-03 9.99132825e-01 -5.45862703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:-7.51, Z:-0.55 [[ 8.92047222e-01 4.50156049e-01 4.01408046e-02 3.84229649e+01] [-4.49817978e-01 8.92946799e-01 -1.76011698e-02 -7.51343733e+00] [-4.37668761e-02 -2.35498093e-03 9.99038996e-01 -5.45163166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:-7.52, Z:-0.55 [[ 8.91596639e-01 4.50943399e-01 4.12975020e-02 3.84547247e+01] [-4.50585318e-01 8.92549209e-01 -1.81322982e-02 -7.52207936e+00] [-4.50366929e-02 -2.44135191e-03 9.98982350e-01 -5.45920631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.49, Y:-7.53, Z:-0.55 [[ 8.91520992e-01 4.51184971e-01 4.02795525e-02 3.84867908e+01] [-4.50843586e-01 8.92427303e-01 -1.77078814e-02 -7.53000094e+00] [-4.39361023e-02 -2.37282992e-03 9.99031525e-01 -5.48666930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:-7.53, Z:-0.55 [[ 8.92816312e-01 4.48805635e-01 3.81121288e-02 3.85202087e+01] [-4.48496983e-01 8.93626895e-01 -1.67758682e-02 -7.53467460e+00] [-4.15871275e-02 -2.11540598e-03 9.99132642e-01 -5.52176285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:38.55, Y:-7.54, Z:-0.55 [[ 8.93860522e-01 4.46577961e-01 3.97679698e-02 3.85516204e+01] [-4.46238677e-01 8.94742312e-01 -1.75281830e-02 -7.54446785e+00] [-4.34097855e-02 -2.07825541e-03 9.99055189e-01 -5.52018630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:-7.55, Z:-0.55 [[ 8.95153652e-01 4.43975514e-01 3.98206161e-02 3.85840253e+01] [-4.43631759e-01 8.96036831e-01 -1.75744038e-02 -7.55303479e+00] [-4.34833436e-02 -1.93389824e-03 9.99052280e-01 -5.50716395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.62, Y:-7.56, Z:-0.55 [[ 8.96299698e-01 4.41705022e-01 3.92877161e-02 3.86171653e+01] [-4.41367257e-01 8.97158575e-01 -1.73618806e-02 -7.55890587e+00] [-4.29161413e-02 -1.77886320e-03 9.99077094e-01 -5.49730079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:-7.56, Z:-0.55 [[ 8.97296385e-01 4.39717840e-01 3.88254970e-02 3.86515378e+01] [-4.39385154e-01 8.98134467e-01 -1.71804053e-02 -7.56384581e+00] [-4.24250478e-02 -1.64343141e-03 9.99098301e-01 -5.50995984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.69, Y:-7.57, Z:-0.56 [[ 9.00043333e-01 4.34187622e-01 3.74580814e-02 3.86852524e+01] [-4.33872275e-01 9.00821504e-01 -1.65971681e-02 -7.56945241e+00] [-4.09493302e-02 -1.31385248e-03 9.99160361e-01 -5.56823022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.72, Y:-7.58, Z:-0.56 [[ 9.01473367e-01 4.31218167e-01 3.73719167e-02 3.87151367e+01] [-4.30900796e-01 9.02246949e-01 -1.65815502e-02 -7.58364559e+00] [-4.08689634e-02 -1.15576276e-03 9.99163846e-01 -5.58787629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:-7.60, Z:-0.56 [[ 9.03243830e-01 4.27421956e-01 3.82237409e-02 3.87448495e+01] [-4.27085547e-01 9.04051714e-01 -1.69833487e-02 -7.59709279e+00] [-4.18152946e-02 -9.84702396e-04 9.99124873e-01 -5.58816902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.78, Y:-7.61, Z:-0.56 [[ 9.05210613e-01 4.23252844e-01 3.80890460e-02 3.87761851e+01] [-4.22914282e-01 9.06011278e-01 -1.69432860e-02 -7.60807235e+00] [-4.16803993e-02 -7.71159217e-04 9.99130697e-01 -5.57633884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:-7.62, Z:-0.56 [[ 9.08949162e-01 4.15561440e-01 3.34680471e-02 3.88088841e+01] [-4.15294446e-01 9.09565040e-01 -1.48983373e-02 -7.61518443e+00] [-3.66325401e-02 -3.57262856e-04 9.99328739e-01 -5.56682926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:-7.63, Z:-0.56 [[ 9.10126198e-01 4.13165706e-01 3.10548357e-02 3.88390191e+01] [-4.12933803e-01 9.10655835e-01 -1.38428725e-02 -7.62741535e+00] [-3.39996675e-02 -2.24830493e-04 9.99421819e-01 -5.58476430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:-7.64, Z:-0.56 [[ 9.10724617e-01 4.11886737e-01 3.04957092e-02 3.88696294e+01] [-4.11661745e-01 9.11235036e-01 -1.36131046e-02 -7.64010256e+00] [-3.33958159e-02 -1.56127398e-04 9.99442192e-01 -5.59514743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:-7.65, Z:-0.56 [[ 9.10572090e-01 4.12159840e-01 3.13486129e-02 3.89005367e+01] [-4.11921529e-01 9.11111543e-01 -1.40146741e-02 -7.65140943e+00] [-3.43383689e-02 -1.51797500e-04 9.99410253e-01 -5.60099364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:-7.66, Z:-0.56 [[ 9.10248167e-01 4.12470707e-01 3.62793382e-02 3.89321059e+01] [-4.12150702e-01 9.10970849e-01 -1.62453326e-02 -7.66283022e+00] [-3.97501434e-02 -1.65270467e-04 9.99209637e-01 -5.60208467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.68, Z:-0.56 [[ 9.10495361e-01 4.11841948e-01 3.72076216e-02 3.89603799e+01] [-4.11503828e-01 9.11255286e-01 -1.66854373e-02 -7.67929717e+00] [-4.07774049e-02 -1.19065483e-04 9.99168249e-01 -5.62270185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:-7.70, Z:-0.56 [[ 9.11171154e-01 4.10485894e-01 3.56154396e-02 3.89886145e+01] [-4.10174203e-01 9.11866947e-01 -1.59935633e-02 -7.69772795e+00] [-3.90416743e-02 -3.56610478e-05 9.99237583e-01 -5.63948565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:-7.71, Z:-0.57 [[ 9.11673784e-01 4.09305489e-01 3.63308225e-02 3.90176659e+01] [-4.08979260e-01 9.12397400e-01 -1.63386044e-02 -7.71475987e+00] [-3.98356285e-02 3.69243981e-05 9.99206246e-01 -5.65548151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:-7.73, Z:-0.57 [[ 9.12481443e-01 4.07504378e-01 3.63014789e-02 3.90474462e+01] [-4.07176319e-01 9.13203243e-01 -1.63487753e-02 -7.72881410e+00] [-3.98128258e-02 1.36851523e-04 9.99207146e-01 -5.66457188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:-7.74, Z:-0.57 [[ 9.13434337e-01 4.05138234e-01 3.87391571e-02 3.90787130e+01] [-4.04761385e-01 9.14255398e-01 -1.74725131e-02 -7.73960118e+00] [-4.24962666e-02 2.79878562e-04 9.99096586e-01 -5.65579762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:-7.75, Z:-0.56 [[ 9.13662394e-01 4.04500404e-01 4.00056618e-02 3.91086648e+01] [-4.04096747e-01 9.14537755e-01 -1.80697077e-02 -7.75381075e+00] [-4.38958922e-02 3.43454598e-04 9.99036052e-01 -5.64921902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:-7.77, Z:-0.57 [[ 9.13670506e-01 4.04454850e-01 4.02800320e-02 3.91384204e+01] [-4.04044455e-01 9.14557891e-01 -1.82192738e-02 -7.76931836e+00] [-4.42072947e-02 3.71489506e-04 9.99022311e-01 -5.65324232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:-7.78, Z:-0.57 [[ 9.13577103e-01 4.04666556e-01 4.02722710e-02 3.91689685e+01] [-4.04255611e-01 9.14464233e-01 -1.82364152e-02 -7.78304654e+00] [-4.42072188e-02 3.80079883e-04 9.99022311e-01 -5.66324759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:-7.80, Z:-0.57 [[ 9.13864848e-01 4.04192613e-01 3.84626036e-02 3.91974782e+01] [-4.03816760e-01 9.14673807e-01 -1.74313126e-02 -7.80083659e+00] [-4.22263438e-02 3.98019852e-04 9.99107991e-01 -5.70339856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:-7.82, Z:-0.57 [[ 9.13899494e-01 4.04128607e-01 3.83116637e-02 3.92257607e+01] [-4.03754629e-01 9.14702078e-01 -1.73870198e-02 -7.81806722e+00] [-4.20703505e-02 4.21477067e-04 9.99114562e-01 -5.73891169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.25, Y:-7.84, Z:-0.58 [[ 9.14203582e-01 4.03374497e-01 3.89977792e-02 3.92534902e+01] [-4.02985247e-01 9.15034851e-01 -1.77232296e-02 -7.83653944e+00] [-4.28334259e-02 4.87110319e-04 9.99082109e-01 -5.75677705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.28, Y:-7.85, Z:-0.58 [[ 9.14592049e-01 4.02456084e-01 3.93762023e-02 3.92818417e+01] [-4.02057491e-01 9.15439126e-01 -1.79159353e-02 -7.85474345e+00] [-4.32568934e-02 5.54274872e-04 9.99063829e-01 -5.76401094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:-7.87, Z:-0.57 [[ 9.15107694e-01 4.01246116e-01 3.97424512e-02 3.93103858e+01] [-4.00838246e-01 9.15970063e-01 -1.80981860e-02 -7.87139941e+00] [-4.36647223e-02 6.31494790e-04 9.99046042e-01 -5.74204655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:39.34, Y:-7.88, Z:-0.57 [[ 9.14758285e-01 4.02114894e-01 3.89986227e-02 3.93412290e+01] [-4.01721900e-01 9.15589018e-01 -1.77838351e-02 -7.88425823e+00] [-4.28578556e-02 6.01309685e-04 9.99080999e-01 -5.74437758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:-7.90, Z:-0.58 [[ 9.13946519e-01 4.04027737e-01 3.82537397e-02 3.93717507e+01] [-4.03650298e-01 9.14746584e-01 -1.74677905e-02 -7.89794848e+00] [-4.20499496e-02 5.23492860e-04 9.99115373e-01 -5.75239583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:-7.91, Z:-0.58 [[ 9.12490325e-01 4.07410679e-01 3.71206739e-02 3.94014205e+01] [-4.07057131e-01 9.13244981e-01 -1.69734076e-02 -7.91204382e+00] [-4.08154167e-02 3.77835207e-04 9.99166632e-01 -5.77219279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:-7.93, Z:-0.58 [[ 9.10698927e-01 4.11372921e-01 3.74136956e-02 3.94307044e+01] [-4.11016118e-01 9.11467097e-01 -1.71312916e-02 -7.92794373e+00] [-4.11487020e-02 2.23816938e-04 9.99153008e-01 -5.78080091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:-7.94, Z:-0.58 [[ 9.08865084e-01 4.15331473e-01 3.82625950e-02 3.94591449e+01] [-4.14960733e-01 9.09670140e-01 -1.75450153e-02 -7.94447076e+00] [-4.20933372e-02 6.85773147e-05 9.99113680e-01 -5.79206651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.49, Y:-7.96, Z:-0.58 [[ 9.06262488e-01 4.20565815e-01 4.25757914e-02 3.94872989e+01] [-4.20111360e-01 9.07262016e-01 -1.95468470e-02 -7.96232576e+00] [-4.68481340e-02 -1.71999505e-04 9.98902009e-01 -5.78558487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.52, Y:-7.98, Z:-0.58 [[ 9.04987847e-01 4.23256440e-01 4.30230367e-02 3.95169982e+01] [-4.22794553e-01 9.06009877e-01 -1.97704170e-02 -7.97575821e+00] [-4.73472525e-02 -2.97918416e-04 9.98878446e-01 -5.79882940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.99, Z:-0.58 [[ 9.03986484e-01 4.25404738e-01 4.28864226e-02 3.95474654e+01] [-4.24946871e-01 9.05003128e-01 -1.97356445e-02 -7.98881135e+00] [-4.72079833e-02 -3.83695217e-04 9.98885008e-01 -5.80900595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:-8.00, Z:-0.58 [[ 8.99964695e-01 4.33869653e-01 4.26693376e-02 3.95777756e+01] [-4.33424579e-01 9.00975298e-01 -1.96633211e-02 -8.00252063e+00] [-4.69753375e-02 -7.97644865e-04 9.98895731e-01 -5.82222618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.61, Y:-8.01, Z:-0.58 [[ 8.97137956e-01 4.39762699e-01 4.18599552e-02 3.96082609e+01] [-4.39339530e-01 8.98113380e-01 -1.93166942e-02 -8.01499065e+00] [-4.60897474e-02 -1.06099346e-03 9.98936739e-01 -5.82997985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:-8.03, Z:-0.58 [[ 8.94405730e-01 4.45225336e-01 4.25768748e-02 3.96399642e+01] [-4.44792438e-01 8.95417557e-01 -1.96744917e-02 -8.02522567e+00] [-4.68836634e-02 -1.34089384e-03 9.98899456e-01 -5.83364446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:-8.03, Z:-0.58 [[ 8.91989923e-01 4.50072111e-01 4.22974276e-02 3.96722692e+01] [-4.49649085e-01 8.92990849e-01 -1.95715021e-02 -8.03380309e+00] [-4.65798031e-02 -1.56141700e-03 9.98913352e-01 -5.84078961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:-8.04, Z:-0.59 [[ 8.88740537e-01 4.56200937e-01 4.49551269e-02 3.97056445e+01] [-4.55729428e-01 8.89874600e-01 -2.08298823e-02 -8.04020542e+00] [-4.95070374e-02 -1.97501349e-03 9.98771822e-01 -5.85112775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.74, Y:-8.05, Z:-0.59 [[ 8.88193853e-01 4.57248918e-01 4.51121586e-02 3.97361938e+01] [-4.56774095e-01 8.89336473e-01 -2.09299849e-02 -8.05352181e+00] [-4.96901009e-02 -2.01618145e-03 9.98762649e-01 -5.85531672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:-8.07, Z:-0.59 [[ 8.88408874e-01 4.56778090e-01 4.56448229e-02 3.97671461e+01] [-4.56289972e-01 8.89578452e-01 -2.12047118e-02 -8.06626447e+00] [-5.02904987e-02 -1.98882084e-03 9.98732652e-01 -5.85663933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:-8.08, Z:-0.59 [[ 8.89382154e-01 4.54861287e-01 4.58322282e-02 3.97987282e+01] [-4.54365210e-01 8.90560350e-01 -2.13194433e-02 -8.07687598e+00] [-5.05137546e-02 -1.86343758e-03 9.98721627e-01 -5.86213779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:-8.08, Z:-0.59 [[ 8.91545370e-01 4.50717233e-01 4.47306293e-02 3.98338757e+01] [-4.50238187e-01 8.92665406e-01 -2.08338256e-02 -8.08014523e+00] [-4.93196496e-02 -1.56513669e-03 9.98781819e-01 -5.89421897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:-8.09, Z:-0.59 [[ 8.92523282e-01 4.48781515e-01 4.46916287e-02 3.98648977e+01] [-4.48299522e-01 8.93640364e-01 -2.08431895e-02 -8.09050562e+00] [-4.92922816e-02 -1.43220387e-03 9.98783370e-01 -5.91265497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.90, Y:-8.10, Z:-0.59 [[ 8.93925120e-01 4.46104032e-01 4.34634496e-02 3.98954627e+01] [-4.45643736e-01 8.94980274e-01 -2.02970300e-02 -8.10322094e+00] [-4.79535170e-02 -1.22518910e-03 9.98848817e-01 -5.92116442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.93, Y:-8.12, Z:-0.59 [[ 8.97063325e-01 4.40127225e-01 3.95653599e-02 3.99260383e+01] [-4.39739079e-01 8.97935063e-01 -1.84976727e-02 -8.11601134e+00] [-4.36684533e-02 -8.04851140e-04 9.99045754e-01 -5.94759483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:-8.13, Z:-0.60 [[ 8.97912874e-01 4.38508108e-01 3.82506163e-02 3.99572501e+01] [-4.38143076e-01 8.98726972e-01 -1.79018075e-02 -8.12803884e+00] [-4.22269483e-02 -6.84979229e-04 9.99107810e-01 -5.96765024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:-8.14, Z:-0.60 [[ 8.98555112e-01 4.37080139e-01 3.94925652e-02 3.99884757e+01] [-4.36688482e-01 8.99422356e-01 -1.85093160e-02 -8.13823374e+00] [-4.36105505e-02 -6.14307848e-04 9.99048419e-01 -5.98272619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:-8.15, Z:-0.60 [[ 8.99536718e-01 4.34857420e-01 4.16259155e-02 4.00206813e+01] [-4.34418604e-01 9.00499176e-01 -1.95374083e-02 -8.14824026e+00] [-4.59800896e-02 -5.08455961e-04 9.98942227e-01 -5.98124592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-8.15, Z:-0.59 [[ 9.02236416e-01 4.29078762e-01 4.31377590e-02 4.00550133e+01] [-4.28599471e-01 9.03267058e-01 -2.02759832e-02 -8.15339297e+00] [-4.76649104e-02 -1.95090302e-04 9.98863363e-01 -5.94600612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-8.16, Z:-0.60 [[ 9.03215966e-01 4.27217671e-01 4.10606838e-02 4.00857450e+01] [-4.26780336e-01 9.04148802e-01 -1.93258446e-02 -8.16449233e+00] [-4.53813104e-02 -6.84810441e-05 9.98969735e-01 -5.95683644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:-8.18, Z:-0.60 [[ 9.03743479e-01 4.26107397e-01 4.09903656e-02 4.01157722e+01] [-4.25669210e-01 9.04672585e-01 -1.93193633e-02 -8.17787598e+00] [-4.53149836e-02 1.14120307e-05 9.98972748e-01 -5.98516703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:-8.19, Z:-0.60 [[ 9.04354156e-01 4.24825988e-01 4.08220525e-02 4.01451204e+01] [-4.24388894e-01 9.05275024e-01 -1.92664706e-02 -8.19343401e+00] [-4.51400820e-02 9.92870707e-05 9.98980662e-01 -6.01248716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:-8.21, Z:-0.60 [[ 9.05392703e-01 4.22213469e-01 4.47195757e-02 4.01731942e+01] [-4.21684167e-01 9.06496392e-01 -2.11365804e-02 -8.21129334e+00] [-4.94622830e-02 2.79368656e-04 9.98775953e-01 -6.01108770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:-8.28, Z:-0.60 [[ 9.06339096e-01 4.18951107e-01 5.50401015e-02 4.01733625e+01] [-4.21668821e-01 9.05154113e-01 5.37720893e-02 -8.28366219e+00] [-2.72918979e-02 -7.19444415e-02 9.97035180e-01 -5.97777310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.22, Y:-8.24, Z:-0.60 [[ 9.07291098e-01 4.19767370e-01 2.48640033e-02 4.02244158e+01] [-4.19920193e-01 9.07560451e-01 1.02914380e-03 -8.24442441e+00] [-2.21335851e-02 -1.13746301e-02 9.99690313e-01 -5.97353808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:-8.18, Z:-0.59 [[ 9.06928240e-01 4.21196201e-01 8.65605435e-03 4.02910344e+01] [-4.18471630e-01 9.03051892e-01 -9.68440793e-02 -8.17595478e+00] [-4.86072246e-02 8.42083173e-02 9.95261924e-01 -5.93831894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.29, Y:-8.26, Z:-0.60 [[ 9.05864725e-01 4.21308689e-01 4.36816732e-02 4.02890017e+01] [-4.20800261e-01 9.06917226e-01 -2.06950461e-02 -8.25667998e+00] [-4.83346646e-02 3.65652730e-04 9.98831130e-01 -6.01502089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:-8.27, Z:-0.60 [[ 9.04759192e-01 4.23580636e-01 4.46122165e-02 4.03203240e+01] [-4.23051615e-01 9.05858360e-01 -2.11651215e-02 -8.26802460e+00] [-4.93774849e-02 2.76067944e-04 9.98780150e-01 -6.03894757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:-8.28, Z:-0.61 [[ 9.03034660e-01 4.27156018e-01 4.54548149e-02 4.03515857e+01] [-4.26609827e-01 9.04177928e-01 -2.15947043e-02 -8.27847201e+00] [-5.03235482e-02 1.09295738e-04 9.98732962e-01 -6.05099925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.38, Y:-8.29, Z:-0.61 [[ 9.01207662e-01 4.30955204e-01 4.58515260e-02 4.03822742e+01] [-4.30402824e-01 9.02373319e-01 -2.18129088e-02 -8.28964411e+00] [-5.07755803e-02 -7.66657512e-05 9.98710085e-01 -6.06471686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.41, Y:-8.30, Z:-0.61 [[ 8.98663151e-01 4.36538695e-01 4.28778336e-02 4.04137495e+01] [-4.36060759e-01 8.99685418e-01 -2.04245957e-02 -8.30003900e+00] [-4.74926880e-02 -3.42509155e-04 9.98871527e-01 -6.08569094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:-8.31, Z:-0.61 [[ 8.97963311e-01 4.37979140e-01 4.28504902e-02 4.04447250e+01] [-4.37502133e-01 8.98985049e-01 -2.04393033e-02 -8.31155285e+00] [-4.74739385e-02 -3.93436372e-04 9.98872399e-01 -6.09303913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:-8.32, Z:-0.61 [[ 8.96949416e-01 4.40051050e-01 4.28581240e-02 4.04760415e+01] [-4.39574899e-01 8.97972630e-01 -2.04710270e-02 -8.32191196e+00] [-4.74937193e-02 -4.77879859e-04 9.98871422e-01 -6.09155191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.51, Y:-8.33, Z:-0.61 [[ 8.96314207e-01 4.41312083e-01 4.31797069e-02 4.05069164e+01] [-4.40828849e-01 8.97353538e-01 -2.06531883e-02 -8.33349346e+00] [-4.78619643e-02 -5.23114360e-04 9.98853823e-01 -6.08875238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.54, Y:-8.35, Z:-0.61 [[ 8.94756027e-01 4.44361178e-01 4.42130661e-02 4.05382600e+01] [-4.43856788e-01 8.95847468e-01 -2.11770004e-02 -8.34538439e+00] [-4.90184002e-02 -6.76020720e-04 9.98797647e-01 -6.09597059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:-8.36, Z:-0.61 [[ 8.94114400e-01 4.45574542e-01 4.49751792e-02 4.05696760e+01] [-4.45052648e-01 8.95244546e-01 -2.15718403e-02 -8.35713719e+00] [-4.98756467e-02 -7.28629490e-04 9.98755170e-01 -6.10843818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.59, Y:-8.40, Z:-0.61 [[ 8.93513995e-01 4.46386311e-01 4.87032009e-02 4.05857173e+01] [-4.47585513e-01 8.94083706e-01 1.67790238e-02 -8.39563045e+00] [-3.60548118e-02 -3.67911397e-02 9.98672350e-01 -6.12248589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:-8.34, Z:-0.61 [[ 8.92965198e-01 4.49088987e-01 3.05325511e-02 4.06451755e+01] [-4.47062931e-01 8.92745966e-01 -5.60301265e-02 -8.34299401e+00] [-5.24203245e-02 3.63829812e-02 9.97962118e-01 -6.10041520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.67, Y:-8.38, Z:-0.61 [[ 8.92031594e-01 4.49621208e-01 4.60478560e-02 4.06654324e+01] [-4.49077513e-01 8.93218831e-01 -2.21248089e-02 -8.37766654e+00] [-5.10785954e-02 -9.43028053e-04 9.98694191e-01 -6.14681209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.70, Y:-8.39, Z:-0.62 [[ 8.91940891e-01 4.49570985e-01 4.82428892e-02 4.06960300e+01] [-4.48972375e-01 8.93244096e-01 -2.32118756e-02 -8.39041673e+00] [-5.35280618e-02 -9.56103487e-04 9.98565888e-01 -6.15401794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.73, Y:-8.41, Z:-0.62 [[ 8.92728978e-01 4.48115760e-01 4.71936121e-02 4.07253833e+01] [-4.47539291e-01 8.93975161e-01 -2.27374995e-02 -8.40532465e+00] [-5.23789489e-02 -8.22570969e-04 9.98626942e-01 -6.16834642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.75, Y:-8.42, Z:-0.62 [[ 8.93566562e-01 4.46697269e-01 4.47252581e-02 4.07539915e+01] [-4.46176387e-01 8.94684913e-01 -2.15763369e-02 -8.42105275e+00] [-4.96531045e-02 -6.75460887e-04 9.98766295e-01 -6.18651888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.78, Y:-8.44, Z:-0.62 [[ 8.96006335e-01 4.42320899e-01 3.90495953e-02 4.07839005e+01] [-4.41918732e-01 8.96856786e-01 -1.88610606e-02 -8.43525268e+00] [-4.33645358e-02 -3.57117880e-04 9.99059252e-01 -6.23185630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:-8.45, Z:-0.62 [[ 8.97392776e-01 4.39530179e-01 3.87224416e-02 4.08140571e+01] [-4.39131032e-01 8.98227801e-01 -1.87284382e-02 -8.44819921e+00] [-4.30132873e-02 -1.97460521e-04 9.99074481e-01 -6.24408869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:-8.46, Z:-0.62 [[ 8.98526947e-01 4.36970125e-01 4.13090176e-02 4.08439982e+01] [-4.36511809e-01 8.99476018e-01 -2.00083436e-02 -8.46236428e+00] [-4.58995190e-02 -5.38380665e-05 9.98946060e-01 -6.24612526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:-8.48, Z:-0.62 [[ 9.00015516e-01 4.33693540e-01 4.33818415e-02 4.08724722e+01] [-4.33182814e-01 9.01060427e-01 -2.10417921e-02 -8.47843174e+00] [-4.82153499e-02 1.45671226e-04 9.98836953e-01 -6.24866750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:-8.50, Z:-0.62 [[ 9.01362990e-01 4.30710187e-01 4.50942868e-02 4.09003843e+01] [-4.30153069e-01 9.02490231e-01 -2.19025316e-02 -8.49612376e+00] [-5.01307968e-02 3.44685517e-04 9.98742602e-01 -6.24880031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:-8.52, Z:-0.62 [[ 9.02718692e-01 4.27462248e-01 4.87338562e-02 4.09274005e+01] [-4.26804964e-01 9.04033002e-01 -2.37034538e-02 -8.51674774e+00] [-5.41893460e-02 5.97699057e-04 9.98530499e-01 -6.22713176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:-8.53, Z:-0.62 [[ 9.03259652e-01 4.26313479e-01 4.87731424e-02 4.09565396e+01] [-4.25651775e-01 9.04575223e-01 -2.37535604e-02 -8.53210611e+00] [-5.42454392e-02 6.95258029e-04 9.98527390e-01 -6.23729398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.99, Y:-8.55, Z:-0.63 [[ 9.03244696e-01 4.26609695e-01 4.64024545e-02 4.09862731e+01] [-4.26009726e-01 9.04435580e-01 -2.26272891e-02 -8.54614646e+00] [-5.16210518e-02 6.70081884e-04 9.98666520e-01 -6.27144813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.02, Y:-8.56, Z:-0.63 [[ 9.03297034e-01 4.27168613e-01 3.97673862e-02 4.10159020e+01] [-4.26727656e-01 9.04171807e-01 -1.94126591e-02 -8.56039645e+00] [-4.42490281e-02 5.65553831e-04 9.99020372e-01 -6.33566641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.04, Y:-8.58, Z:-0.64 [[ 9.02778624e-01 4.28421669e-01 3.80214366e-02 4.10446643e+01] [-4.28018981e-01 9.03578788e-01 -1.85775466e-02 -8.57589994e+00] [-4.23143871e-02 4.97515355e-04 9.99104221e-01 -6.36990873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.07, Y:-8.59, Z:-0.64 [[ 9.02624524e-01 4.28747074e-01 3.80120281e-02 4.10748523e+01] [-4.28343866e-01 9.03424426e-01 -1.85967792e-02 -8.59044522e+00] [-4.23143093e-02 5.03689914e-04 9.99104222e-01 -6.38241372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:-8.61, Z:-0.64 [[ 9.02050503e-01 4.29941616e-01 3.81457450e-02 4.11024053e+01] [-4.29535866e-01 9.02856572e-01 -1.86801840e-02 -8.60820461e+00] [-4.24715251e-02 4.65503750e-04 9.99097569e-01 -6.39107779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:-8.63, Z:-0.64 [[ 9.01194317e-01 4.31538611e-01 4.02893253e-02 4.11296687e+01] [-4.31086328e-01 9.02094361e-01 -1.97570469e-02 -8.62718068e+00] [-4.48707017e-02 4.36761104e-04 9.98992707e-01 -6.39412061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:-8.65, Z:-0.64 [[ 9.00640549e-01 4.32459911e-01 4.27203269e-02 4.11565112e+01] [-4.31951033e-01 9.01653055e-01 -2.09779484e-02 -8.64801671e+00] [-4.75910350e-02 4.40501657e-04 9.98866808e-01 -6.36110600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:-8.66, Z:-0.64 [[ 9.00076210e-01 4.33570460e-01 4.33528927e-02 4.11863889e+01] [-4.33046307e-01 9.01119574e-01 -2.13168899e-02 -8.66259910e+00] [-4.83085140e-02 4.13015354e-04 9.98832377e-01 -6.36389835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:-8.68, Z:-0.64 [[ 8.98921637e-01 4.35937382e-01 4.35716581e-02 4.12166788e+01] [-4.35409326e-01 8.99976945e-01 -2.14526982e-02 -8.67606579e+00] [-4.85655208e-02 3.12788376e-04 9.98819950e-01 -6.38197464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-8.69, Z:-0.64 [[ 8.97277518e-01 4.39338926e-01 4.32939213e-02 4.12467221e+01] [-4.38820180e-01 8.98321371e-01 -2.13439569e-02 -8.68949473e+00] [-4.82690858e-02 1.53206328e-04 9.98834357e-01 -6.41422978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-8.70, Z:-0.64 [[ 8.93562260e-01 4.47075420e-01 4.08663273e-02 4.12773002e+01] [-4.46620141e-01 8.94496237e-01 -2.01725564e-02 -8.70255146e+00] [-4.55734301e-02 -2.26289756e-04 9.98960966e-01 -6.43666569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.31, Y:-8.72, Z:-0.64 [[ 8.91960876e-01 4.50349289e-01 3.98912668e-02 4.13078013e+01] [-4.49917717e-01 8.92852387e-01 -1.97145262e-02 -8.71606896e+00] [-4.44954357e-02 -3.63201662e-04 9.99009522e-01 -6.44202191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.34, Y:-8.73, Z:-0.64 [[ 8.89951490e-01 4.54359144e-01 3.92952249e-02 4.13386784e+01] [-4.53943682e-01 8.90818429e-01 -1.94334664e-02 -8.72900790e+00] [-4.38346837e-02 -5.42976742e-04 9.99038651e-01 -6.44792945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:-8.74, Z:-0.65 [[ 8.88047108e-01 4.57997557e-01 4.01319401e-02 4.13687273e+01] [-4.57566685e-01 8.88953165e-01 -1.98746079e-02 -8.74292517e+00] [-4.47779370e-02 -7.13450745e-04 9.98996710e-01 -6.45894772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:-8.76, Z:-0.65 [[ 8.86191115e-01 4.61417911e-01 4.19382738e-02 4.13983455e+01] [-4.60949819e-01 8.87182451e-01 -2.07981648e-02 -8.75724011e+00] [-4.68035463e-02 -9.00290870e-04 9.98903708e-01 -6.47495409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:-8.77, Z:-0.65 [[ 8.84519545e-01 4.64378209e-01 4.44753019e-02 4.14293471e+01] [-4.63853931e-01 8.85636315e-01 -2.20872773e-02 -8.76947170e+00] [-4.96457928e-02 -1.09341508e-03 9.98766289e-01 -6.48977437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:-8.78, Z:-0.65 [[ 8.84082175e-01 4.65217459e-01 4.44007196e-02 4.14600892e+01] [-4.64694530e-01 8.85195729e-01 -2.20797507e-02 -8.78167809e+00] [-4.95752129e-02 -1.11245749e-03 9.98769774e-01 -6.49839719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.49, Y:-8.79, Z:-0.65 [[ 8.84019234e-01 4.65410224e-01 4.36270263e-02 4.14908016e+01] [-4.64904220e-01 8.85094436e-01 -2.17233966e-02 -8.79379649e+00] [-4.87243291e-02 -1.07848820e-03 9.98811682e-01 -6.50852610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.52, Y:-8.81, Z:-0.65 [[ 8.82919050e-01 4.67597286e-01 4.25056397e-02 4.15211475e+01] [-4.67118188e-01 8.83940875e-01 -2.11926515e-02 -8.80683348e+00] [-4.74820987e-02 -1.14376162e-03 9.98871434e-01 -6.51301065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:-8.82, Z:-0.65 [[ 8.81808715e-01 4.69887829e-01 4.02345306e-02 4.15523693e+01] [-4.69459816e-01 8.82725350e-01 -2.00857553e-02 -8.81877997e+00] [-4.49540921e-02 -1.17670129e-03 9.98988361e-01 -6.53719790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:-8.83, Z:-0.66 [[ 8.80958346e-01 4.71352865e-01 4.16997500e-02 4.15838984e+01] [-4.70893408e-01 8.81943795e-01 -2.08456125e-02 -8.82999857e+00] [-4.66024749e-02 -1.27202112e-03 9.98912705e-01 -6.55064587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:-8.84, Z:-0.65 [[ 8.80406679e-01 4.72122839e-01 4.45432937e-02 4.16159694e+01] [-4.71597992e-01 8.81531697e-01 -2.22979886e-02 -8.84059817e+00] [-4.97937150e-02 -1.37522974e-03 9.98758577e-01 -6.54636573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:-8.85, Z:-0.65 [[ 8.79970903e-01 4.72678613e-01 4.71819797e-02 4.16473098e+01] [-4.72088780e-01 8.81233677e-01 -2.36514459e-02 -8.85223621e+00] [-5.27578821e-02 -1.46149907e-03 9.98606264e-01 -6.54412310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:-8.87, Z:-0.66 [[ 8.81878219e-01 4.69076396e-01 4.75199010e-02 4.16768250e+01] [-4.68471166e-01 8.83156741e-01 -2.38524039e-02 -8.86727557e+00] [-5.31561206e-02 -1.22678798e-03 9.98585460e-01 -6.56927763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:-8.88, Z:-0.66 [[ 8.83595827e-01 4.66077548e-01 4.50569977e-02 4.17055810e+01] [-4.65528115e-01 8.84743344e-01 -2.26448520e-02 -8.88323462e+00] [-5.04181359e-02 -9.66402490e-04 9.98727729e-01 -6.60624728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:-8.90, Z:-0.66 [[ 8.85045875e-01 4.63561673e-01 4.24779390e-02 4.17348918e+01] [-4.63069183e-01 8.86064338e-01 -2.13757191e-02 -8.89824623e+00] [-4.75471510e-02 -7.51732501e-04 9.98868712e-01 -6.63778700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.76, Y:-8.91, Z:-0.67 [[ 8.86420683e-01 4.60915926e-01 4.26014223e-02 4.17643236e+01] [-4.60416148e-01 8.87443613e-01 -2.14663656e-02 -8.91211530e+00] [-4.77005499e-02 -5.86152338e-04 9.98861509e-01 -6.65685929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.79, Y:-8.93, Z:-0.66 [[ 8.88281988e-01 4.57305886e-01 4.27368288e-02 4.17940576e+01] [-4.56797373e-01 8.89309390e-01 -2.15631420e-02 -8.92771432e+00] [-4.78672149e-02 -3.67920461e-04 9.98853640e-01 -6.63854377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.82, Y:-8.94, Z:-0.66 [[ 8.89035904e-01 4.55885876e-01 4.22283073e-02 4.18231281e+01] [-4.55386468e-01 8.90038201e-01 -2.13346141e-02 -8.94447617e+00] [-4.73109559e-02 -2.62961790e-04 9.98880175e-01 -6.64222650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:-8.96, Z:-0.67 [[ 8.89204560e-01 4.55614199e-01 4.16047226e-02 4.18516963e+01] [-4.55127872e-01 8.90177316e-01 -2.10467728e-02 -8.96082280e+00] [-4.66247888e-02 -2.20582510e-04 9.98912449e-01 -6.65062746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-8.98, Z:-0.67 [[ 8.89751234e-01 4.54692585e-01 3.99674274e-02 4.18799542e+01] [-4.54241722e-01 8.90648434e-01 -2.02441387e-02 -8.97762643e+00] [-4.48017864e-02 -1.42625696e-04 9.98995886e-01 -6.68296476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:-8.99, Z:-0.67 [[ 8.90003075e-01 4.54318637e-01 3.85888882e-02 4.19083135e+01] [-4.53896923e-01 8.90839248e-01 -1.95708143e-02 -8.99413940e+00] [-4.32678818e-02 -9.72927580e-05 9.99063502e-01 -6.71482786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:-9.01, Z:-0.67 [[ 8.90407695e-01 4.53374611e-01 4.03187249e-02 4.19346780e+01] [-4.52911980e-01 8.91320067e-01 -2.04762546e-02 -9.01440622e+00] [-4.52203025e-02 -2.86188526e-05 9.98977038e-01 -6.71990280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:-9.03, Z:-0.67 [[ 8.90416062e-01 4.53104230e-01 4.30789244e-02 4.19631024e+01] [-4.52574268e-01 8.91457546e-01 -2.19083390e-02 -9.03182874e+00] [-4.83297934e-02 1.11242220e-05 9.98831433e-01 -6.69762982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:-9.05, Z:-0.67 [[ 8.90320092e-01 4.53079683e-01 4.52651517e-02 4.19922717e+01] [-4.52492909e-01 8.91470021e-01 -2.30514229e-02 -9.04822766e+00] [-5.07966571e-02 4.09847643e-05 9.98709016e-01 -6.67945548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:-9.06, Z:-0.67 [[ 8.89327876e-01 4.54994175e-01 4.55656524e-02 4.20222456e+01] [-4.54400519e-01 8.90494413e-01 -2.32350974e-02 -9.06122659e+00] [-5.11477929e-02 -4.14362491e-05 9.98691094e-01 -6.67743660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.05, Y:-9.07, Z:-0.67 [[ 8.87886494e-01 4.57967672e-01 4.38541479e-02 4.20523838e+01] [-4.57420019e-01 8.88968829e-01 -2.23907736e-02 -9.07469721e+00] [-4.92392210e-02 -1.79299646e-04 9.98786998e-01 -6.70924171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.08, Y:-9.09, Z:-0.67 [[ 8.86884148e-01 4.60007971e-01 4.27688570e-02 4.20818246e+01] [-4.59488295e-01 8.87914746e-01 -2.18611417e-02 -9.08830113e+00] [-4.80313983e-02 -2.63489145e-04 9.98845792e-01 -6.74736277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.11, Y:-9.10, Z:-0.68 [[ 8.85932556e-01 4.61848712e-01 4.26529434e-02 4.21117468e+01] [-4.61333207e-01 8.86958650e-01 -2.18180099e-02 -9.10269985e+00] [-4.79080168e-02 -3.47933857e-04 9.98851691e-01 -6.77595775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.14, Y:-9.12, Z:-0.68 [[ 8.84046059e-01 4.64981175e-01 4.74876141e-02 4.21397977e+01] [-4.64344756e-01 8.85320399e-01 -2.43256562e-02 -9.11997092e+00] [-5.33527257e-02 -5.45624141e-04 9.98575580e-01 -6.76258971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.17, Y:-9.14, Z:-0.67 [[ 8.83209927e-01 4.66444552e-01 4.86796172e-02 4.21686259e+01] [-4.65776164e-01 8.84550222e-01 -2.49693873e-02 -9.13594717e+00] [-5.47064008e-02 -6.20594684e-04 9.98502291e-01 -6.74897106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:-9.15, Z:-0.68 [[ 8.82373986e-01 4.68152658e-01 4.74261252e-02 4.21979335e+01] [-4.67519070e-01 8.83647343e-01 -2.43576182e-02 -9.15016888e+00] [-5.33110533e-02 -6.80089268e-04 9.98577723e-01 -6.75121462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:-9.16, Z:-0.68 [[ 8.82140740e-01 4.68918258e-01 4.40838077e-02 4.22283147e+01] [-4.68370445e-01 8.83241329e-01 -2.26689565e-02 -9.16326577e+00] [-4.95665285e-02 -6.50342522e-04 9.98770612e-01 -6.78460650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.22, Y:-9.24, Z:-0.69 [[ 8.83430250e-01 4.65751468e-01 5.12500172e-02 4.22247851e+01] [-4.68266991e-01 8.81460991e-01 6.12580244e-02 -9.23601863e+00] [-1.66438761e-02 -7.81158832e-02 9.96805342e-01 -6.85444415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-9.12, Z:-0.68 [[ 8.81604584e-01 4.71899360e-01 9.18426230e-03 4.23185152e+01] [-4.69269107e-01 8.78444664e-01 -9.01192374e-02 -9.12408126e+00] [-5.05950766e-02 7.51396422e-02 9.95888635e-01 -6.78742274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-9.20, Z:-0.68 [[ 8.80586684e-01 4.71662905e-01 4.58388058e-02 4.23168002e+01] [-4.71071440e-01 8.81778591e-01 -2.36265933e-02 -9.19888148e+00] [-5.15634652e-02 -7.88088761e-04 9.98669409e-01 -6.84913746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-9.21, Z:-0.68 [[ 8.79540213e-01 4.73630045e-01 4.56463934e-02 4.23473062e+01] [-4.73044607e-01 8.80723463e-01 -2.35580391e-02 -9.21130483e+00] [-5.13596448e-02 -8.72537442e-04 9.98679841e-01 -6.83080550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:-9.22, Z:-0.68 [[ 8.78329605e-01 4.75861845e-01 4.57450571e-02 4.23777922e+01] [-4.75275301e-01 8.79519498e-01 -2.36398050e-02 -9.22324298e+00] [-5.14829509e-02 -9.77955216e-04 9.98673395e-01 -6.84146485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:-9.24, Z:-0.69 [[ 8.77425758e-01 4.77679684e-01 4.41152908e-02 4.24084737e+01] [-4.77135076e-01 8.78533481e-01 -2.28263362e-02 -9.23578773e+00] [-4.96604371e-02 -1.02053724e-03 9.98765638e-01 -6.86749172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:-9.25, Z:-0.69 [[ 8.77707729e-01 4.77117993e-01 4.45821012e-02 4.24376045e+01] [-4.76559551e-01 8.78838708e-01 -2.30980533e-02 -9.25207928e+00] [-5.02009730e-02 -9.72686234e-04 9.98738663e-01 -6.90152279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:-9.27, Z:-0.69 [[ 8.78465346e-01 4.75569511e-01 4.61765746e-02 4.24663002e+01] [-4.74966578e-01 8.79677698e-01 -2.39561483e-02 -9.26845977e+00] [-5.20133166e-02 -8.87683563e-04 9.98645997e-01 -6.91200566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:-9.28, Z:-0.69 [[ 8.80295993e-01 4.72389809e-01 4.38957019e-02 4.24964637e+01] [-4.71839635e-01 8.81389505e-01 -2.28013031e-02 -9.28299087e+00] [-4.94603142e-02 -6.39836180e-04 9.98775885e-01 -6.92362173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:-9.30, Z:-0.69 [[ 8.81523582e-01 4.70187340e-01 4.28956886e-02 4.25265596e+01] [-4.69657974e-01 8.82566505e-01 -2.23103501e-02 -9.29560239e+00] [-4.83483421e-02 -4.79202464e-04 9.98830420e-01 -6.94502182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.56, Y:-9.31, Z:-0.70 [[ 8.82770018e-01 4.67773858e-01 4.36430078e-02 4.25573910e+01] [-4.67221446e-01 8.83848127e-01 -2.27290534e-02 -9.30881029e+00] [-4.92058477e-02 -3.26422294e-04 9.98788605e-01 -6.95680119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:-9.32, Z:-0.70 [[ 8.83989159e-01 4.65391559e-01 4.44281897e-02 4.25873193e+01] [-4.64814533e-01 8.85104891e-01 -2.31685480e-02 -9.32364381e+00] [-5.01060547e-02 -1.70123027e-04 9.98743888e-01 -6.96767364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:-9.35, Z:-0.70 [[ 8.86668304e-01 4.60109847e-01 4.60244278e-02 4.26127125e+01] [-4.59481789e-01 8.87861984e-01 -2.40329680e-02 -9.34551848e+00] [-5.19211450e-02 1.61884530e-04 9.98651175e-01 -6.95918433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:-9.36, Z:-0.70 [[ 8.87340313e-01 4.58829227e-01 4.58574947e-02 4.26397939e+01] [-4.58202412e-01 8.88524435e-01 -2.39766270e-02 -9.36444038e+00] [-5.17466818e-02 2.63413032e-04 9.98660208e-01 -6.97039228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.67, Y:-9.38, Z:-0.70 [[ 8.87374215e-01 4.58666792e-01 4.68164091e-02 4.26686980e+01] [-4.58011553e-01 8.88608283e-01 -2.45099351e-02 -9.38069263e+00] [-5.28433422e-02 3.07028149e-04 9.98602767e-01 -6.99101279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:-9.39, Z:-0.70 [[ 8.87648458e-01 4.58155781e-01 4.66207679e-02 4.26989983e+01] [-4.57503662e-01 8.88871840e-01 -2.44387205e-02 -9.39337956e+00] [-5.26366289e-02 3.63820504e-04 9.98613666e-01 -7.02184355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.73, Y:-9.40, Z:-0.70 [[ 8.86388029e-01 4.60785730e-01 4.46404876e-02 4.27313046e+01] [-4.60189749e-01 8.87511386e-01 -2.34293472e-02 -9.40343044e+00] [-5.04148499e-02 2.24398084e-04 9.98728338e-01 -7.04737945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.76, Y:-9.42, Z:-0.71 [[ 8.85523167e-01 4.62508112e-01 4.39882560e-02 4.27597902e+01] [-4.61930284e-01 8.86615037e-01 -2.31125113e-02 -9.41973378e+00] [-4.96903732e-02 1.47156588e-04 9.98764660e-01 -7.05695209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:-9.44, Z:-0.70 [[ 8.84552246e-01 4.64381627e-01 4.37838873e-02 4.27878263e+01] [-4.63810651e-01 8.85635197e-01 -2.30212625e-02 -9.43659658e+00] [-4.94672029e-02 5.60761436e-05 9.98775747e-01 -7.04325773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:-9.45, Z:-0.70 [[ 8.83448418e-01 4.66424891e-01 4.43476517e-02 4.28167306e+01] [-4.65840155e-01 8.84560806e-01 -2.33480183e-02 -9.45321817e+00] [-5.01182914e-02 -3.21471085e-05 9.98743288e-01 -7.04114682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:-9.47, Z:-0.70 [[ 8.81629299e-01 4.69612834e-01 4.68355182e-02 4.28449094e+01] [-4.68963335e-01 8.82872441e-01 -2.46909536e-02 -9.46976400e+00] [-5.29449770e-02 -1.95872672e-04 9.98597412e-01 -7.04791655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:-9.49, Z:-0.71 [[ 8.81069864e-01 4.70483174e-01 4.85950400e-02 4.28730075e+01] [-4.69783370e-01 8.82408936e-01 -2.56525625e-02 -9.48734015e+00] [-5.49497966e-02 -2.27441899e-04 9.98489093e-01 -7.06493709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:-9.51, Z:-0.71 [[ 8.80820685e-01 4.70914550e-01 4.89326878e-02 4.29015491e+01] [-4.70203789e-01 8.82178800e-01 -2.58642978e-02 -9.50505424e+00] [-5.53472540e-02 -2.26526733e-04 9.98467140e-01 -7.07084541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.88, Y:-9.60, Z:-0.71 [[ 8.81514561e-01 4.67272899e-01 6.77356349e-02 4.28849417e+01] [-4.71621668e-01 8.78235948e-01 7.92125079e-02 -9.60125034e+00] [-2.24740113e-02 -1.01772572e-01 9.94553801e-01 -7.07315749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:-9.54, Z:-0.71 [[ 8.80480572e-01 4.73482667e-01 2.38353935e-02 4.29558395e+01] [-4.73358218e-01 8.80801647e-01 -1.09752035e-02 -9.53539519e+00] [-2.61908225e-02 -1.61922591e-03 9.99655650e-01 -7.06759297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.99, Y:-9.53, Z:-0.71 [[ 8.78162230e-01 4.78039765e-01 1.75807326e-02 4.29914670e+01] [-4.77700164e-01 8.78287049e-01 -2.03571283e-02 -9.53414497e+00] [-2.51724465e-02 9.47854232e-03 9.99638187e-01 -7.07267504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:-9.48, Z:-0.70 [[ 8.76387173e-01 4.81460857e-01 1.18729286e-02 4.30540896e+01] [-4.77585127e-01 8.71983413e-01 -1.07505226e-01 -9.48050991e+00] [-6.21125549e-02 8.85458667e-02 9.94133623e-01 -6.99779600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.05, Y:-9.56, Z:-0.71 [[ 8.73747021e-01 4.83181467e-01 5.56939287e-02 4.30459993e+01] [-4.82283564e-01 8.75519517e-01 -2.94641987e-02 -9.56447839e+00] [-6.29976763e-02 -1.11601064e-03 9.98013050e-01 -7.10286574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:-9.58, Z:-0.71 [[ 8.71250010e-01 4.87655690e-01 5.58153101e-02 4.30756724e+01] [-4.86761599e-01 8.73034881e-01 -2.95506571e-02 -9.57956450e+00] [-6.31392587e-02 -1.42273932e-03 9.98003712e-01 -7.11736763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.10, Y:-9.60, Z:-0.71 [[ 8.69355284e-01 4.91041696e-01 5.56726373e-02 4.31042280e+01] [-4.90156695e-01 8.71134544e-01 -2.95130745e-02 -9.59684077e+00] [-6.29905077e-02 -1.63096866e-03 9.98012793e-01 -7.14553734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.13, Y:-9.61, Z:-0.72 [[ 8.66581609e-01 4.96276408e-01 5.24026938e-02 4.31345898e+01] [-4.95499906e-01 8.68162575e-01 -2.78134213e-02 -9.61080405e+00] [-5.92972024e-02 -1.86293051e-03 9.98238634e-01 -7.17408233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:-9.62, Z:-0.72 [[ 8.65702891e-01 4.97794593e-01 5.25266403e-02 4.31675378e+01] [-4.97015104e-01 8.67292786e-01 -2.79143407e-02 -9.62011179e+00] [-5.94515841e-02 -1.94100815e-03 9.98229303e-01 -7.17462790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.20, Y:-9.63, Z:-0.72 [[ 8.65024175e-01 4.98747830e-01 5.46239665e-02 4.32006703e+01] [-4.97904371e-01 8.66744704e-01 -2.90664078e-02 -9.62890000e+00] [-6.18418415e-02 -2.05436623e-03 9.98083847e-01 -7.17414260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.23, Y:-9.64, Z:-0.72 [[ 8.67132381e-01 4.94953822e-01 5.56969287e-02 4.32313730e+01] [-4.94066650e-01 8.68917445e-01 -2.96752370e-02 -9.64134288e+00] [-6.30839050e-02 -1.78563610e-03 9.98006629e-01 -7.17656407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:-9.66, Z:-0.72 [[ 8.68300339e-01 4.92924848e-01 5.54942802e-02 4.32579544e+01] [-4.92037623e-01 8.70070420e-01 -2.96047555e-02 -9.66070255e+00] [-6.28768513e-02 -1.59945451e-03 9.98020011e-01 -7.20908003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.28, Y:-9.68, Z:-0.72 [[ 8.69914780e-01 4.90319381e-01 5.32464165e-02 4.32849057e+01] [-4.89495632e-01 8.71541826e-01 -2.84406670e-02 -9.67982551e+00] [-6.03514893e-02 -1.32293176e-03 9.98176311e-01 -7.24916638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.31, Y:-9.70, Z:-0.73 [[ 8.71481759e-01 4.87488986e-01 5.36100052e-02 4.33135067e+01] [-4.86646345e-01 8.73128440e-01 -2.86716143e-02 -9.69583974e+00] [-6.07855164e-02 -1.10232429e-03 9.98150242e-01 -7.27267315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:-9.71, Z:-0.73 [[ 8.75927739e-01 4.79476752e-01 5.34101156e-02 4.33457302e+01] [-4.78623232e-01 8.77554433e-01 -2.86010297e-02 -9.70684318e+00] [-6.05838125e-02 -5.10886882e-04 9.98162983e-01 -7.25612254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:-9.72, Z:-0.73 [[ 8.77320431e-01 4.76962563e-01 5.30619793e-02 4.33746234e+01] [-4.76113366e-01 8.78923558e-01 -2.84506874e-02 -9.72229885e+00] [-6.02073365e-02 -3.03148214e-04 9.98185847e-01 -7.25173066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:-9.74, Z:-0.73 [[ 8.78191091e-01 4.75388056e-01 5.27883031e-02 4.34016949e+01] [-4.74542615e-01 8.79776205e-01 -2.83396571e-02 -9.74120248e+00] [-5.99142275e-02 -1.62665028e-04 9.98203516e-01 -7.26648499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.43, Y:-9.76, Z:-0.73 [[ 8.77845740e-01 4.76092967e-01 5.21760906e-02 4.34269297e+01] [-4.75266195e-01 8.79394937e-01 -2.80461772e-02 -9.76265912e+00] [-5.92359777e-02 -1.77314942e-04 9.98243992e-01 -7.31624133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:-9.78, Z:-0.73 [[ 8.76935604e-01 4.77643212e-01 5.33001805e-02 4.34561392e+01] [-4.76781033e-01 8.78553867e-01 -2.86870969e-02 -9.77774665e+00] [-6.05292768e-02 -2.55778492e-04 9.98166390e-01 -7.33879934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.49, Y:-9.79, Z:-0.74 [[ 8.75836650e-01 4.79628942e-01 5.35372779e-02 4.34851754e+01] [-4.78760547e-01 8.77471337e-01 -2.88512056e-02 -9.79298378e+00] [-6.08153000e-02 -3.62593136e-04 9.98148971e-01 -7.35371666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:-9.81, Z:-0.74 [[ 8.74731139e-01 4.81719488e-01 5.28372008e-02 4.35130852e+01] [-4.80875335e-01 8.76325347e-01 -2.85096152e-02 -9.81064725e+00] [-6.00362155e-02 -4.69858389e-04 9.98196089e-01 -7.35683330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:-9.83, Z:-0.74 [[ 8.72850208e-01 4.85271003e-01 5.14253691e-02 4.35371700e+01] [-4.84475515e-01 8.74363547e-01 -2.77824243e-02 -9.83470100e+00] [-5.84464730e-02 -6.64437392e-04 9.98290323e-01 -7.36659758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:-9.85, Z:-0.74 [[ 8.71986950e-01 4.86903720e-01 5.06312777e-02 4.35661391e+01] [-4.86133407e-01 8.73455340e-01 -2.73875655e-02 -9.85046366e+00] [-5.75592674e-02 -7.31955881e-04 9.98341823e-01 -7.38861908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.60, Y:-9.86, Z:-0.74 [[ 8.71748113e-01 4.87511225e-01 4.88675098e-02 4.35969942e+01] [-4.86792816e-01 8.73116425e-01 -2.64662395e-02 -9.86280915e+00] [-5.55696143e-02 -7.16458411e-04 9.98454558e-01 -7.41896104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:43.63, Y:-9.87, Z:-0.74 [[ 8.70713152e-01 4.89383060e-01 4.86089308e-02 4.36282892e+01] [-4.88673298e-01 8.72068562e-01 -2.63596444e-02 -9.87436884e+00] [-5.52902839e-02 -8.02197427e-04 9.98470000e-01 -7.44450470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.66, Y:-9.89, Z:-0.75 [[ 8.69207956e-01 4.91950361e-01 4.96222958e-02 4.36586145e+01] [-4.91212879e-01 8.70622725e-01 -2.69439735e-02 -9.88855045e+00] [-5.64573959e-02 -9.55194680e-04 9.98404552e-01 -7.46109246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.69, Y:-9.91, Z:-0.75 [[ 8.66395251e-01 4.96846706e-01 5.00261904e-02 4.36851826e+01] [-4.96103308e-01 8.67837415e-01 -2.71979709e-02 -9.90805699e+00] [-5.69278220e-02 -1.25396570e-03 9.98377509e-01 -7.45850878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:-9.92, Z:-0.75 [[ 8.65381515e-01 4.98651444e-01 4.96142242e-02 4.37133794e+01] [-4.97921287e-01 8.66801571e-01 -2.70079297e-02 -9.92442279e+00] [-5.64732306e-02 -1.33181524e-03 9.98403225e-01 -7.47205244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:-10.01, Z:-0.75 [[ 8.66534841e-01 4.93905593e-01 7.19349272e-02 4.36961393e+01] [-4.98401776e-01 8.63970455e-01 7.17685348e-02 -1.00130990e+01] [-2.67027710e-02 -9.80424314e-02 9.94823926e-01 -7.47384663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:-9.87, Z:-0.74 [[ 8.63013323e-01 5.05150001e-01 5.61079508e-03 4.38123202e+01] [-5.01475187e-01 8.57972312e-01 -1.11382894e-01 -9.87141258e+00] [-6.10789757e-02 9.33112468e-02 9.93761727e-01 -7.38663244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:-9.96, Z:-0.75 [[ 8.59837172e-01 5.07925273e-01 5.18840457e-02 4.38031628e+01] [-5.07139941e-01 8.61398868e-01 -2.83031730e-02 -9.95611024e+00] [-5.90687551e-02 -1.97635162e-03 9.98251960e-01 -7.48862742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:-9.97, Z:-0.75 [[ 8.58164772e-01 5.10523503e-01 5.40275574e-02 4.38328204e+01] [-5.09675856e-01 8.59860912e-01 -2.94912553e-02 -9.97038248e+00] [-6.15121638e-02 -2.22818518e-03 9.98103847e-01 -7.47965919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:-9.98, Z:-0.75 [[ 8.57101216e-01 5.12048776e-01 5.64230206e-02 4.38622843e+01] [-5.11124987e-01 8.58952999e-01 -3.08381812e-02 -9.98450426e+00] [-6.42553756e-02 -2.40777311e-03 9.97930583e-01 -7.48133959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:-9.99, Z:-0.75 [[ 8.55557224e-01 5.14655578e-01 5.61379856e-02 4.38949019e+01] [-5.13744284e-01 8.57393197e-01 -3.07199819e-02 -9.99456153e+00] [-6.39425369e-02 -2.55786678e-03 9.97950304e-01 -7.51378721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:-10.01, Z:-0.76 [[ 8.54271363e-01 5.17032286e-01 5.38335740e-02 4.39256031e+01] [-5.16196892e-01 8.55961968e-01 -2.94936970e-02 -1.00067746e+01] [-6.13286855e-02 -2.59310280e-03 9.98114256e-01 -7.55870512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:-10.02, Z:-0.76 [[ 8.53061684e-01 5.19032418e-01 5.37690660e-02 4.39564445e+01] [-5.18200797e-01 8.54750281e-01 -2.94939188e-02 -1.00189334e+01] [-6.12674242e-02 -2.70304083e-03 9.98117727e-01 -7.59155266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:-10.03, Z:-0.76 [[ 8.51991152e-01 5.20968698e-01 5.19874339e-02 4.39882791e+01] [-5.20192920e-01 8.53571451e-01 -2.85500160e-02 -1.00305411e+01] [-5.92486541e-02 -2.71913406e-03 9.98239552e-01 -7.60461725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:-10.04, Z:-0.76 [[ 8.51186039e-01 5.22206100e-01 5.27552458e-02 4.40204310e+01] [-5.21407480e-01 8.52814665e-01 -2.90066617e-02 -1.00410128e+01] [-6.01379030e-02 -2.81691433e-03 9.98186104e-01 -7.60145511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:44.06, Y:-10.05, Z:-0.76 [[ 8.49627319e-01 5.24390833e-01 5.61041311e-02 4.40553821e+01] [-5.23489775e-01 8.51471944e-01 -3.08866307e-02 -1.00468490e+01] [-6.39677596e-02 -3.12781373e-03 9.97947064e-01 -7.59417805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:-10.06, Z:-0.76 [[ 8.49186253e-01 5.24968881e-01 5.73618473e-02 4.40864250e+01] [-5.24025749e-01 8.51115367e-01 -3.16171821e-02 -1.00590465e+01] [-6.54195864e-02 -3.21020862e-03 9.97852681e-01 -7.61036864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:-10.07, Z:-0.76 [[ 8.49467130e-01 5.24689770e-01 5.57336487e-02 4.41173170e+01] [-5.23796586e-01 8.51287987e-01 -3.07554905e-02 -1.00717118e+01] [-6.35824768e-02 -3.06731663e-03 9.97971873e-01 -7.63742838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.15, Y:-10.08, Z:-0.77 [[ 8.51048839e-01 5.22407123e-01 5.29780281e-02 4.41520672e+01] [-5.21593958e-01 8.52691830e-01 -2.92640822e-02 -1.00763025e+01] [-6.04616967e-02 -2.72785619e-03 9.98166791e-01 -7.66416565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.19, Y:-10.08, Z:-0.77 [[ 8.51829897e-01 5.21324105e-01 5.10588405e-02 4.41850512e+01] [-5.20566167e-01 8.53354971e-01 -2.82163024e-02 -1.00843542e+01] [-5.82811539e-02 -2.54401499e-03 9.98296967e-01 -7.68431123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:-10.09, Z:-0.77 [[ 8.52704952e-01 5.19893400e-01 5.10403490e-02 4.42178550e+01] [-5.19132742e-01 8.54227677e-01 -2.82182924e-02 -1.00916422e+01] [-5.82705828e-02 -2.43483860e-03 9.98297857e-01 -7.69909190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:-10.10, Z:-0.77 [[ 8.53794156e-01 5.17896733e-01 5.30896713e-02 4.42484284e+01] [-5.17069406e-01 8.55439821e-01 -2.93588427e-02 -1.00994585e+01] [-6.06198677e-02 -2.38463647e-03 9.98158076e-01 -7.69948697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.24, Y:-10.16, Z:-0.78 [[ 8.58663561e-01 5.08233468e-01 6.62995475e-02 4.42434944e+01] [-5.11533187e-01 8.57879908e-01 4.87428227e-02 -1.01636401e+01] [-3.21043159e-02 -7.57681045e-02 9.96608502e-01 -7.75791811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:-10.14, Z:-0.77 [[ 8.60601222e-01 5.07350277e-01 4.42858141e-02 4.42881445e+01] [-5.08188155e-01 8.61193739e-01 9.49433358e-03 -1.01385790e+01] [-3.33217131e-02 -3.06763612e-02 9.98973786e-01 -7.70017518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.37, Y:-10.05, Z:-0.75 [[ 8.62301230e-01 5.06342145e-01 7.36348741e-03 4.43732743e+01] [-5.02024530e-01 8.56673992e-01 -1.18663573e-01 -1.00492741e+01] [-6.63924762e-02 9.86270935e-02 9.92907214e-01 -7.47377399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.36, Y:-10.14, Z:-0.77 [[ 8.64970955e-01 4.98690185e-01 5.59763132e-02 4.43554859e+01] [-4.97734058e-01 8.66779551e-01 -3.08871866e-02 -1.01371802e+01] [-6.39222604e-02 -1.14479821e-03 9.97954224e-01 -7.73492308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.39, Y:-10.14, Z:-0.78 [[ 8.70719672e-01 4.88658126e-01 5.53216925e-02 4.43857280e+01] [-4.87706264e-01 8.72475242e-01 -3.04885552e-02 -1.01405975e+01] [-6.31652873e-02 -4.33751146e-04 9.98002985e-01 -7.75117237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:-10.15, Z:-0.78 [[ 8.73850530e-01 4.83052433e-01 5.51869387e-02 4.44119414e+01] [-4.82096386e-01 8.75591425e-01 -3.03764935e-02 -1.01499658e+01] [-6.29946494e-02 -6.09087317e-05 9.98013863e-01 -7.75255387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.44, Y:-10.16, Z:-0.77 [[ 8.79101239e-01 4.73353146e-01 5.58373553e-02 4.44373385e+01] [-4.72357202e-01 8.80872537e-01 -3.06960405e-02 -1.01617862e+01] [-6.37156602e-02 6.09750345e-04 9.97967907e-01 -7.73994992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-10.18, Z:-0.78 [[ 8.82429578e-01 4.67217211e-01 5.50101618e-02 4.44592525e+01] [-4.66240927e-01 8.84141995e-01 -3.02048282e-02 -1.01789489e+01] [-6.27490098e-02 1.00564494e-03 9.98028832e-01 -7.77022990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:-10.20, Z:-0.78 [[ 8.86236097e-01 4.60208816e-01 5.28528750e-02 4.44815928e+01] [-4.59297165e-01 8.87809577e-01 -2.89874057e-02 -1.01978377e+01] [-6.02635483e-02 1.41450965e-03 9.98181498e-01 -7.80724512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:-10.29, Z:-0.79 [[ 8.91369327e-01 4.47972717e-01 6.91459856e-02 4.44588604e+01] [-4.52279605e-01 8.89115084e-01 7.01250803e-02 -1.02895178e+01] [-3.00646160e-02 -9.37806647e-02 9.95138837e-01 -7.94199011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:-10.16, Z:-0.76 [[ 8.93117117e-01 4.49685608e-01 1.11655408e-02 4.45703359e+01] [-4.45788162e-01 8.88148581e-01 -1.11646820e-01 -1.01593066e+01] [-6.01226275e-02 9.47362203e-02 9.93685221e-01 -7.61672131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:-10.24, Z:-0.78 [[ 8.93899006e-01 4.44798473e-01 5.56676253e-02 4.45542733e+01] [-4.43760532e-01 8.95627085e-01 -3.04748371e-02 -1.02449285e+01] [-6.34125940e-02 2.53833156e-03 9.97984168e-01 -7.81230918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.58, Y:-10.26, Z:-0.78 [[ 8.94296474e-01 4.44202266e-01 5.40200315e-02 4.45812435e+01] [-4.43225648e-01 8.95923104e-01 -2.95434586e-02 -1.02603588e+01] [-6.15210656e-02 2.47754732e-03 9.98102710e-01 -7.81441038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:-10.28, Z:-0.78 [[ 8.94219258e-01 4.44622164e-01 5.17981545e-02 4.46079779e+01] [-4.43724790e-01 8.95715136e-01 -2.83320765e-02 -1.02768000e+01] [-5.89934602e-02 2.35096316e-03 9.98255601e-01 -7.83648036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.63, Y:-10.30, Z:-0.79 [[ 8.93565487e-01 4.46214183e-01 4.93317759e-02 4.46324137e+01] [-4.45402523e-01 8.94923637e-01 -2.69866026e-02 -1.02976748e+01] [-5.61899772e-02 2.14179926e-03 9.98417798e-01 -7.90173667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.66, Y:-10.32, Z:-0.79 [[ 8.93353483e-01 4.46462936e-01 5.08959924e-02 4.46574119e+01] [-4.45599115e-01 8.94799429e-01 -2.78461886e-02 -1.03160645e+01] [-5.79739960e-02 2.19728044e-03 9.98315675e-01 -7.92929183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:-10.34, Z:-0.80 [[ 8.93281914e-01 4.46305414e-01 5.34686829e-02 4.46834695e+01] [-4.45351645e-01 8.94877698e-01 -2.92543508e-02 -1.03356570e+01] [-6.09043070e-02 2.32001659e-03 9.98140913e-01 -7.95478805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.71, Y:-10.36, Z:-0.80 [[ 8.93624953e-01 4.45377927e-01 5.54341640e-02 4.47098641e+01] [-4.44350297e-01 8.95339240e-01 -3.03390750e-02 -1.03563903e+01] [-6.31447365e-02 2.47956722e-03 9.98001300e-01 -7.96323513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:-10.38, Z:-0.79 [[ 8.93260081e-01 4.45911359e-01 5.70042707e-02 4.47349524e+01] [-4.44824824e-01 8.95073568e-01 -3.12119236e-02 -1.03802083e+01] [-6.49407673e-02 2.52345079e-03 9.97885930e-01 -7.94589020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.76, Y:-10.40, Z:-0.80 [[ 8.92787742e-01 4.46958992e-01 5.61934779e-02 4.47634219e+01] [-4.45904426e-01 8.94551164e-01 -3.07808053e-02 -1.03976896e+01] [-6.40256988e-02 2.42380513e-03 9.97945307e-01 -7.95670495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.79, Y:-10.41, Z:-0.80 [[ 8.92694648e-01 4.47145600e-01 5.61878789e-02 4.47928289e+01] [-4.46090761e-01 8.94457906e-01 -3.07910227e-02 -1.04137038e+01] [-6.40257628e-02 2.42208755e-03 9.97945307e-01 -7.97567362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.82, Y:-10.43, Z:-0.80 [[ 8.92190686e-01 4.48416006e-01 5.40265305e-02 4.48212515e+01] [-4.47442302e-01 8.93822134e-01 -2.96205806e-02 -1.04297697e+01] [-6.15724513e-02 2.25345096e-03 9.98100073e-01 -8.00435487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.85, Y:-10.45, Z:-0.81 [[ 8.90543236e-01 4.51862855e-01 5.24662158e-02 4.48477543e+01] [-4.50949879e-01 8.92085247e-01 -2.87770373e-02 -1.04500222e+01] [-5.98076113e-02 1.96756225e-03 9.98207984e-01 -8.07119659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.87, Y:-10.47, Z:-0.81 [[ 8.89525264e-01 4.53783733e-01 5.31519443e-02 4.48735046e+01] [-4.52849360e-01 8.91109877e-01 -2.91658211e-02 -1.04707703e+01] [-6.05991977e-02 1.87391074e-03 9.98160421e-01 -8.08189271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.90, Y:-10.49, Z:-0.81 [[ 8.88276931e-01 4.55965081e-01 5.53167151e-02 4.49006093e+01] [-4.54956317e-01 8.89995829e-01 -3.03673099e-02 -1.04907229e+01] [-6.30780787e-02 1.80789184e-03 9.98006958e-01 -8.07907454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:-10.51, Z:-0.81 [[ 8.87369669e-01 4.57610146e-01 5.62852199e-02 4.49292979e+01] [-4.56568122e-01 8.89151253e-01 -3.09127585e-02 -1.05074796e+01] [-6.41920658e-02 1.73300713e-03 9.97936058e-01 -8.08314731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:-10.52, Z:-0.81 [[ 8.85569221e-01 4.61121768e-01 5.59809768e-02 4.49588088e+01] [-4.60097125e-01 8.87335628e-01 -3.07590400e-02 -1.05229535e+01] [-6.38575781e-02 1.48257256e-03 9.97957921e-01 -8.12671625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:-10.54, Z:-0.82 [[ 8.84204711e-01 4.63759250e-01 5.57618722e-02 4.49861346e+01] [-4.62746841e-01 8.85960307e-01 -3.06544726e-02 -1.05413390e+01] [-6.36191006e-02 1.30119887e-03 9.97973405e-01 -8.16588590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:-10.56, Z:-0.82 [[ 8.82293255e-01 4.67471931e-01 5.50327760e-02 4.50132971e+01] [-4.66490843e-01 8.84007290e-01 -3.02886959e-02 -1.05596277e+01] [-6.28084903e-02 1.05122608e-03 9.98025044e-01 -8.18648083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:-10.58, Z:-0.82 [[ 8.80408447e-01 4.71071626e-01 5.45205461e-02 4.50423398e+01] [-4.70113545e-01 8.82094585e-01 -3.00399518e-02 -1.05756761e+01] [-6.22432474e-02 8.16580147e-04 9.98060675e-01 -8.18583632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:-10.59, Z:-0.82 [[ 8.76617527e-01 4.78214076e-01 5.34135601e-02 4.50749012e+01] [-4.77306919e-01 8.78243245e-01 -2.94432869e-02 -1.05851739e+01] [-6.09902926e-02 3.15839532e-04 9.98138309e-01 -8.16874403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.10, Y:-10.60, Z:-0.82 [[ 8.75319825e-01 4.80300274e-01 5.59182526e-02 4.51037721e+01] [-4.79309106e-01 8.77104104e-01 -3.08410674e-02 -1.06018588e+01] [-6.38591019e-02 1.93670023e-04 9.97958906e-01 -8.19392782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.13, Y:-10.62, Z:-0.82 [[ 8.74147552e-01 4.82142085e-01 5.83529500e-02 4.51306244e+01] [-4.81065416e-01 8.76093034e-01 -3.22034489e-02 -1.06211271e+01] [-6.66492510e-02 7.89799036e-05 9.97776463e-01 -8.21904637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:-10.64, Z:-0.82 [[ 8.72945568e-01 4.84099972e-01 6.01103386e-02 4.51580487e+01] [-4.82959105e-01 8.75012695e-01 -3.32157632e-02 -1.06392013e+01] [-6.86770594e-02 -3.52820083e-05 9.97638943e-01 -8.22759953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-10.64, Z:-0.82 [[ 8.69216400e-01 4.90682277e-01 6.07762612e-02 4.51924472e+01] [-4.89529377e-01 8.71338410e-01 -3.36208980e-02 -1.06448726e+01] [-6.94538696e-02 -5.27929364e-04 9.97585025e-01 -8.24275673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.19, Y:-10.71, Z:-0.83 [[ 8.69337846e-01 4.89163254e-01 7.05054618e-02 4.51895488e+01] [-4.92645659e-01 8.69079715e-01 4.47292208e-02 -1.07085046e+01] [-3.93949755e-02 -7.36190141e-02 9.96508041e-01 -8.34067598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-10.60, Z:-0.82 [[ 8.65554099e-01 5.00289320e-01 2.29499154e-02 4.52848578e+01] [-4.96310283e-01 8.62999537e-01 -9.43816869e-02 -1.06039016e+01] [-6.70239163e-02 7.03021769e-02 9.95271520e-01 -8.17226619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:-10.67, Z:-0.83 [[ 8.64381517e-01 4.99515077e-01 5.76999292e-02 4.52796174e+01] [-4.98494167e-01 8.66304425e-01 -3.19407148e-02 -1.06722663e+01] [-6.59405726e-02 -1.15411469e-03 9.97822885e-01 -8.33105003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:-10.69, Z:-0.83 [[ 8.64511489e-01 4.98602730e-01 6.33656259e-02 4.53079577e+01] [-4.97368882e-01 8.66829796e-01 -3.50756297e-02 -1.06907112e+01] [-7.24160173e-02 -1.19280568e-03 9.97373800e-01 -8.27757845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:-10.71, Z:-0.83 [[ 8.65624929e-01 4.96539543e-01 6.43580982e-02 4.53368025e+01] [-4.95259735e-01 8.68013502e-01 -3.56420451e-02 -1.07067404e+01] [-7.35613830e-02 -1.02133194e-03 9.97290168e-01 -8.26307004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:-10.72, Z:-0.83 [[ 8.66946274e-01 4.94313371e-01 6.37059639e-02 4.53659886e+01] [-4.93052197e-01 8.69283404e-01 -3.52972461e-02 -1.07222066e+01] [-7.28264378e-02 -8.09549520e-04 9.97344301e-01 -8.28519926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.40, Y:-10.74, Z:-0.83 [[ 8.68726928e-01 4.91267901e-01 6.30029665e-02 4.53953245e+01] [-4.90025257e-01 8.71008361e-01 -3.49239518e-02 -1.07374042e+01] [-7.20331271e-02 -5.33667474e-04 9.97402097e-01 -8.32389392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:-10.75, Z:-0.84 [[ 8.71207437e-01 4.87085017e-01 6.12028501e-02 4.54274211e+01] [-4.85901033e-01 8.73354543e-01 -3.39415404e-02 -1.07470997e+01] [-6.99842030e-02 -1.68405744e-04 9.97548086e-01 -8.39695652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:-10.76, Z:-0.84 [[ 8.71526048e-01 4.86563320e-01 6.08151596e-02 4.54585652e+01] [-4.85391952e-01 8.73645307e-01 -3.37421187e-02 -1.07588023e+01] [-6.95485561e-02 -1.12053700e-04 9.97578561e-01 -8.42367946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:-10.77, Z:-0.84 [[ 8.71291181e-01 4.86952403e-01 6.10658199e-02 4.54881392e+01] [-4.85771231e-01 8.73428497e-01 -3.38964768e-02 -1.07725208e+01] [-6.98425982e-02 -1.30317190e-04 9.97558016e-01 -8.43068741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:-10.80, Z:-0.84 [[ 8.71222557e-01 4.86897929e-01 6.24632972e-02 4.55138431e+01] [-4.85660817e-01 8.73458867e-01 -3.46868471e-02 -1.07951492e+01] [-7.14480749e-02 -1.16012387e-04 9.97444314e-01 -8.40168599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:-10.81, Z:-0.84 [[ 8.71257424e-01 4.86793318e-01 6.27914455e-02 4.55413924e+01] [-4.85541715e-01 8.73517176e-01 -3.48853319e-02 -1.08145052e+01] [-7.18313526e-02 -9.37617083e-05 9.97416788e-01 -8.40238237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:-10.83, Z:-0.84 [[ 8.72551855e-01 4.84481963e-01 6.26936092e-02 4.55698985e+01] [-4.83227140e-01 8.74801243e-01 -3.48470366e-02 -1.08316481e+01] [-7.17272079e-02 1.10592972e-04 9.97424281e-01 -8.41548054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:-10.85, Z:-0.85 [[ 8.73859553e-01 4.82148590e-01 6.24677430e-02 4.55991014e+01] [-4.80895705e-01 8.76089400e-01 -3.47373496e-02 -1.08474519e+01] [-7.14758917e-02 3.15095445e-04 9.97442278e-01 -8.45575159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:-10.86, Z:-0.86 [[ 8.76966582e-01 4.77112928e-01 5.73835061e-02 4.56263210e+01] [-4.76044216e-01 8.78841734e-01 -3.19235250e-02 -1.08648475e+01] [-6.56621465e-02 6.78778445e-04 9.97841682e-01 -8.55605298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.66, Y:-10.88, Z:-0.86 [[ 8.77574411e-01 4.76232175e-01 5.53720958e-02 4.56550659e+01] [-4.75234546e-01 8.79319272e-01 -3.08179209e-02 -1.08817938e+01] [-6.33662365e-02 7.30285974e-04 9.97990073e-01 -8.59352117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.68, Y:-10.90, Z:-0.86 [[ 8.77828330e-01 4.75941604e-01 5.38239134e-02 4.56842741e+01] [-4.74997680e-01 8.79476571e-01 -2.99693908e-02 -1.08976131e+01] [-6.16005507e-02 7.41746304e-04 9.98100607e-01 -8.59872360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.71, Y:-10.91, Z:-0.86 [[ 8.77532304e-01 4.76550923e-01 5.32566850e-02 4.57128966e+01] [-4.75627134e-01 8.79146588e-01 -2.96665796e-02 -1.09118571e+01] [-6.09580688e-02 7.03057538e-04 9.98140080e-01 -8.59576402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.74, Y:-10.93, Z:-0.86 [[ 8.75694654e-01 4.79393632e-01 5.77980830e-02 4.57405691e+01] [-4.78310870e-01 8.77599815e-01 -3.22067861e-02 -1.09283662e+01] [-6.61633151e-02 5.57859004e-04 9.97808651e-01 -8.56964893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:-10.95, Z:-0.86 [[ 8.75108661e-01 4.80385400e-01 5.84354243e-02 4.57674036e+01] [-4.79280101e-01 8.77057364e-01 -3.25724633e-02 -1.09467795e+01] [-6.68985550e-02 4.97508670e-04 9.97759658e-01 -8.60753940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.79, Y:-10.96, Z:-0.86 [[ 8.74633132e-01 4.81274563e-01 5.82381306e-02 4.57944912e+01] [-4.80177622e-01 8.76569791e-01 -3.24784802e-02 -1.09648288e+01] [-6.66808523e-02 4.42107778e-04 9.97774257e-01 -8.64299193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:45.82, Y:-10.98, Z:-0.87 [[ 8.74589958e-01 4.81136780e-01 5.99983622e-02 4.58232254e+01] [-4.79970446e-01 8.76645402e-01 -3.34844724e-02 -1.09803179e+01] [-6.87078996e-02 4.87742623e-04 9.97636701e-01 -8.65420579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.85, Y:-11.00, Z:-0.86 [[ 8.74782717e-01 4.80566690e-01 6.17321180e-02 4.58529433e+01] [-4.79329315e-01 8.76958004e-01 -3.44683467e-02 -1.09950170e+01] [-7.07008142e-02 5.62300099e-04 9.97497408e-01 -8.64361357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:-11.01, Z:-0.87 [[ 8.75236844e-01 4.79639315e-01 6.25027565e-02 4.58819739e+01] [-4.78367302e-01 8.77465494e-01 -3.49146325e-02 -1.10108141e+01] [-7.15904425e-02 6.59297751e-04 9.97433894e-01 -8.65702818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.91, Y:-11.03, Z:-0.87 [[ 8.75713434e-01 4.78869770e-01 6.17229656e-02 4.59106942e+01] [-4.77626340e-01 8.77885650e-01 -3.44944077e-02 -1.10277853e+01] [-7.07040349e-02 7.26702147e-04 9.97497073e-01 -8.68908624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.94, Y:-11.04, Z:-0.88 [[ 8.75816672e-01 4.79255605e-01 5.70895956e-02 4.59415088e+01] [-4.78191993e-01 8.77675131e-01 -3.19183582e-02 -1.10401210e+01] [-6.54031703e-02 6.54842766e-04 9.97858706e-01 -8.76650499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.97, Y:-11.05, Z:-0.88 [[ 8.75167478e-01 4.80442590e-01 5.70684047e-02 4.59720810e+01] [-4.79381350e-01 8.77025987e-01 -3.19208130e-02 -1.10521291e+01] [-6.53865920e-02 5.78528498e-04 9.97859839e-01 -8.79339371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:-11.07, Z:-0.88 [[ 8.74868005e-01 4.80836216e-01 5.83310151e-02 4.60015567e+01] [-4.79727313e-01 8.76810243e-01 -3.26420271e-02 -1.10662195e+01] [-6.68407003e-02 5.74483939e-04 9.97763494e-01 -8.79701371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.03, Y:-11.08, Z:-0.88 [[ 8.73813731e-01 4.82282871e-01 6.20708892e-02 4.60297648e+01] [-4.81029487e-01 8.76015396e-01 -3.47513841e-02 -1.10844002e+01] [-7.11350518e-02 5.08308614e-04 9.97466564e-01 -8.77928057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:-11.11, Z:-0.87 [[ 8.72159171e-01 4.84797697e-01 6.56473348e-02 4.60554578e+01] [-4.83401295e-01 8.74626252e-01 -3.67710191e-02 -1.11067184e+01] [-7.52433877e-02 3.36174885e-04 9.97165142e-01 -8.74983858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:-11.12, Z:-0.88 [[ 8.71117393e-01 4.87015643e-01 6.30099320e-02 4.60843031e+01] [-4.85734005e-01 8.73393234e-01 -3.53091458e-02 -1.11216799e+01] [-7.22285546e-02 1.52344469e-04 9.97388095e-01 -8.78627860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.11, Y:-11.13, Z:-0.89 [[ 8.70083826e-01 4.89019195e-01 6.17605271e-02 4.61144088e+01] [-4.87791884e-01 8.72273023e-01 -3.46244310e-02 -1.11345247e+01] [-7.08040530e-02 -1.26441536e-07 9.97490244e-01 -8.85927617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:-11.15, Z:-0.89 [[ 8.67730797e-01 4.93305289e-01 6.07713428e-02 4.61447979e+01] [-4.92126426e-01 8.69856185e-01 -3.40851719e-02 -1.11468028e+01] [-6.96767240e-02 -3.30430332e-04 9.97569569e-01 -8.92570504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.14, Y:-11.22, Z:-0.90 [[ 8.68060238e-01 4.90669549e-01 7.55964079e-02 4.61402495e+01] [-4.94248085e-01 8.68471345e-01 3.84233449e-02 -1.12168151e+01] [-4.68001488e-02 -7.07171578e-02 9.96397927e-01 -8.98384565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:-11.12, Z:-0.87 [[ 8.67026883e-01 4.97376752e-01 2.96774466e-02 4.62321011e+01] [-4.92851974e-01 8.64844198e-01 -9.56109052e-02 -1.11203022e+01] [-7.32210090e-02 6.82706370e-02 9.94976283e-01 -8.73622728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.23, Y:-11.18, Z:-0.89 [[ 8.67536414e-01 4.93546378e-01 6.15836279e-02 4.62306727e+01] [-4.92335093e-01 8.69719413e-01 -3.45586241e-02 -1.11819978e+01] [-7.06167605e-02 -3.38916406e-04 9.97503463e-01 -8.87277827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:46.26, Y:-11.20, Z:-0.89 [[ 8.68508645e-01 4.91726862e-01 6.24293752e-02 4.62575614e+01] [-4.90477530e-01 8.70749479e-01 -3.50305289e-02 -1.11988121e+01] [-7.15857979e-02 -1.95888617e-04 9.97434426e-01 -8.92509569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.28, Y:-11.22, Z:-0.90 [[ 8.69702193e-01 4.89448757e-01 6.37025091e-02 4.62842507e+01] [-4.88140885e-01 8.72032060e-01 -3.57569841e-02 -1.12183731e+01] [-7.30518417e-02 2.12824569e-06 9.97328145e-01 -8.97106420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.31, Y:-11.24, Z:-0.90 [[ 8.70701405e-01 4.87371263e-01 6.59417533e-02 4.63114746e+01] [-4.85962413e-01 8.73194831e-01 -3.70313524e-02 -1.12375412e+01] [-7.56280152e-02 1.98037053e-04 9.97136081e-01 -9.00044026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.34, Y:-11.25, Z:-0.90 [[ 8.72306648e-01 4.84589947e-01 6.52203533e-02 4.63415940e+01] [-4.83202747e-01 8.74741322e-01 -3.66431949e-02 -1.12523455e+01] [-7.48078620e-02 4.49448567e-04 9.97197865e-01 -8.98107713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:46.37, Y:-11.27, Z:-0.90 [[ 8.72482659e-01 4.84559125e-01 6.30592058e-02 4.63713451e+01] [-4.83261096e-01 8.74758395e-01 -3.54466278e-02 -1.12658377e+01] [-7.23375566e-02 4.52507164e-04 9.97380105e-01 -8.99071243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:-11.28, Z:-0.90 [[ 8.72534995e-01 4.84868627e-01 5.98756745e-02 4.64017262e+01] [-4.83698223e-01 8.74586897e-01 -3.36717861e-02 -1.12801056e+01] [-6.86928731e-02 4.18054376e-04 9.97637767e-01 -9.01120203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:-11.29, Z:-0.90 [[ 8.71703914e-01 4.86512208e-01 5.86358073e-02 4.64303496e+01] [-4.85392586e-01 8.73673729e-01 -3.29886791e-02 -1.12947755e+01] [-6.72779595e-02 2.94974566e-04 9.97734228e-01 -9.04010918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:-11.31, Z:-0.91 [[ 8.69351823e-01 4.90578791e-01 5.96645398e-02 4.64586445e+01] [-4.89428326e-01 8.71396838e-01 -3.35777262e-02 -1.13106519e+01] [-6.84640117e-02 -1.06583901e-05 9.97653587e-01 -9.08067168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.49, Y:-11.33, Z:-0.91 [[ 8.68305332e-01 4.92208811e-01 6.14519157e-02 4.64868429e+01] [-4.90991611e-01 8.70477150e-01 -3.45943530e-02 -1.13259238e+01] [-7.05201338e-02 -1.33913907e-04 9.97510347e-01 -9.09556199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.52, Y:-11.34, Z:-0.91 [[ 8.66976987e-01 4.94149369e-01 6.45546741e-02 4.65156394e+01] [-4.92810491e-01 8.69376969e-01 -3.63525328e-02 -1.13404166e+01] [-7.40859280e-02 -2.96411315e-04 9.97251817e-01 -9.10147093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:-11.41, Z:-0.92 [[ 8.66143666e-01 4.92577796e-01 8.46301647e-02 4.65092767e+01] [-4.97057925e-01 8.66658418e-01 4.28556338e-02 -1.14130940e+01] [-5.22357110e-02 -7.91852298e-02 9.95490397e-01 -9.17284125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:-11.30, Z:-0.89 [[ 8.65116647e-01 5.00696478e-01 2.96010873e-02 4.66071009e+01] [-4.95482432e-01 8.62293357e-01 -1.04629471e-01 -1.13049763e+01] [-7.79124287e-02 7.58498787e-02 9.94070646e-01 -8.91541838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.60, Y:-11.38, Z:-0.91 [[ 8.64752804e-01 4.97658546e-01 6.73688272e-02 4.65979425e+01] [-4.96211547e-01 8.67372800e-01 -3.79279229e-02 -1.13786536e+01] [-7.73090432e-02 -6.30912222e-04 9.97006978e-01 -9.09845052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.63, Y:-11.39, Z:-0.91 [[ 8.65254787e-01 4.97014197e-01 6.56585216e-02 4.66268026e+01] [-4.95640005e-01 8.67742213e-01 -3.69382756e-02 -1.13934538e+01] [-7.53335183e-02 -5.81970193e-04 9.97158223e-01 -9.13378031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:-11.41, Z:-0.92 [[ 8.66224163e-01 4.95433024e-01 6.48214378e-02 4.66553619e+01] [-4.94088454e-01 8.68646035e-01 -3.64782848e-02 -1.14081792e+01] [-7.43794319e-02 -4.29152268e-04 9.97229921e-01 -9.16901579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.68, Y:-11.42, Z:-0.92 [[ 8.69460428e-01 4.89699337e-01 6.50624561e-02 4.66837370e+01] [-4.88327808e-01 8.71891366e-01 -3.66251036e-02 -1.14226446e+01] [-7.46626827e-02 7.22716737e-05 9.97208844e-01 -9.19910843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:-11.54, Z:-0.93 [[ 8.77197144e-01 4.71289173e-01 9.17152474e-02 4.66451056e+01] [-4.78971593e-01 8.72229612e-01 9.90036173e-02 -1.15406616e+01] [-3.33374218e-02 -1.30774689e-01 9.90851451e-01 -9.34810603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-11.36, Z:-0.89 [[ 8.74668232e-01 4.84687216e-01 5.81258028e-03 4.67923111e+01] [-4.78571728e-01 8.65412211e-01 -1.48427782e-01 -1.13578428e+01] [-7.69713264e-02 1.27043329e-01 9.88906167e-01 -8.89549430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:-11.47, Z:-0.92 [[ 8.75999159e-01 4.77313793e-01 6.92604908e-02 4.67577986e+01] [-4.75717699e-01 8.78732052e-01 -3.90211625e-02 -1.14710223e+01] [-7.94867523e-02 1.23406420e-03 9.96835159e-01 -9.20067315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.78, Y:-11.49, Z:-0.92 [[ 8.79798442e-01 4.70628086e-01 6.68124729e-02 4.67845877e+01] [-4.69126210e-01 8.82329961e-01 -3.76090280e-02 -1.14910773e+01] [-7.66505115e-02 1.74488201e-03 9.97056495e-01 -9.22942659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-11.51, Z:-0.93 [[ 8.80462734e-01 4.69531463e-01 6.57691319e-02 4.68138633e+01] [-4.68071946e-01 8.82913854e-01 -3.70375486e-02 -1.15065435e+01] [-7.54587721e-02 1.82549578e-03 9.97147252e-01 -9.25254855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-11.52, Z:-0.93 [[ 8.80649500e-01 4.69174742e-01 6.58142744e-02 4.68434140e+01] [-4.67711018e-01 8.83103368e-01 -3.70789022e-02 -1.15211122e+01] [-7.55172918e-02 1.87145544e-03 9.97142736e-01 -9.27638589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-11.54, Z:-0.93 [[ 8.80631598e-01 4.69280723e-01 6.52961794e-02 4.68720542e+01] [-4.67839094e-01 8.83047076e-01 -3.68027751e-02 -1.15367260e+01] [-7.49304332e-02 1.86158122e-03 9.97187026e-01 -9.30475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:-11.55, Z:-0.93 [[ 8.80494164e-01 4.69735273e-01 6.38654887e-02 4.69000001e+01] [-4.68356293e-01 8.82805498e-01 -3.60116012e-02 -1.15544796e+01] [-7.32967239e-02 1.79620120e-03 9.97308560e-01 -9.33854438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:-11.58, Z:-0.94 [[ 8.80159967e-01 4.70434038e-01 6.33265149e-02 4.69258399e+01] [-4.69078957e-01 8.82433453e-01 -3.57229995e-02 -1.15759498e+01] [-7.26867501e-02 1.73681856e-03 9.97353307e-01 -9.35908574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.95, Y:-11.60, Z:-0.94 [[ 8.80197351e-01 4.70261741e-01 6.40821198e-02 4.69532652e+01] [-4.68872466e-01 8.82525187e-01 -3.61649786e-02 -1.15950216e+01] [-7.35610905e-02 1.78597682e-03 9.97289114e-01 -9.36916698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:-11.61, Z:-0.94 [[ 8.80784281e-01 4.69100793e-01 6.45251638e-02 4.69798742e+01] [-4.67687937e-01 8.83142569e-01 -3.64306996e-02 -1.16143001e+01] [-7.40745890e-02 1.90994682e-03 9.97250875e-01 -9.37792799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:-11.64, Z:-0.94 [[ 8.81739876e-01 4.67537466e-01 6.27973653e-02 4.70037028e+01] [-4.66194331e-01 8.83970995e-01 -3.54700782e-02 -1.16382334e+01] [-7.20946400e-02 1.99960667e-03 9.97395791e-01 -9.42518645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:-11.66, Z:-0.95 [[ 8.81828327e-01 4.67605798e-01 6.10214569e-02 4.70311623e+01] [-4.66336809e-01 8.83934960e-01 -3.44813848e-02 -1.16570199e+01] [-7.00626945e-02 1.95011035e-03 9.97540684e-01 -9.46063536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:-11.67, Z:-0.95 [[ 8.81026988e-01 4.69062823e-01 6.14126516e-02 4.70588737e+01] [-4.67779951e-01 8.83162845e-01 -3.47175366e-02 -1.16738483e+01] [-7.05220778e-02 1.85947957e-03 9.97508486e-01 -9.50515102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:-11.69, Z:-0.95 [[ 8.80261188e-01 4.70440456e-01 6.18548105e-02 4.70870042e+01] [-4.69141327e-01 8.82429955e-01 -3.49827078e-02 -1.16913304e+01] [-7.10398187e-02 1.77527205e-03 9.97471901e-01 -9.52108933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.11, Y:-11.71, Z:-0.95 [[ 8.77690687e-01 4.74783434e-01 6.51133518e-02 4.71128887e+01] [-4.73354219e-01 8.80101355e-01 -3.68427441e-02 -1.17128844e+01] [-7.47986737e-02 1.51485364e-03 9.97197505e-01 -9.49573719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:-11.73, Z:-0.95 [[ 8.76021994e-01 4.78010190e-01 6.39665893e-02 4.71400289e+01] [-4.76637971e-01 8.78353420e-01 -3.62148381e-02 -1.17316339e+01] [-7.34963342e-02 1.23608941e-03 9.97294721e-01 -9.49760021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.17, Y:-11.75, Z:-0.95 [[ 8.74200866e-01 4.81553225e-01 6.22843278e-02 4.71676626e+01] [-4.80258567e-01 8.76416336e-01 -3.53003460e-02 -1.17494409e+01] [-7.15859978e-02 9.47011093e-04 9.97433982e-01 -9.52807010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.20, Y:-11.77, Z:-0.96 [[ 8.71182056e-01 4.87104015e-01 6.14125654e-02 4.71955416e+01] [-4.85857698e-01 8.73343819e-01 -3.48262968e-02 -1.17665388e+01] [-7.05983134e-02 5.02277173e-04 9.97504700e-01 -9.61174068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:-11.78, Z:-0.96 [[ 8.69791771e-01 4.89286715e-01 6.37242981e-02 4.72244438e+01] [-4.87947188e-01 8.72122909e-01 -3.61825092e-02 -1.17824362e+01] [-7.32790413e-02 3.77156708e-04 9.97311406e-01 -9.63682391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:-11.80, Z:-0.96 [[ 8.68286791e-01 4.91445743e-01 6.75213324e-02 4.72535185e+01] [-4.89944278e-01 8.70908158e-01 -3.83872993e-02 -1.17977622e+01] [-7.76701541e-02 2.49494490e-04 9.96979079e-01 -9.63325125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:-11.81, Z:-0.96 [[ 8.67297626e-01 4.93188768e-01 6.75253105e-02 4.72822678e+01] [-4.91688780e-01 8.69922308e-01 -3.84359469e-02 -1.18143962e+01] [-7.76979512e-02 1.33967916e-04 9.96976936e-01 -9.62168732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:-11.83, Z:-0.96 [[ 8.66318920e-01 4.95252937e-01 6.49311777e-02 4.73090462e+01] [-4.93868968e-01 8.68748829e-01 -3.69988415e-02 -1.18332308e+01] [-7.47326695e-02 -1.46973726e-05 9.97203604e-01 -9.62850787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:-11.85, Z:-0.97 [[ 8.66611868e-01 4.94927369e-01 6.34883485e-02 4.73373413e+01] [-4.93601833e-01 8.68934347e-01 -3.61985122e-02 -1.18510361e+01] [-7.30828410e-02 3.20950860e-05 9.97325873e-01 -9.66374583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.37, Y:-11.87, Z:-0.97 [[ 8.66488223e-01 4.95155219e-01 6.33992812e-02 4.73651833e+01] [-4.93830776e-01 8.68804527e-01 -3.61919617e-02 -1.18687445e+01] [-7.30022212e-02 5.13923351e-05 9.97331777e-01 -9.70613978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:-11.89, Z:-0.98 [[ 8.64794659e-01 4.98270045e-01 6.21060422e-02 4.73922284e+01] [-4.97004108e-01 8.67021876e-01 -3.54962425e-02 -1.18876205e+01] [-7.15340115e-02 -1.69997217e-04 9.97438147e-01 -9.75065084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:-11.90, Z:-0.98 [[ 8.63604430e-01 5.00535227e-01 6.04307547e-02 4.74218114e+01] [-4.99339430e-01 8.65716114e-01 -3.45795425e-02 -1.19034044e+01] [-6.96241572e-02 -3.12412553e-04 9.97573245e-01 -9.76937696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:-11.92, Z:-0.98 [[ 8.62287188e-01 5.03114667e-01 5.77619063e-02 4.74523825e+01] [-5.02025477e-01 8.64219542e-01 -3.30908552e-02 -1.19170391e+01] [-6.65674628e-02 -4.64128098e-04 9.97781819e-01 -9.79089242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.48, Y:-11.93, Z:-0.98 [[ 8.60978525e-01 5.05409323e-01 5.72485391e-02 4.74823907e+01] [-5.04341898e-01 8.62879513e-01 -3.28358920e-02 -1.19302311e+01] [-6.59941575e-02 -6.01838970e-04 9.97819828e-01 -9.80618451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:-11.95, Z:-0.98 [[ 8.58843743e-01 5.08612616e-01 6.08328209e-02 4.75103062e+01] [-5.07413992e-01 8.60995018e-01 -3.49087285e-02 -1.19473055e+01] [-7.01317755e-02 -8.86281515e-04 9.97537342e-01 -9.81301759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:-11.97, Z:-0.98 [[ 8.58369875e-01 5.09177243e-01 6.27669731e-02 4.75379430e+01] [-5.07901137e-01 8.60661166e-01 -3.60387697e-02 -1.19658860e+01] [-7.23712176e-02 -9.44822767e-04 9.97377318e-01 -9.82805199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-11.98, Z:-0.98 [[ 8.58202455e-01 5.09262953e-01 6.43412115e-02 4.75670644e+01] [-5.07918756e-01 8.60610463e-01 -3.69887702e-02 -1.19826598e+01] [-7.42097301e-02 -9.36254671e-04 9.97242217e-01 -9.83154682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.60, Y:-12.00, Z:-0.99 [[ 8.58119332e-01 5.09381926e-01 6.45078763e-02 4.75976462e+01] [-5.08027705e-01 8.60540078e-01 -3.71298452e-02 -1.19966638e+01] [-7.44248849e-02 -9.09950375e-04 9.97226207e-01 -9.85129250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.63, Y:-12.01, Z:-0.99 [[ 8.60024914e-01 5.06329155e-01 6.31500887e-02 4.76270506e+01] [-5.05020012e-01 8.62340092e-01 -3.63916787e-02 -1.20108519e+01] [-7.28830212e-02 -5.94308153e-04 9.97340319e-01 -9.89474355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:-12.03, Z:-0.99 [[ 8.61392513e-01 5.03907821e-01 6.38736695e-02 4.76532724e+01] [-5.02558473e-01 8.63757363e-01 -3.68537554e-02 -1.20308271e+01] [-7.37422479e-02 -3.54704842e-04 9.97277271e-01 -9.92012489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-12.05, Z:-0.99 [[ 8.62823906e-01 5.01536226e-01 6.32164672e-02 4.76795149e+01] [-5.00204952e-01 8.65136637e-01 -3.65185591e-02 -1.20515023e+01] [-7.30062622e-02 -1.12104102e-04 9.97331476e-01 -9.94754199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.71, Y:-12.07, Z:-1.00 [[ 8.66103616e-01 4.96202462e-01 6.03957272e-02 4.77059983e+01] [-4.94971665e-01 8.68206766e-01 -3.49293910e-02 -1.20722126e+01] [-6.97680288e-02 3.58298234e-04 9.97563178e-01 -9.95868969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:-12.09, Z:-1.00 [[ 8.66911927e-01 4.94906097e-01 5.94278153e-02 4.77335761e+01] [-4.93708640e-01 8.68946324e-01 -3.44102336e-02 -1.20906601e+01] [-6.86694160e-02 4.90616065e-04 9.97639349e-01 -9.97506945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:-12.11, Z:-1.00 [[ 8.66876927e-01 4.94901368e-01 5.99752447e-02 4.77598645e+01] [-4.93678818e-01 8.68948993e-01 -3.47688366e-02 -1.21115505e+01] [-6.93225733e-02 5.31794306e-04 9.97594155e-01 -9.98448712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.79, Y:-12.13, Z:-1.00 [[ 8.66057728e-01 4.96114603e-01 6.17601137e-02 4.77863887e+01] [-4.94818023e-01 8.68256911e-01 -3.58477421e-02 -1.21324589e+01] [-7.14082339e-02 4.86196685e-04 9.97447055e-01 -9.99363332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:-12.15, Z:-1.00 [[ 8.63639405e-01 4.99817159e-01 6.56489615e-02 4.78141483e+01] [-4.98358920e-01 8.66130910e-01 -3.81527664e-02 -1.21495775e+01] [-7.59300021e-02 2.33486902e-04 9.97113123e-01 -1.00011267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:-12.16, Z:-1.00 [[ 8.61975198e-01 5.02831089e-01 6.44953754e-02 4.78448115e+01] [-5.01428796e-01 8.64384692e-01 -3.75268729e-02 -1.21625483e+01] [-7.46184935e-02 7.39527612e-06 9.97212154e-01 -1.00241631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.84, Y:-12.22, Z:-1.01 [[ 8.61424300e-01 5.02317450e-01 7.50023656e-02 4.78449844e+01] [-5.05298950e-01 8.62526106e-01 2.68642206e-02 -1.22227976e+01] [-5.11971316e-02 -6.10401090e-02 9.96821428e-01 -1.00926084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:-12.15, Z:-1.00 [[ 8.57190171e-01 5.13842765e-01 3.45054262e-02 4.79279702e+01] [-5.09382954e-01 8.55804378e-01 -9.01547151e-02 -1.21478596e+01] [-7.58552429e-02 5.97032597e-02 9.95329846e-01 -1.00105685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.93, Y:-12.21, Z:-1.01 [[ 8.55727847e-01 5.13468532e-01 6.38742378e-02 4.79284323e+01] [-5.12115835e-01 8.58108022e-01 -3.72557837e-02 -1.22125113e+01] [-7.39406684e-02 -8.30197118e-04 9.97262297e-01 -1.01046875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.96, Y:-12.23, Z:-1.01 [[ 8.54827328e-01 5.15039620e-01 6.32805624e-02 4.79574644e+01] [-5.13713024e-01 8.57165880e-01 -3.69538018e-02 -1.22278181e+01] [-7.32746109e-02 -9.18929410e-04 9.97311379e-01 -1.01040245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.99, Y:-12.24, Z:-1.01 [[ 8.54301794e-01 5.15648736e-01 6.53821483e-02 4.79878280e+01] [-5.14230618e-01 8.56799541e-01 -3.82284871e-02 -1.22411468e+01] [-7.57318658e-02 -9.62837460e-04 9.97127754e-01 -1.01109576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.02, Y:-12.25, Z:-1.01 [[ 8.53728155e-01 5.16231563e-01 6.82144455e-02 4.80193035e+01] [-5.14685614e-01 8.56448447e-01 -3.99346468e-02 -1.22528044e+01] [-7.90376810e-02 -1.01566140e-03 9.96871112e-01 -1.01174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.05, Y:-12.27, Z:-1.01 [[ 8.54038851e-01 5.15464309e-01 7.01012670e-02 4.80490128e+01] [-5.13824789e-01 8.56910548e-01 -4.10901331e-02 -1.22684772e+01] [-8.12510121e-02 -9.27198688e-04 9.96693239e-01 -1.01266913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.08, Y:-12.28, Z:-1.01 [[ 8.54735630e-01 5.14108453e-01 7.15506877e-02 4.80786366e+01] [-5.12391306e-01 8.57724842e-01 -4.19910129e-02 -1.22836823e+01] [-8.29587370e-02 -7.70735526e-04 9.96552685e-01 -1.01474272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.11, Y:-12.30, Z:-1.02 [[ 8.55581271e-01 5.12782617e-01 7.09554577e-02 4.81086684e+01] [-5.11085344e-01 8.58518279e-01 -4.16909599e-02 -1.22986483e+01] [-8.22949569e-02 -5.94290015e-04 9.96607840e-01 -1.01664722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.14, Y:-12.31, Z:-1.02 [[ 8.55915086e-01 5.12436226e-01 6.94152777e-02 4.81379601e+01] [-5.10806943e-01 8.58725135e-01 -4.08339344e-02 -1.23133280e+01] [-8.05334309e-02 -5.07425317e-04 9.96751779e-01 -1.01970213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:-12.33, Z:-1.02 [[ 8.56682171e-01 5.11615769e-01 6.59163327e-02 4.81678123e+01] [-5.10141009e-01 8.59214273e-01 -3.88198781e-02 -1.23274513e+01] [-7.64971157e-02 -3.70327051e-04 9.97069734e-01 -1.02448064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:-12.34, Z:-1.03 [[ 8.56644418e-01 5.11889949e-01 6.42574637e-02 4.81978890e+01] [-5.10486030e-01 8.59050965e-01 -3.78873685e-02 -1.23420298e+01] [-7.45945993e-02 -3.46534791e-04 9.97213882e-01 -1.02727086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:-12.35, Z:-1.03 [[ 8.56071054e-01 5.12824014e-01 6.44506051e-02 4.82293003e+01] [-5.11410830e-01 8.58493668e-01 -3.80471338e-02 -1.23545397e+01] [-7.48419203e-02 -3.89687538e-04 9.97195334e-01 -1.02967547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:-12.37, Z:-1.03 [[ 8.55433973e-01 5.13864842e-01 6.46192032e-02 4.82600290e+01] [-5.12443766e-01 8.57871044e-01 -3.81923942e-02 -1.23669100e+01] [-7.50606720e-02 -4.42636356e-04 9.97178870e-01 -1.03166606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.29, Y:-12.38, Z:-1.03 [[ 8.55166538e-01 5.14010367e-01 6.69592085e-02 4.82906173e+01] [-5.12481333e-01 8.57783863e-01 -3.96197952e-02 -1.23799968e+01] [-7.78015139e-02 -4.33821301e-04 9.96968774e-01 -1.03208457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.32, Y:-12.40, Z:-1.03 [[ 8.54894615e-01 5.14365933e-01 6.76970034e-02 4.83203603e+01] [-5.12802257e-01 8.57570687e-01 -4.00794483e-02 -1.23956300e+01] [-7.86704685e-02 -4.51471689e-04 9.96900574e-01 -1.03333819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.35, Y:-12.41, Z:-1.03 [[ 8.55130599e-01 5.14078053e-01 6.68985374e-02 4.83496522e+01] [-5.12546585e-01 8.57743325e-01 -3.96533289e-02 -1.24103479e+01] [-7.77666800e-02 -3.79842033e-04 9.96971514e-01 -1.03422904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.38, Y:-12.42, Z:-1.03 [[ 8.57007799e-01 5.10893560e-01 6.72711168e-02 4.83801788e+01] [-5.09331728e-01 8.59643977e-01 -3.99177158e-02 -1.24227226e+01] [-7.82229143e-02 -5.35203523e-05 9.96935892e-01 -1.03485358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:-12.44, Z:-1.04 [[ 8.56891538e-01 5.11089595e-01 6.72630539e-02 4.84090068e+01] [-5.09527299e-01 8.59527442e-01 -3.99312979e-02 -1.24397232e+01] [-7.82229115e-02 -5.55708980e-05 9.96935892e-01 -1.03707353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:-12.46, Z:-1.04 [[ 8.58701671e-01 5.08121438e-01 6.66636737e-02 4.84371473e+01] [-5.06576399e-01 8.61285407e-01 -3.95954635e-02 -1.24565327e+01] [-7.75357531e-02 2.30446954e-04 9.96989546e-01 -1.03951654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.46, Y:-12.47, Z:-1.04 [[ 8.60054600e-01 5.05849592e-01 6.65001866e-02 4.84643579e+01] [-5.04303981e-01 8.62621579e-01 -3.95159098e-02 -1.24747572e+01] [-7.73536028e-02 4.49531142e-04 9.97003620e-01 -1.04377165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.49, Y:-12.49, Z:-1.05 [[ 8.61292584e-01 5.03879339e-01 6.54270398e-02 4.84918652e+01] [-5.02376022e-01 8.63773819e-01 -3.88988750e-02 -1.24932238e+01] [-7.61145034e-02 6.34336543e-04 9.97098882e-01 -1.04833698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:-12.51, Z:-1.05 [[ 8.62329184e-01 5.02306167e-01 6.38505486e-02 4.85208751e+01] [-5.00867215e-01 8.64689477e-01 -3.80018640e-02 -1.25094620e+01] [-7.42994680e-02 7.89469932e-04 9.97235662e-01 -1.04993673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:-12.52, Z:-1.05 [[ 8.61637156e-01 5.03720608e-01 6.20238724e-02 4.85500949e+01] [-5.02365437e-01 8.63866373e-01 -3.69304370e-02 -1.25245805e+01] [-7.21829599e-02 6.61987007e-04 9.97391188e-01 -1.04887638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:-12.54, Z:-1.05 [[ 8.60416728e-01 5.05705276e-01 6.28110542e-02 4.85791486e+01] [-5.04319493e-01 8.62706154e-01 -3.74157987e-02 -1.25397238e+01] [-7.31088498e-02 5.16340101e-04 9.97323834e-01 -1.04816043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:-12.55, Z:-1.05 [[ 8.58960588e-01 5.08249532e-01 6.22022689e-02 4.86090673e+01] [-5.06895976e-01 8.61209798e-01 -3.70695644e-02 -1.25548085e+01] [-7.24097922e-02 3.11215030e-04 9.97374917e-01 -1.04902802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.64, Y:-12.57, Z:-1.05 [[ 8.56026747e-01 5.12858821e-01 6.47613924e-02 4.86405397e+01] [-5.11403026e-01 8.58472961e-01 -3.86150156e-02 -1.25668441e+01] [-7.53999557e-02 -6.36858904e-05 9.97153370e-01 -1.05221363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:-12.58, Z:-1.06 [[ 8.54039105e-01 5.15760214e-01 6.78867387e-02 4.86695388e+01] [-5.14167917e-01 8.56732922e-01 -4.04975696e-02 -1.25826192e+01] [-7.90478392e-02 -3.18674926e-04 9.96870773e-01 -1.05546236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:-12.60, Z:-1.06 [[ 8.53637830e-01 5.16286905e-01 6.89223265e-02 4.86977679e+01] [-5.14645794e-01 8.56415614e-01 -4.11339511e-02 -1.25994034e+01] [-8.02630769e-02 -3.57088694e-04 9.96773651e-01 -1.05739454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.72, Y:-12.62, Z:-1.06 [[ 8.55654442e-01 5.13368731e-01 6.56355200e-02 4.87249094e+01] [-5.11870752e-01 8.58168131e-01 -3.91891768e-02 -1.26176012e+01] [-7.64448095e-02 -6.45097705e-05 9.97073812e-01 -1.05894679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.75, Y:-12.64, Z:-1.06 [[ 8.57436597e-01 5.10701804e-01 6.31359572e-02 4.87521839e+01] [-5.09307467e-01 8.59757893e-01 -3.77129883e-02 -1.26352429e+01] [-7.35417287e-02 1.80882020e-04 9.97292124e-01 -1.06338733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.78, Y:-12.65, Z:-1.07 [[ 8.59485882e-01 5.07404242e-01 6.18462163e-02 4.87791874e+01] [-5.06056659e-01 8.61708023e-01 -3.69586400e-02 -1.26533330e+01] [-7.20463515e-02 4.67739725e-04 9.97401175e-01 -1.06719724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.81, Y:-12.67, Z:-1.07 [[ 8.62342770e-01 5.02384287e-01 6.30474063e-02 4.88067509e+01] [-5.00969083e-01 8.64643963e-01 -3.76934507e-02 -1.26721017e+01] [-7.34501566e-02 9.19873340e-04 9.97298465e-01 -1.06748969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.84, Y:-12.69, Z:-1.07 [[ 8.62801564e-01 5.01557191e-01 6.33549179e-02 4.88354033e+01] [-5.00124667e-01 8.65123902e-01 -3.78939558e-02 -1.26888400e+01] [-7.38158398e-02 1.00960712e-03 9.97271379e-01 -1.06688106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:-12.71, Z:-1.07 [[ 8.62922916e-01 5.01116623e-01 6.51626547e-02 4.88629747e+01] [-4.99598484e-01 8.65379071e-01 -3.89925390e-02 -1.27064005e+01] [-7.59302071e-02 1.09239195e-03 9.97112536e-01 -1.06683131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:-12.73, Z:-1.07 [[ 8.62970491e-01 5.01119048e-01 6.45107078e-02 4.88898041e+01] [-4.99629942e-01 8.65377663e-01 -3.86189287e-02 -1.27264811e+01] [-7.51788063e-02 1.09551468e-03 9.97169468e-01 -1.06953373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.91, Y:-12.75, Z:-1.08 [[ 8.63498190e-01 5.00591916e-01 6.14703985e-02 4.89118299e+01] [-4.99237486e-01 8.65682690e-01 -3.68159349e-02 -1.27521332e+01] [-7.16436193e-02 1.10216595e-03 9.97429685e-01 -1.07852278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:48.94, Y:-12.77, Z:-1.08 [[ 8.63744135e-01 5.00220909e-01 6.10336968e-02 4.89378411e+01] [-4.98881796e-01 8.65897046e-01 -3.65958866e-02 -1.27716777e+01] [-7.11549255e-02 1.16088214e-03 9.97464600e-01 -1.08344235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:-12.79, Z:-1.09 [[ 8.64140386e-01 4.99706402e-01 5.96230162e-02 4.89655112e+01] [-4.98424552e-01 8.66194001e-01 -3.57899193e-02 -1.27903806e+01] [-6.95295508e-02 1.20993958e-03 9.97579159e-01 -1.08526125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:-12.86, Z:-1.09 [[ 8.65394994e-01 4.95340390e-01 7.56928188e-02 4.89590512e+01] [-4.98745219e-01 8.66058294e-01 3.45866660e-02 -1.28600228e+01] [-4.84222209e-02 -6.76825591e-02 9.96531163e-01 -1.09074040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:-12.78, Z:-1.07 [[ 8.63084316e-01 5.04190568e-01 2.96198296e-02 4.90478475e+01] [-4.99618188e-01 8.60901385e-01 -9.60753403e-02 -1.27776045e+01] [-7.39400327e-02 6.81225138e-02 9.94933261e-01 -1.07278131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.04, Y:-12.85, Z:-1.08 [[ 8.61026977e-01 5.04531203e-01 6.38812267e-02 4.90433902e+01] [-5.03067556e-01 8.63392949e-01 -3.84141960e-02 -1.28483927e+01] [-7.45357612e-02 9.39086471e-04 9.97217899e-01 -1.08467912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.07, Y:-12.87, Z:-1.09 [[ 8.59012242e-01 5.07962304e-01 6.38143020e-02 4.90702934e+01] [-5.06509745e-01 8.61379049e-01 -3.83928755e-02 -1.28667804e+01] [-7.44704363e-02 6.57384199e-04 9.97223005e-01 -1.08783917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.10, Y:-12.88, Z:-1.09 [[ 8.54521911e-01 5.15453725e-01 6.40293718e-02 4.90974560e+01] [-5.14008877e-01 8.56917415e-01 -3.85670643e-02 -1.28849606e+01] [-7.47474207e-02 4.47359725e-05 9.97202498e-01 -1.09359478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-12.90, Z:-1.10 [[ 8.53174988e-01 5.17708127e-01 6.38023148e-02 4.91262298e+01] [-5.16276434e-01 8.55557293e-01 -3.84754669e-02 -1.29020609e+01] [-7.45055976e-02 -1.13325571e-04 9.97220589e-01 -1.09589731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:-12.92, Z:-1.10 [[ 8.51566930e-01 5.20140393e-01 6.54807995e-02 4.91552326e+01] [-5.18635755e-01 8.54080725e-01 -3.95356640e-02 -1.29184438e+01] [-7.64899845e-02 -2.93419853e-04 9.97070307e-01 -1.09666595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:-12.93, Z:-1.10 [[ 8.50667816e-01 5.21503288e-01 6.63218504e-02 4.91844592e+01] [-5.19960047e-01 8.53249188e-01 -4.00920539e-02 -1.29346465e+01] [-7.74972029e-02 -3.79692562e-04 9.96992497e-01 -1.09769363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:-12.95, Z:-1.10 [[ 8.50273732e-01 5.22266534e-01 6.53624349e-02 4.92142113e+01] [-5.20766378e-01 8.52782214e-01 -3.95584986e-02 -1.29499839e+01] [-7.64000019e-02 -4.03006298e-04 9.97077167e-01 -1.09967894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:-12.97, Z:-1.10 [[ 8.50567029e-01 5.21746299e-01 6.57002998e-02 4.92426435e+01] [-5.20225359e-01 8.53100638e-01 -3.98105137e-02 -1.29664066e+01] [-7.68199558e-02 -3.17451734e-04 9.97044931e-01 -1.10234492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:-12.98, Z:-1.10 [[ 8.51301151e-01 5.20251357e-01 6.80064425e-02 4.92709987e+01] [-5.18612806e-01 8.54013176e-01 -4.12583672e-02 -1.29836283e+01] [-7.95431194e-02 -1.45716451e-04 9.96831415e-01 -1.10328081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:-13.00, Z:-1.11 [[ 8.51826698e-01 5.19599241e-01 6.63920624e-02 4.92986144e+01] [-5.18032049e-01 8.54410105e-01 -4.03257859e-02 -1.30008856e+01] [-7.76792967e-02 -4.26350534e-05 9.96978397e-01 -1.10589162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:-13.02, Z:-1.11 [[ 8.51879560e-01 5.19664110e-01 6.51953037e-02 4.93266728e+01] [-5.18149666e-01 8.54370653e-01 -3.96448098e-02 -1.30179949e+01] [-7.63029390e-02 -8.32168968e-06 9.97084681e-01 -1.10693601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:-13.03, Z:-1.11 [[ 8.51491871e-01 5.20275739e-01 6.53815709e-02 4.93560784e+01] [-5.18750822e-01 8.53998334e-01 -3.98048924e-02 -1.30341915e+01] [-7.65452724e-02 -2.32013237e-05 9.97066107e-01 -1.10849292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:-13.05, Z:-1.11 [[ 8.49666665e-01 5.23134430e-01 6.63093201e-02 4.93874148e+01] [-5.21570788e-01 8.52250144e-01 -4.04178708e-02 -1.30467233e+01] [-7.76561075e-02 -2.43286842e-04 9.96980175e-01 -1.10903011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.42, Y:-13.06, Z:-1.11 [[ 8.47706227e-01 5.26301123e-01 6.63421439e-02 4.94168129e+01] [-5.24741873e-01 8.50298116e-01 -4.04855633e-02 -1.30620205e+01] [-7.77181974e-02 -4.92636806e-04 9.96975245e-01 -1.11289499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.45, Y:-13.08, Z:-1.12 [[ 8.46225862e-01 5.29079633e-01 6.30597558e-02 4.94453053e+01] [-5.27675561e-01 8.48571911e-01 -3.85255041e-02 -1.30780290e+01] [-7.38937971e-02 -6.73814071e-04 9.97265889e-01 -1.11710673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.47, Y:-13.09, Z:-1.12 [[ 8.44228552e-01 5.32334664e-01 6.24336294e-02 4.94749723e+01] [-5.30963976e-01 8.46533505e-01 -3.81874475e-02 -1.30921305e+01] [-7.31806612e-02 -9.11074608e-04 9.97318285e-01 -1.12030371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.50, Y:-13.11, Z:-1.12 [[ 8.43535730e-01 5.33208599e-01 6.43122195e-02 4.95041837e+01] [-5.31752984e-01 8.45983237e-01 -3.93843485e-02 -1.31080091e+01] [-7.54071329e-02 -9.76109477e-04 9.97152351e-01 -1.12096846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.53, Y:-13.13, Z:-1.12 [[ 8.43843168e-01 5.32652402e-01 6.48854902e-02 4.95330404e+01] [-5.31165431e-01 8.46333633e-01 -3.97827430e-02 -1.31252294e+01] [-7.61051463e-02 -8.94533464e-04 9.97099397e-01 -1.12104526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.56, Y:-13.14, Z:-1.12 [[ 8.44524787e-01 5.31489332e-01 6.55513165e-02 4.95628552e+01] [-5.29964440e-01 8.47064648e-01 -4.02389808e-02 -1.31401339e+01] [-7.69127918e-02 -7.57050064e-04 9.97037537e-01 -1.12194396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:-13.15, Z:-1.12 [[ 8.44269959e-01 5.31921454e-01 6.53284274e-02 4.95935648e+01] [-5.30404609e-01 8.46793362e-01 -4.01491236e-02 -1.31535537e+01] [-7.66758589e-02 -7.53800048e-04 9.97055788e-01 -1.12474839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.62, Y:-13.17, Z:-1.13 [[ 8.44218527e-01 5.32000558e-01 6.53489459e-02 4.96239669e+01] [-5.30479591e-01 8.46743694e-01 -4.02059742e-02 -1.31674529e+01] [-7.67234085e-02 -7.23653764e-04 9.97052153e-01 -1.12767552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:-13.18, Z:-1.13 [[ 8.44224050e-01 5.31862654e-01 6.63917943e-02 4.96521976e+01] [-5.30290816e-01 8.46830336e-01 -4.08660234e-02 -1.31841445e+01] [-7.79576972e-02 -7.06878996e-04 9.96956417e-01 -1.13140913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:-13.21, Z:-1.13 [[ 8.44369779e-01 5.31356770e-01 6.85540625e-02 4.96776197e+01] [-5.29677105e-01 8.47147889e-01 -4.22210700e-02 -1.32057556e+01] [-8.05098807e-02 -6.61321817e-04 9.96753591e-01 -1.13350813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.71, Y:-13.22, Z:-1.13 [[ 8.44575590e-01 5.31082747e-01 6.81409464e-02 4.97060192e+01] [-5.29418461e-01 8.47319756e-01 -4.20157659e-02 -1.32229946e+01] [-8.00510185e-02 -5.89584690e-04 9.96790593e-01 -1.13456305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:-13.24, Z:-1.14 [[ 8.44755977e-01 5.30720028e-01 6.87283849e-02 4.97356436e+01] [-5.29021626e-01 8.47547039e-01 -4.24280074e-02 -1.32374762e+01] [-8.07679324e-02 -5.17489072e-04 9.96732799e-01 -1.13589491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.77, Y:-13.25, Z:-1.14 [[ 8.44463165e-01 5.31174472e-01 6.88160191e-02 4.97658470e+01] [-5.29469169e-01 8.47262304e-01 -4.25321939e-02 -1.32513956e+01] [-8.08972345e-02 -5.19089399e-04 9.96722312e-01 -1.13697839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:-13.27, Z:-1.14 [[ 8.44375818e-01 5.31389731e-01 6.82233951e-02 4.97938736e+01] [-5.29710477e-01 8.47127329e-01 -4.22149301e-02 -1.32677120e+01] [-8.02264828e-02 -4.93380994e-04 9.96776539e-01 -1.14136356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.82, Y:-13.28, Z:-1.14 [[ 8.44620087e-01 5.31135714e-01 6.71696462e-02 4.98217406e+01] [-5.29503715e-01 8.47286654e-01 -4.16069952e-02 -1.32845442e+01] [-7.90109058e-02 -4.24473331e-04 9.96873661e-01 -1.14456404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.85, Y:-13.30, Z:-1.15 [[ 8.44802526e-01 5.30829357e-01 6.72969986e-02 4.98505189e+01] [-5.29188506e-01 8.47478643e-01 -4.17070101e-02 -1.33006999e+01] [-7.91720744e-02 -3.78610739e-04 9.96860893e-01 -1.14651297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.88, Y:-13.32, Z:-1.15 [[ 8.45300755e-01 5.30118282e-01 6.66426338e-02 4.98788407e+01] [-5.28505580e-01 8.47923653e-01 -4.13198545e-02 -1.33170235e+01] [-7.84122758e-02 -2.93299616e-04 9.96920974e-01 -1.14898249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:-13.34, Z:-1.15 [[ 8.45593217e-01 5.29815437e-01 6.53277496e-02 4.99060597e+01] [-5.28263579e-01 8.48112930e-01 -4.05222028e-02 -1.33354962e+01] [-7.68745977e-02 -2.44970958e-04 9.97040739e-01 -1.15323642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:-13.35, Z:-1.16 [[ 8.45258522e-01 5.30359925e-01 6.52409442e-02 4.99333400e+01] [-5.28812442e-01 8.47772536e-01 -4.04861501e-02 -1.33538265e+01] [-7.67817122e-02 -2.78959585e-04 9.97047888e-01 -1.15636842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:-13.37, Z:-1.16 [[ 8.44833946e-01 5.31087414e-01 6.48209992e-02 4.99620254e+01] [-5.29560612e-01 8.47316972e-01 -4.02430957e-02 -1.33695881e+01] [-7.62965344e-02 -3.27914661e-04 9.97085117e-01 -1.15901102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.99, Y:-13.38, Z:-1.16 [[ 8.43979100e-01 5.32306982e-01 6.59435848e-02 4.99924867e+01] [-5.30729053e-01 8.46551293e-01 -4.09582704e-02 -1.33831265e+01] [-7.76270003e-02 -4.30252144e-04 9.96982379e-01 -1.16019853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.02, Y:-13.39, Z:-1.16 [[ 8.40982950e-01 5.36720309e-01 6.84031294e-02 5.00238165e+01] [-5.35035250e-01 8.43759791e-01 -4.25052505e-02 -1.33945375e+01] [-8.05292413e-02 -8.51894510e-04 9.96751883e-01 -1.16123495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:-13.41, Z:-1.16 [[ 8.39310786e-01 5.39284119e-01 6.87753110e-02 5.00523463e+01] [-5.37587698e-01 8.42123183e-01 -4.27552482e-02 -1.34113342e+01] [-8.09745102e-02 -1.08782009e-03 9.96715579e-01 -1.16438970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.05, Y:-13.47, Z:-1.17 [[ 8.38878348e-01 5.38455096e-01 7.96820319e-02 5.00515647e+01] [-5.41270890e-01 8.40664618e-01 1.75733846e-02 -1.34712273e+01] [-5.75233864e-02 -5.78714962e-02 9.96665415e-01 -1.17421112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:-13.40, Z:-1.16 [[ 8.37035661e-01 5.45848442e-01 3.76932531e-02 5.01324797e+01] [-5.41202973e-01 8.36101446e-01 -8.96309880e-02 -1.34020215e+01] [-8.04403186e-02 5.46246326e-02 9.95261526e-01 -1.16118435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:-13.53, Z:-1.18 [[ 8.38039692e-01 5.37474768e-01 9.38634517e-02 5.00879658e+01] [-5.43143768e-01 8.38151035e-01 4.99768927e-02 -1.35266012e+01] [-5.18104303e-02 -9.28639687e-02 9.94329906e-01 -1.18090913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.21, Y:-13.40, Z:-1.15 [[ 8.35594073e-01 5.48850441e-01 2.33610389e-02 5.02050248e+01] [-5.42732122e-01 8.31364632e-01 -1.19476742e-01 -1.34048425e+01] [-8.49964042e-02 8.71552715e-02 9.92562124e-01 -1.15189089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.19, Y:-13.49, Z:-1.17 [[ 8.35076217e-01 5.45574920e-01 7.06803965e-02 5.01891629e+01] [-5.43800842e-01 8.38060335e-01 -4.39945260e-02 -1.34879313e+01] [-8.32367468e-02 -1.69727678e-03 9.96528355e-01 -1.17259160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:-13.50, Z:-1.17 [[ 8.35917104e-01 5.44416890e-01 6.96623729e-02 5.02199669e+01] [-5.42688754e-01 8.38813357e-01 -4.33712914e-02 -1.35018063e+01] [-8.20457924e-02 -1.55018209e-03 9.96627355e-01 -1.17388975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:-13.51, Z:-1.18 [[ 8.36712985e-01 5.43324722e-01 6.86267266e-02 5.02535348e+01] [-5.41642500e-01 8.39521453e-01 -4.27449754e-02 -1.35101890e+01] [-8.08380111e-02 -1.40587582e-03 9.96726261e-01 -1.17986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:-13.52, Z:-1.18 [[ 8.35884281e-01 5.44394167e-01 7.02314697e-02 5.02836288e+01] [-5.42634431e-01 8.38828143e-01 -4.37632500e-02 -1.35218524e+01] [-8.27365913e-02 -1.52900083e-03 9.96570278e-01 -1.18265822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:-13.53, Z:-1.18 [[ 8.35080504e-01 5.45237473e-01 7.31891428e-02 5.03135605e+01] [-5.43328183e-01 8.38279972e-01 -4.56198942e-02 -1.35344233e+01] [-8.62266684e-02 -1.66943970e-03 9.96274146e-01 -1.18317803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.34, Y:-13.55, Z:-1.18 [[ 8.37171180e-01 5.42078732e-01 7.27671858e-02 5.03432505e+01] [-5.40178372e-01 8.40326658e-01 -4.53699619e-02 -1.35474529e+01] [-8.57422975e-02 -1.32483544e-03 9.96316467e-01 -1.18220006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.37, Y:-13.56, Z:-1.19 [[ 8.39557450e-01 5.38744135e-01 6.99860342e-02 5.03704339e+01] [-5.36973884e-01 8.42468920e-01 -4.36482089e-02 -1.35641882e+01] [-8.24762753e-02 -9.35493675e-04 9.96592589e-01 -1.18521079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.40, Y:-13.58, Z:-1.19 [[ 8.42428511e-01 5.34455224e-01 6.83506938e-02 5.03976631e+01] [-5.32751741e-01 8.45196647e-01 -4.26404928e-02 -1.35813189e+01] [-8.05592113e-02 -4.92384236e-04 9.96749703e-01 -1.18988592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:-13.59, Z:-1.19 [[ 8.46815519e-01 5.27156053e-01 7.07811645e-02 5.04254681e+01] [-5.25302516e-01 8.49768467e-01 -4.41680796e-02 -1.35941163e+01] [-8.34310721e-02 2.20691418e-04 9.96513526e-01 -1.19138629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:-13.61, Z:-1.19 [[ 8.48669405e-01 5.24099263e-01 7.12755491e-02 5.04536345e+01] [-5.22208837e-01 8.51657024e-01 -4.44774646e-02 -1.36080251e+01] [-8.40129284e-02 5.25941782e-04 9.96464526e-01 -1.19133990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:-13.62, Z:-1.19 [[ 8.50049532e-01 5.21758775e-01 7.19970386e-02 5.04816162e+01] [-5.19820881e-01 8.53092719e-01 -4.49340098e-02 -1.36218980e+01] [-8.48648633e-02 7.70569993e-04 9.96392172e-01 -1.19105392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.51, Y:-13.64, Z:-1.19 [[ 8.52309146e-01 5.18161450e-01 7.12589005e-02 5.05101199e+01] [-5.16250057e-01 8.55282089e-01 -4.44795157e-02 -1.36361122e+01] [-8.39940316e-02 1.12288656e-03 9.96465625e-01 -1.19178059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:-13.65, Z:-1.20 [[ 8.54186081e-01 5.15276405e-01 6.96876299e-02 5.05344568e+01] [-5.13438437e-01 8.57022940e-01 -4.35046189e-02 -1.36549947e+01] [-8.21408011e-02 1.38073212e-03 9.96619778e-01 -1.19597949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:-13.68, Z:-1.20 [[ 8.56573973e-01 5.11547303e-01 6.78261426e-02 5.05581432e+01] [-5.09794177e-01 8.59253441e-01 -4.23488125e-02 -1.36770918e+01] [-7.99432672e-02 1.69751803e-03 9.96797970e-01 -1.20137920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:-13.71, Z:-1.21 [[ 8.60918991e-01 5.04286484e-01 6.71835811e-02 5.05786963e+01] [-5.02543361e-01 8.63533188e-01 -4.19595439e-02 -1.37060450e+01] [-7.91748829e-02 2.36110550e-03 9.96857945e-01 -1.20707903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:-13.72, Z:-1.21 [[ 8.61735142e-01 5.02547058e-01 6.97065173e-02 5.06063386e+01] [-5.00663133e-01 8.64545850e-01 -4.35534212e-02 -1.37239617e+01] [-8.21521239e-02 2.63203024e-03 9.96616326e-01 -1.20558678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.61, Y:-13.78, Z:-1.21 [[ 8.64575118e-01 4.95569665e-01 8.31899735e-02 5.06055396e+01] [-4.98153992e-01 8.66999694e-01 1.24149374e-02 -1.37793004e+01] [-6.59732152e-02 -5.21750633e-02 9.96456370e-01 -1.21176560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:-13.72, Z:-1.19 [[ 8.63135825e-01 5.03131024e-01 4.30780773e-02 5.06869274e+01] [-4.98240009e-01 8.62407836e-01 -8.94964687e-02 -1.37169102e+01] [-8.21793213e-02 5.57843867e-02 9.95055105e-01 -1.19274426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:-13.78, Z:-1.21 [[ 8.62327675e-01 5.01708942e-01 6.84040791e-02 5.06843898e+01] [-4.99887601e-01 8.65032248e-01 -4.27971598e-02 -1.37787018e+01] [-8.06434520e-02 2.71082431e-03 9.96739327e-01 -1.21169342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.71, Y:-13.80, Z:-1.22 [[ 8.61713091e-01 5.02949481e-01 6.70251322e-02 5.07089514e+01] [-5.01203785e-01 8.64312043e-01 -4.19459069e-02 -1.38015143e+01] [-7.90273010e-02 2.55208712e-03 9.96869185e-01 -1.21788807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:-13.82, Z:-1.22 [[ 8.61501488e-01 5.03442495e-01 6.60366566e-02 5.07337543e+01] [-5.01747967e-01 8.64025158e-01 -4.13461513e-02 -1.38241028e+01] [-7.78727422e-02 2.48601265e-03 9.96960208e-01 -1.22284283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.76, Y:-13.85, Z:-1.23 [[ 8.60789722e-01 5.04795713e-01 6.49795524e-02 5.07567362e+01] [-5.03157681e-01 8.63235666e-01 -4.07005385e-02 -1.38497919e+01] [-7.66381245e-02 2.33964435e-03 9.97056229e-01 -1.22531588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:-13.87, Z:-1.23 [[ 8.61157659e-01 5.04311180e-01 6.38570297e-02 5.07839265e+01] [-5.02726820e-01 8.63518782e-01 -4.00132032e-02 -1.38694681e+01] [-7.53208503e-02 2.35503491e-03 9.97156569e-01 -1.22683283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:-13.89, Z:-1.23 [[ 8.61314391e-01 5.04066676e-01 6.36734337e-02 5.08112718e+01] [-5.02489553e-01 8.63661453e-01 -3.99142168e-02 -1.38885508e+01] [-7.51117168e-02 2.38345411e-03 9.97172277e-01 -1.22822400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:-13.91, Z:-1.23 [[ 8.61010062e-01 5.04503093e-01 6.43296396e-02 5.08377886e+01] [-5.02893205e-01 8.63406594e-01 -4.03420134e-02 -1.39089431e+01] [-7.58953055e-02 2.38394084e-03 9.97112942e-01 -1.23009680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.86, Y:-13.94, Z:-1.23 [[ 8.59626068e-01 5.06684968e-01 6.56762169e-02 5.08590622e+01] [-5.05011755e-01 8.62128334e-01 -4.12051458e-02 -1.39363241e+01] [-7.74993554e-02 2.25375592e-03 9.96989855e-01 -1.23380800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:-13.96, Z:-1.24 [[ 8.58533805e-01 5.08296454e-01 6.74864394e-02 5.08843034e+01] [-5.06530791e-01 8.61179332e-01 -4.23876758e-02 -1.39582764e+01] [-7.96634322e-02 2.20729307e-03 9.96819375e-01 -1.23542445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:-13.98, Z:-1.24 [[ 8.57643823e-01 5.09640759e-01 6.86539860e-02 5.09112486e+01] [-5.07814037e-01 8.60384590e-01 -4.31655071e-02 -1.39783458e+01] [-8.10677334e-02 2.15717274e-03 9.96706260e-01 -1.23697256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:-14.00, Z:-1.24 [[ 8.56497592e-01 5.11492469e-01 6.91905298e-02 5.09388316e+01] [-5.09641105e-01 8.59285390e-01 -4.35265702e-02 -1.39967189e+01] [-8.17179243e-02 2.01806455e-03 9.96653454e-01 -1.23815958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.96, Y:-14.02, Z:-1.24 [[ 8.53702437e-01 5.16396811e-01 6.72791415e-02 5.09647901e+01] [-5.14658018e-01 8.56348028e-01 -4.23695455e-02 -1.40169159e+01] [-7.94938584e-02 1.54523456e-03 9.96834158e-01 -1.24299487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.99, Y:-14.04, Z:-1.25 [[ 8.52292243e-01 5.18944090e-01 6.55359735e-02 5.09913018e+01] [-5.17298396e-01 8.54807177e-01 -4.13165836e-02 -1.40367677e+01] [-7.74616174e-02 1.31214972e-03 9.96994471e-01 -1.24717290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.02, Y:-14.06, Z:-1.25 [[ 8.50414841e-01 5.22064106e-01 6.51434428e-02 5.10181815e+01] [-5.20443683e-01 8.52905589e-01 -4.11148390e-02 -1.40556154e+01] [-7.70257881e-02 1.06117596e-03 9.97028536e-01 -1.25074380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.05, Y:-14.08, Z:-1.25 [[ 8.47128224e-01 5.26818130e-01 6.95444477e-02 5.10450081e+01] [-5.24982589e-01 8.49977732e-01 -4.39447044e-02 -1.40751602e+01] [-8.22620989e-02 7.17175203e-04 9.96610472e-01 -1.24927562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.07, Y:-14.09, Z:-1.25 [[ 8.44810075e-01 5.30024022e-01 7.32835074e-02 5.10730053e+01] [-5.27992654e-01 8.47982494e-01 -4.63621240e-02 -1.40934760e+01] [-8.67161708e-02 4.74035881e-04 9.96232945e-01 -1.24715713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.10, Y:-14.11, Z:-1.25 [[ 8.42406679e-01 5.33635071e-01 7.47301736e-02 5.11006191e+01] [-5.31531823e-01 8.45714838e-01 -4.73321540e-02 -1.41113098e+01] [-8.84585141e-02 1.51457160e-04 9.96079850e-01 -1.24607301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:-14.13, Z:-1.25 [[ 8.40129374e-01 5.37238334e-01 7.45493614e-02 5.11293503e+01] [-5.35154640e-01 8.43430459e-01 -4.72712585e-02 -1.41281046e+01] [-8.82731343e-02 -1.81463866e-04 9.96096291e-01 -1.24805163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.16, Y:-14.14, Z:-1.26 [[ 8.36363518e-01 5.43207825e-01 7.36296394e-02 5.11606544e+01] [-5.41193684e-01 8.39597932e-01 -4.67408620e-02 -1.41399220e+01] [-8.72092950e-02 -7.55544080e-04 9.96189725e-01 -1.25560944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:-14.15, Z:-1.26 [[ 8.34214678e-01 5.46329052e-01 7.49028609e-02 5.11900405e+01] [-5.44252122e-01 8.37569971e-01 -4.76043149e-02 -1.41539442e+01] [-8.87440073e-02 -1.05382279e-03 9.96053910e-01 -1.26077197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:-14.17, Z:-1.26 [[ 8.32167012e-01 5.49396473e-01 7.52434609e-02 5.12195814e+01] [-5.47308599e-01 8.35560713e-01 -4.78705742e-02 -1.41687279e+01] [-8.91704045e-02 -1.34508045e-03 9.96015477e-01 -1.26392676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:-14.18, Z:-1.26 [[ 8.30512480e-01 5.51988241e-01 7.45520087e-02 5.12524375e+01] [-5.49946443e-01 8.33850391e-01 -4.74598323e-02 -1.41797860e+01] [-8.83624909e-02 -1.58362897e-03 9.96087126e-01 -1.26234078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:-14.19, Z:-1.26 [[ 8.30510735e-01 5.52219654e-01 7.28379847e-02 5.12819747e+01] [-5.50267137e-01 8.33697261e-01 -4.64214967e-02 -1.41948278e+01] [-8.63596912e-02 -1.52679792e-03 9.96262853e-01 -1.26221924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:-14.21, Z:-1.26 [[ 8.31356537e-01 5.50915244e-01 7.30664201e-02 5.13100009e+01] [-5.48940723e-01 8.34560105e-01 -4.66209530e-02 -1.42124736e+01] [-8.66625130e-02 -1.35049946e-03 9.96236812e-01 -1.26398571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:-14.23, Z:-1.27 [[ 8.32989516e-01 5.48232886e-01 7.46268581e-02 5.13365961e+01] [-5.46157241e-01 8.36325060e-01 -4.76724556e-02 -1.42320111e+01] [-8.85479195e-02 -1.04734313e-03 9.96071367e-01 -1.26645521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:-14.25, Z:-1.27 [[ 8.36814848e-01 5.41667032e-01 7.96098986e-02 5.13635386e+01] [-5.39268682e-01 8.40593078e-01 -5.09172524e-02 -1.42511106e+01] [-9.44997266e-02 -3.22812262e-04 9.95524835e-01 -1.27092884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.39, Y:-14.27, Z:-1.27 [[ 8.38560336e-01 5.38919587e-01 7.98889363e-02 5.13917427e+01] [-5.36486246e-01 8.42357215e-01 -5.11549635e-02 -1.42679861e+01] [-9.48634336e-02 3.72077877e-05 9.95490295e-01 -1.27432645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.42, Y:-14.29, Z:-1.28 [[ 8.40274019e-01 5.36543615e-01 7.78493543e-02 5.14187871e+01] [-5.34218456e-01 8.43872523e-01 -4.98979667e-02 -1.42862962e+01] [-9.24673664e-02 3.39403239e-04 9.95715658e-01 -1.27779869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.44, Y:-14.31, Z:-1.28 [[ 8.42729267e-01 5.33679184e-01 7.06676128e-02 5.14434188e+01] [-5.31751837e-01 8.45686793e-01 -4.53192217e-02 -1.43092616e+01] [-8.39485921e-02 6.14201544e-04 9.96469898e-01 -1.28281482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.47, Y:-14.33, Z:-1.29 [[ 8.42505836e-01 5.34264143e-01 6.88893448e-02 5.14713982e+01] [-5.32430649e-01 8.45317387e-01 -4.42280389e-02 -1.43273078e+01] [-8.18628162e-02 5.83582311e-04 9.96643436e-01 -1.28502908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.50, Y:-14.34, Z:-1.29 [[ 8.41781241e-01 5.35289733e-01 6.97799699e-02 5.15004625e+01] [-5.33407960e-01 8.44668349e-01 -4.48478355e-02 -1.43439267e+01] [-8.29475179e-02 5.30875205e-04 9.96553775e-01 -1.28734027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:-14.36, Z:-1.29 [[ 8.40242068e-01 5.37638639e-01 7.02706181e-02 5.15288946e+01] [-5.35736255e-01 8.43175301e-01 -4.51893327e-02 -1.43615295e+01] [-8.35459809e-02 3.23460624e-04 9.96503871e-01 -1.28959930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:-14.39, Z:-1.29 [[ 8.38007928e-01 5.40893785e-01 7.19487724e-02 5.15519761e+01] [-5.38906590e-01 8.41090906e-01 -4.63225200e-02 -1.43859358e+01] [-8.55710213e-02 4.49714175e-05 9.96332072e-01 -1.29134051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:-14.41, Z:-1.29 [[ 8.37679562e-01 5.41415235e-01 7.18505049e-02 5.15774846e+01] [-5.39430850e-01 8.40755340e-01 -4.63121626e-02 -1.44081726e+01] [-8.54828060e-02 3.63731139e-05 9.96339645e-01 -1.29366638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.60, Y:-14.43, Z:-1.30 [[ 8.37982298e-01 5.40824298e-01 7.27650191e-02 5.16037702e+01] [-5.38782016e-01 8.41135577e-01 -4.69561575e-02 -1.44283248e+01] [-8.66002772e-02 1.43945044e-04 9.96243129e-01 -1.29588502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:-14.45, Z:-1.30 [[ 8.39112054e-01 5.39180076e-01 7.19430835e-02 5.16296535e+01] [-5.37173172e-01 8.42190430e-01 -4.64786365e-02 -1.44486916e+01] [-8.56501312e-02 3.54889770e-04 9.96325213e-01 -1.30005367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.65, Y:-14.47, Z:-1.30 [[ 8.38893135e-01 5.39640189e-01 7.10406514e-02 5.16548018e+01] [-5.37680674e-01 8.41895686e-01 -4.59472206e-02 -1.44697807e+01] [-8.46037848e-02 3.47622617e-04 9.96414612e-01 -1.30316483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:-14.49, Z:-1.31 [[ 8.38293267e-01 5.40614258e-01 7.07150875e-02 5.16803508e+01] [-5.38671811e-01 8.41270551e-01 -4.57880016e-02 -1.44916870e+01] [-8.42441671e-02 2.91549172e-04 9.96445099e-01 -1.30519733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:-14.55, Z:-1.31 [[ 8.38548091e-01 5.38538986e-01 8.25400465e-02 5.16775328e+01] [-5.41087325e-01 8.40900336e-01 1.05419115e-02 -1.45504881e+01] [-6.37307224e-02 -5.35012728e-02 9.96531991e-01 -1.30904829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:51.76, Y:-14.49, Z:-1.30 [[ 8.35149346e-01 5.48246224e-01 4.41774599e-02 5.17588651e+01] [-5.43116354e-01 8.34686389e-01 -9.12318927e-02 -1.44873459e+01] [-8.68918652e-02 5.21987546e-02 9.94849282e-01 -1.29734524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.76, Y:-14.54, Z:-1.31 [[ 8.33087797e-01 5.48326451e-01 7.28205041e-02 5.17604635e+01] [-5.46286402e-01 8.36264273e-01 -4.72570996e-02 -1.45443249e+01] [-8.68095036e-02 -4.11538172e-04 9.96224844e-01 -1.30757923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:51.79, Y:-14.57, Z:-1.31 [[ 8.31767130e-01 5.50521349e-01 7.13420420e-02 5.17862910e+01] [-5.48567042e-01 8.34820881e-01 -4.63497239e-02 -1.45656527e+01] [-8.50743389e-02 -5.83716114e-04 9.96374436e-01 -1.31213294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:-14.59, Z:-1.32 [[ 8.29813616e-01 5.53488965e-01 7.11289483e-02 5.18119926e+01] [-5.51552652e-01 8.32856085e-01 -4.62646024e-02 -1.45871680e+01] [-8.48471243e-02 -8.40363033e-04 9.96393627e-01 -1.31657885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:-14.60, Z:-1.32 [[ 8.24835484e-01 5.60725508e-01 7.23417516e-02 5.18431581e+01] [-5.58745321e-01 8.28000277e-01 -4.71084649e-02 -1.46011853e+01] [-8.63139082e-02 -1.56388179e-03 9.96266763e-01 -1.31511824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:-14.61, Z:-1.32 [[ 8.21650596e-01 5.65296455e-01 7.30083323e-02 5.18757197e+01] [-5.63292672e-01 8.24885357e-01 -4.75974168e-02 -1.46126707e+01] [-8.71301552e-02 -2.01661265e-03 9.96194895e-01 -1.31513861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.90, Y:-14.63, Z:-1.32 [[ 8.21519135e-01 5.65490462e-01 7.29852658e-02 5.19037804e+01] [-5.63484305e-01 8.24752422e-01 -4.76327624e-02 -1.46308568e+01] [-8.71306476e-02 -1.99482602e-03 9.96194896e-01 -1.31763718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:-14.64, Z:-1.32 [[ 8.18395516e-01 5.69823903e-01 7.43606028e-02 5.19357605e+01] [-5.67756369e-01 8.21763095e-01 -4.85605018e-02 -1.46428297e+01] [-8.87777337e-02 -2.47700895e-03 9.96048382e-01 -1.31871031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:-14.65, Z:-1.32 [[ 8.13422146e-01 5.76817191e-01 7.50089419e-02 5.19681871e+01] [-5.74737725e-01 8.16866918e-01 -4.90406581e-02 -1.46541081e+01] [-8.95598178e-02 -3.21971123e-03 9.95976241e-01 -1.32141850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:-14.67, Z:-1.33 [[ 8.11115720e-01 5.80108571e-01 7.46011683e-02 5.19977108e+01] [-5.78060583e-01 8.14531565e-01 -4.88292109e-02 -1.46694376e+01] [-8.90912501e-02 -3.51785425e-03 9.96017256e-01 -1.32604628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:-14.69, Z:-1.33 [[ 8.09551789e-01 5.82412379e-01 7.36323356e-02 5.20273067e+01] [-5.80422016e-01 8.12885168e-01 -4.82492247e-02 -1.46850164e+01] [-8.79555792e-02 -3.67758250e-03 9.96117609e-01 -1.33025929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:-14.70, Z:-1.33 [[ 8.08561049e-01 5.83811196e-01 7.34405618e-02 5.20565467e+01] [-5.81832165e-01 8.11880677e-01 -4.81777854e-02 -1.47000357e+01] [-8.77517035e-02 -3.77540038e-03 9.96135224e-01 -1.33338292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:-14.71, Z:-1.33 [[ 8.09227115e-01 5.82682612e-01 7.50496543e-02 5.20890408e+01] [-5.80605831e-01 8.12691439e-01 -4.92898938e-02 -1.47100857e+01] [-8.97125756e-02 -3.68754834e-03 9.95960871e-01 -1.33373493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:-14.72, Z:-1.34 [[ 8.10449056e-01 5.80851955e-01 7.60482372e-02 5.21199830e+01] [-5.78706200e-01 8.14001758e-01 -5.00027283e-02 -1.47231011e+01] [-9.09475813e-02 -3.48492244e-03 9.95849583e-01 -1.33504599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:-14.74, Z:-1.34 [[ 8.11975010e-01 5.78819788e-01 7.52611201e-02 5.21507237e+01] [-5.76704568e-01 8.15449297e-01 -4.95407363e-02 -1.47366915e+01] [-9.00467859e-02 -3.17759197e-03 9.95932467e-01 -1.33838430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:-14.75, Z:-1.35 [[ 8.15150127e-01 5.74758855e-01 7.19897853e-02 5.21797926e+01] [-5.72803482e-01 8.18318810e-01 -4.74393919e-02 -1.47510678e+01] [-8.61768060e-02 -2.56577332e-03 9.96276555e-01 -1.34666640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:-14.77, Z:-1.35 [[ 8.16315385e-01 5.73100817e-01 7.20044842e-02 5.22074680e+01] [-5.71133924e-01 8.19481500e-01 -4.74985499e-02 -1.47682465e+01] [-8.62278005e-02 -2.35040658e-03 9.96272675e-01 -1.34978893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:-14.78, Z:-1.35 [[ 8.17383998e-01 5.71243215e-01 7.45961670e-02 5.22368117e+01] [-5.69122238e-01 8.20777854e-01 -4.92300020e-02 -1.47847836e+01] [-8.93491865e-02 -2.21452161e-03 9.95997901e-01 -1.34881942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:-14.80, Z:-1.34 [[ 8.19261869e-01 5.67920106e-01 7.92258970e-02 5.22697227e+01] [-5.65509338e-01 8.23081380e-01 -5.23089942e-02 -1.47961220e+01] [-9.49166901e-02 -1.94822022e-03 9.95483313e-01 -1.34164737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:-14.81, Z:-1.34 [[ 8.20639070e-01 5.65916707e-01 7.93082413e-02 5.22992341e+01] [-5.63489435e-01 8.24460667e-01 -5.23857305e-02 -1.48111761e+01] [-9.50324857e-02 -1.69957896e-03 9.95472721e-01 -1.34407653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:-14.87, Z:-1.36 [[ 8.25841459e-01 5.55723631e-01 9.56928912e-02 5.22901933e+01] [-5.59326990e-01 8.28833544e-01 1.37213001e-02 -1.48728181e+01] [-7.16882275e-02 -6.48552353e-02 9.95316330e-01 -1.35747636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.38, Y:-14.80, Z:-1.34 [[ 8.24319321e-01 5.64431000e-01 4.37641917e-02 5.23816861e+01] [-5.58198044e-01 8.23235971e-01 -1.03428618e-01 -1.48001181e+01] [-9.44065749e-02 6.08291216e-02 9.93673597e-01 -1.34490057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:-14.87, Z:-1.36 [[ 8.26328715e-01 5.57885710e-01 7.70998630e-02 5.23745728e+01] [-5.55544798e-01 8.29917539e-01 -5.10573681e-02 -1.48680112e+01] [-9.24707047e-02 -6.42258454e-04 9.95715198e-01 -1.36254107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.40, Y:-14.88, Z:-1.36 [[ 8.26750231e-01 5.57247573e-01 7.71958423e-02 5.24032845e+01] [-5.54895457e-01 8.30346218e-01 -5.11487012e-02 -1.48846982e+01] [-9.26017653e-02 -5.48421628e-04 9.95703074e-01 -1.36076413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.43, Y:-14.90, Z:-1.36 [[ 8.26364815e-01 5.58026320e-01 7.56823555e-02 5.24336585e+01] [-5.55763920e-01 8.29823049e-01 -5.02013132e-02 -1.48994754e+01] [-9.08166171e-02 -5.76923708e-04 9.95867466e-01 -1.35960935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.47, Y:-14.91, Z:-1.36 [[ 8.24998562e-01 5.60270023e-01 7.39923962e-02 5.24662328e+01] [-5.58112322e-01 8.28309675e-01 -4.91296062e-02 -1.49093581e+01] [-8.88144632e-02 -7.64213656e-04 9.96047894e-01 -1.36136025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:-14.92, Z:-1.37 [[ 8.24573836e-01 5.60931437e-01 7.37150713e-02 5.24950157e+01] [-5.58790711e-01 8.27861860e-01 -4.89661353e-02 -1.49244973e+01] [-8.84925407e-02 -8.15103061e-04 9.96076506e-01 -1.36653015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:-14.97, Z:-1.38 [[ 8.26369397e-01 5.56961498e-01 8.31114236e-02 5.24976586e+01] [-5.58705962e-01 8.29361398e-01 -2.70549788e-03 -1.49709160e+01] [-7.04362646e-02 -4.41991072e-02 9.96536588e-01 -1.37688791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:-14.93, Z:-1.37 [[ 8.24632825e-01 5.63232411e-01 5.24400161e-02 5.25701579e+01] [-5.58117413e-01 8.25217969e-01 -8.67194161e-02 -1.49251831e+01] [-9.21176294e-02 4.22439909e-02 9.94851641e-01 -1.36657201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.58, Y:-14.97, Z:-1.38 [[ 8.25188659e-01 5.59724944e-01 7.59714628e-02 5.25751394e+01] [-5.57435859e-01 8.28678229e-01 -5.05732763e-02 -1.49749307e+01] [-9.12630215e-02 -6.16723549e-04 9.95826632e-01 -1.37665299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:-15.03, Z:-1.39 [[ 8.28423175e-01 5.53137032e-01 8.80594481e-02 5.25738408e+01] [-5.55431882e-01 8.31559900e-01 1.88586403e-03 -1.50279859e+01] [-7.21835646e-02 -5.04733185e-02 9.96113436e-01 -1.38534237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:-14.97, Z:-1.37 [[ 8.28803800e-01 5.57212028e-01 5.09805469e-02 5.26528451e+01] [-5.51560328e-01 8.28918834e-01 -9.31384459e-02 -1.49727454e+01] [-9.41565979e-02 4.90746507e-02 9.94347129e-01 -1.36957248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.66, Y:-15.03, Z:-1.38 [[ 8.29124933e-01 5.53342100e-01 7.97769783e-02 5.26559879e+01] [-5.50777866e-01 8.32954074e-01 -5.32095248e-02 -1.50251093e+01] [-9.58936292e-02 1.77949819e-04 9.95391571e-01 -1.38276121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.68, Y:-15.04, Z:-1.38 [[ 8.29079926e-01 5.53258297e-01 8.08191408e-02 5.26849168e+01] [-5.50623845e-01 8.33009732e-01 -5.39274348e-02 -1.50407050e+01] [-9.71589315e-02 2.09207633e-04 9.95268857e-01 -1.38491338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:-15.05, Z:-1.39 [[ 8.28132651e-01 5.54439392e-01 8.24213127e-02 5.27153065e+01] [-5.51702681e-01 8.32224099e-01 -5.50200008e-02 -1.50548027e+01] [-9.90982585e-02 9.17999937e-05 9.95077649e-01 -1.38830707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.74, Y:-15.07, Z:-1.39 [[ 8.27519348e-01 5.55610157e-01 8.06788892e-02 5.27418142e+01] [-5.52991608e-01 8.31442934e-01 -5.38788273e-02 -1.50738338e+01] [-9.70155161e-02 -2.89766514e-05 9.95282869e-01 -1.39139016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:-15.09, Z:-1.39 [[ 8.27019588e-01 5.56331749e-01 8.08306025e-02 5.27681731e+01] [-5.53704548e-01 8.30960273e-01 -5.40027591e-02 -1.50942211e+01] [-9.72104690e-02 -9.49326349e-05 9.95263842e-01 -1.39350610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:-15.11, Z:-1.40 [[ 8.26976481e-01 5.56416675e-01 8.06869544e-02 5.27945214e+01] [-5.53797033e-01 8.30903410e-01 -5.39292975e-02 -1.51134890e+01] [-9.70502260e-02 -8.59353041e-05 9.95279481e-01 -1.39509741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:-15.13, Z:-1.40 [[ 8.27329366e-01 5.55918158e-01 8.05054197e-02 5.28217133e+01] [-5.53305764e-01 8.31237031e-01 -5.38305613e-02 -1.51315008e+01] [-9.68444726e-02 -8.50863582e-06 9.95299527e-01 -1.39844667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.85, Y:-15.15, Z:-1.40 [[ 8.27013590e-01 5.56133730e-01 8.22423004e-02 5.28493294e+01] [-5.53405833e-01 8.31092819e-01 -5.50155378e-02 -1.51499719e+01] [-9.89469815e-02 -1.47713264e-05 9.95092707e-01 -1.40138561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.88, Y:-15.17, Z:-1.40 [[ 8.27325725e-01 5.55646707e-01 8.23946697e-02 5.28758743e+01] [-5.52903938e-01 8.31418506e-01 -5.51407486e-02 -1.51689831e+01] [-9.91432286e-02 6.30224460e-05 9.95073171e-01 -1.40457491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.90, Y:-15.19, Z:-1.40 [[ 8.27837616e-01 5.54882287e-01 8.24046673e-02 5.29020713e+01] [-5.52132774e-01 8.31928854e-01 -5.51704851e-02 -1.51896533e+01] [-9.91679453e-02 1.73885363e-04 9.95070695e-01 -1.40471534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:52.93, Y:-15.21, Z:-1.41 [[ 8.27345123e-01 5.55679314e-01 8.19789441e-02 5.29299821e+01] [-5.52959843e-01 8.31396710e-01 -5.49083012e-02 -1.52077808e+01] [-9.86684316e-02 9.70511236e-05 9.95120360e-01 -1.40726539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:-15.23, Z:-1.41 [[ 8.26807477e-01 5.56644428e-01 8.08478620e-02 5.29574991e+01] [-5.54002081e-01 8.30750854e-01 -5.41729924e-02 -1.52255608e+01] [-9.73195247e-02 7.51382367e-07 9.95253189e-01 -1.41054502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:-15.24, Z:-1.42 [[ 8.25966787e-01 5.58033197e-01 7.98612387e-02 5.29843896e+01] [-5.55459437e-01 8.29818613e-01 -5.35339407e-02 -1.52440675e+01] [-9.61440584e-02 -1.42421703e-04 9.95367419e-01 -1.41527106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.01, Y:-15.26, Z:-1.42 [[ 8.24034982e-01 5.61336438e-01 7.66012481e-02 5.30100932e+01] [-5.58981235e-01 8.27587557e-01 -5.13693850e-02 -1.52636720e+01] [-9.22297474e-02 -4.88490016e-04 9.95737634e-01 -1.42110848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:-15.31, Z:-1.43 [[ 8.24340532e-01 5.59337546e-01 8.72020529e-02 5.30121727e+01] [-5.61390222e-01 8.27550370e-01 -1.18436192e-03 -1.53148388e+01] [-7.28265493e-02 -4.79780623e-02 9.96189941e-01 -1.42969859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.07, Y:-15.29, Z:-1.42 [[ 8.22987792e-01 5.65050466e-01 5.83871988e-02 5.30679571e+01] [-5.62963260e-01 8.25021863e-01 -4.91049130e-02 -1.52879094e+01] [-7.59174695e-02 7.54289610e-03 9.97085574e-01 -1.42099663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:-15.28, Z:-1.42 [[ 8.20446700e-01 5.68844314e-01 5.73006043e-02 5.31116312e+01] [-5.63712255e-01 8.21596566e-01 -8.48974455e-02 -1.52823812e+01] [-9.53714089e-02 3.73527761e-02 9.94740702e-01 -1.41715272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.12, Y:-15.33, Z:-1.43 [[ 8.20324955e-01 5.66200220e-01 8.05250283e-02 5.31177892e+01] [-5.63612146e-01 8.24267113e-01 -5.40839654e-02 -1.53309415e+01] [-9.69964857e-02 -1.01845755e-03 9.95284203e-01 -1.42856213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:-15.35, Z:-1.43 [[ 8.21131559e-01 5.65118896e-01 7.98974099e-02 5.31434267e+01] [-5.62563806e-01 8.25009021e-01 -5.36850043e-02 -1.53509319e+01] [-9.62544943e-02 -8.64939682e-04 9.95356381e-01 -1.43144621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:-15.37, Z:-1.44 [[ 8.22089967e-01 5.63541328e-01 8.11742443e-02 5.31700788e+01] [-5.60893764e-01 8.26087599e-01 -5.45661570e-02 -1.53692786e+01] [-9.78073211e-02 -6.71837186e-04 9.95205143e-01 -1.43532804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:-15.38, Z:-1.44 [[ 8.24009166e-01 5.60684825e-01 8.14949146e-02 5.31992238e+01] [-5.57999992e-01 8.28029244e-01 -5.48049365e-02 -1.53846210e+01] [-9.82084687e-02 -3.14391614e-04 9.95165814e-01 -1.43630394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:-15.40, Z:-1.44 [[ 8.23638228e-01 5.60886186e-01 8.38257464e-02 5.32279163e+01] [-5.58043731e-01 8.27892855e-01 -5.63969467e-02 -1.54011333e+01] [-1.01031005e-01 -3.27750998e-04 9.94883224e-01 -1.43786674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:-15.42, Z:-1.44 [[ 8.23404103e-01 5.61341501e-01 8.30746774e-02 5.32565319e+01] [-5.58549839e-01 8.27584189e-01 -5.59150069e-02 -1.54171623e+01] [-1.00138703e-01 -3.60701539e-04 9.94973422e-01 -1.43957879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:-15.43, Z:-1.44 [[ 8.23097475e-01 5.62221468e-01 8.01097193e-02 5.32849257e+01] [-5.59628008e-01 8.26986598e-01 -5.39412578e-02 -1.54330755e+01] [-9.65765974e-02 -4.32729547e-04 9.95325461e-01 -1.44275687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:-15.45, Z:-1.45 [[ 8.23175365e-01 5.62265464e-01 7.89928210e-02 5.33113620e+01] [-5.59742086e-01 8.26956696e-01 -5.32110887e-02 -1.54527909e+01] [-9.52423997e-02 -4.13549066e-04 9.95454024e-01 -1.44734959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.34, Y:-15.47, Z:-1.45 [[ 8.22639879e-01 5.62857091e-01 8.03462794e-02 5.33369413e+01] [-5.60246881e-01 8.26554095e-01 -5.41457323e-02 -1.54731353e+01] [-9.68868557e-02 -4.71313733e-04 9.95295290e-01 -1.45062982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:-15.49, Z:-1.45 [[ 8.22695704e-01 5.62534498e-01 8.20165685e-02 5.33629563e+01] [-5.59810414e-01 8.26773705e-01 -5.52950387e-02 -1.54930658e+01] [-9.89145091e-02 -4.22738370e-04 9.95095845e-01 -1.45262027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.39, Y:-15.51, Z:-1.45 [[ 8.24379837e-01 5.59814961e-01 8.36964451e-02 5.33892149e+01] [-5.56961406e-01 8.28617646e-01 -5.64516492e-02 -1.55138397e+01] [-1.00954829e-01 -7.80883300e-05 9.94891007e-01 -1.45374517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.42, Y:-15.53, Z:-1.46 [[ 8.25473713e-01 5.58300953e-01 8.30252674e-02 5.34152229e+01] [-5.55483115e-01 8.29638494e-01 -5.60221250e-02 -1.55342088e+01] [-1.00158164e-01 1.25657404e-04 9.94971520e-01 -1.45693503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:-15.56, Z:-1.46 [[ 8.26030107e-01 5.57617543e-01 8.20788497e-02 5.34411508e+01] [-5.54857537e-01 8.30097960e-01 -5.54120128e-02 -1.55551603e+01] [-9.90321961e-02 2.29922526e-04 9.95084203e-01 -1.46003703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:-15.58, Z:-1.46 [[ 8.25874165e-01 5.57842213e-01 8.21214302e-02 5.34669516e+01] [-5.55074389e-01 8.29946987e-01 -5.55015417e-02 -1.55758355e+01] [-9.91175364e-02 2.53786742e-04 9.95075700e-01 -1.46285551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.49, Y:-15.59, Z:-1.47 [[ 8.24379210e-01 5.60248567e-01 8.07493704e-02 5.34948807e+01] [-5.57578355e-01 8.28324539e-01 -5.46336473e-02 -1.55938599e+01] [-9.74951077e-02 1.47418516e-05 9.95236004e-01 -1.46519284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.52, Y:-15.61, Z:-1.47 [[ 8.23215681e-01 5.61966460e-01 8.06823419e-02 5.35225847e+01] [-5.59303534e-01 8.27160007e-01 -5.46432042e-02 -1.56110867e+01] [-9.74448545e-02 -1.42776317e-04 9.95240916e-01 -1.46787986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:-15.65, Z:-1.47 [[ 8.22990351e-01 5.61577991e-01 8.55397137e-02 5.35316423e+01] [-5.62032579e-01 8.26849435e-01 -2.09616742e-02 -1.56514062e+01] [-8.25000789e-02 -3.08248503e-02 9.96114233e-01 -1.47427811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:-15.63, Z:-1.47 [[ 8.19103145e-01 5.70020747e-01 6.43924434e-02 5.35858912e+01] [-5.65116641e-01 8.21109303e-01 -8.01417123e-02 -1.56306240e+01] [-9.85556731e-02 2.92550872e-02 9.94701422e-01 -1.46970673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:-15.67, Z:-1.48 [[ 8.17405707e-01 5.70472823e-01 8.00541569e-02 5.35970634e+01] [-5.67883162e-01 8.21315779e-01 -5.43056625e-02 -1.56721678e+01] [-9.67296468e-02 -1.07164926e-03 9.95310116e-01 -1.47911857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:-15.69, Z:-1.48 [[ 8.15232592e-01 5.73578613e-01 8.00212208e-02 5.36251603e+01] [-5.71003280e-01 8.19149296e-01 -5.43110071e-02 -1.56891714e+01] [-9.67009588e-02 -1.41627645e-03 9.95312473e-01 -1.48113568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:-15.71, Z:-1.48 [[ 8.15102236e-01 5.73767519e-01 7.99948693e-02 5.36528755e+01] [-5.71189287e-01 8.19017031e-01 -5.43497947e-02 -1.57078589e+01] [-9.67013072e-02 -1.39157319e-03 9.95312474e-01 -1.48396440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:-15.72, Z:-1.48 [[ 8.11988929e-01 5.78147121e-01 8.01241872e-02 5.36838382e+01] [-5.75579102e-01 8.15930341e-01 -5.44644501e-02 -1.57209508e+01] [-9.68642205e-02 -1.89327723e-03 9.95295804e-01 -1.48487690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:-15.74, Z:-1.49 [[ 8.11162184e-01 5.79571949e-01 7.81809916e-02 5.37124851e+01] [-5.77131445e-01 8.14918638e-01 -5.31686756e-02 -1.57370870e+01] [-9.45262202e-02 -1.99228965e-03 9.95520379e-01 -1.48733780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.74, Y:-15.75, Z:-1.49 [[ 8.10267708e-01 5.80820441e-01 7.81911581e-02 5.37407679e+01] [-5.78382940e-01 8.14028945e-01 -5.31982349e-02 -1.57537102e+01] [-9.45484882e-02 -2.11961997e-03 9.95518001e-01 -1.49165954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:-15.77, Z:-1.49 [[ 8.08577217e-01 5.83005185e-01 7.94219027e-02 5.37707454e+01] [-5.80498429e-01 8.12464907e-01 -5.40587521e-02 -1.57684875e+01] [-9.60440416e-02 -2.39361442e-03 9.95374207e-01 -1.49339969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.80, Y:-15.78, Z:-1.49 [[ 8.08603478e-01 5.82618528e-01 8.19516025e-02 5.37998968e+01] [-5.79944796e-01 8.12742194e-01 -5.58046609e-02 -1.57848595e+01] [-9.91183546e-02 -2.40356246e-03 9.95072748e-01 -1.49478241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:-15.80, Z:-1.50 [[ 8.09234626e-01 5.81742833e-01 8.19426398e-02 5.38293215e+01] [-5.79062869e-01 8.13369591e-01 -5.58220510e-02 -1.58002423e+01] [-9.91237296e-02 -2.27680358e-03 9.95072511e-01 -1.49724026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:-15.81, Z:-1.50 [[ 8.11111223e-01 5.79449270e-01 7.96060778e-02 5.38615952e+01] [-5.76907190e-01 8.15006044e-01 -5.42516529e-02 -1.58102112e+01] [-9.63155152e-02 -1.92119418e-03 9.95348999e-01 -1.50234796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:-15.82, Z:-1.51 [[ 8.11630163e-01 5.78806900e-01 7.89876574e-02 5.38907771e+01] [-5.76299770e-01 8.15462609e-01 -5.38452245e-02 -1.58234559e+01] [-9.55774687e-02 -1.81816052e-03 9.95420334e-01 -1.50592140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:-15.84, Z:-1.51 [[ 8.11869696e-01 5.78498335e-01 7.87862490e-02 5.39198473e+01] [-5.76001205e-01 8.15681653e-01 -5.37220012e-02 -1.58363297e+01] [-9.53425860e-02 -1.76570960e-03 9.95442953e-01 -1.50802613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:53.95, Y:-15.85, Z:-1.51 [[ 8.12422863e-01 5.77696008e-01 7.89709694e-02 5.39476387e+01] [-5.75182706e-01 8.16250288e-01 -5.38546364e-02 -1.58497781e+01] [-9.55716850e-02 -1.66999798e-03 9.95421149e-01 -1.50975625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.94, Y:-15.91, Z:-1.52 [[ 8.18006874e-01 5.67008040e-01 9.67813921e-02 5.39400263e+01] [-5.70093699e-01 8.21562930e-01 5.24664884e-03 -1.59054466e+01] [-7.65371120e-02 -5.94662566e-02 9.95291834e-01 -1.51864758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.03, Y:-15.84, Z:-1.49 [[ 8.17216053e-01 5.74050946e-01 5.12194723e-02 5.40255509e+01] [-5.67380118e-01 8.16942431e-01 -1.03367622e-01 -1.58396580e+01] [-1.01181642e-01 5.54127702e-02 9.93323563e-01 -1.49447333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:54.02, Y:-15.90, Z:-1.51 [[ 8.19184333e-01 5.67498349e-01 8.29617501e-02 5.40188768e+01] [-5.64672570e-01 8.23374377e-01 -5.65643465e-02 -1.58957069e+01] [-1.00408753e-01 -5.09598145e-04 9.94946141e-01 -1.51070312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:-15.91, Z:-1.51 [[ 8.23337466e-01 5.61445355e-01 8.30333057e-02 5.40451737e+01] [-5.58589135e-01 8.27513793e-01 -5.65605927e-02 -1.59116107e+01] [-1.00466888e-01 1.86952735e-04 9.94940385e-01 -1.51497001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:54.07, Y:-15.93, Z:-1.52 [[ 8.24754465e-01 5.59188530e-01 8.41918012e-02 5.40715561e+01] [-5.56239159e-01 8.29040385e-01 -5.73588416e-02 -1.59295781e+01] [-1.01872810e-01 4.76183971e-04 9.94797318e-01 -1.51904743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:-15.95, Z:-1.52 [[ 8.25839805e-01 5.57546238e-01 8.44441138e-02 5.40976075e+01] [-5.54568922e-01 8.30145596e-01 -5.75465098e-02 -1.59477925e+01] [-1.02185749e-01 6.94117343e-04 9.94765093e-01 -1.52209115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:-15.97, Z:-1.52 [[ 8.27204969e-01 5.55449526e-01 8.48985400e-02 5.41236455e+01] [-5.52427340e-01 8.31549686e-01 -5.78718804e-02 -1.59665911e+01] [-1.02742263e-01 9.71632436e-04 9.94707537e-01 -1.52338856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.15, Y:-15.99, Z:-1.53 [[ 8.27641353e-01 5.55088247e-01 8.29869201e-02 5.41492049e+01] [-5.52197664e-01 8.31790855e-01 -5.65836865e-02 -1.59856682e+01] [-1.00436701e-01 1.00581536e-03 9.94942942e-01 -1.52540920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:-16.01, Z:-1.53 [[ 8.28512606e-01 5.53832603e-01 8.26819747e-02 5.41737383e+01] [-5.50955529e-01 8.32627220e-01 -5.63907652e-02 -1.60063323e+01] [-1.00074307e-01 1.16636878e-03 9.94979283e-01 -1.52830788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:-16.03, Z:-1.53 [[ 8.29413579e-01 5.52660613e-01 8.14822760e-02 5.41981827e+01] [-5.49859436e-01 8.33405395e-01 -5.55882029e-02 -1.60288380e+01] [-9.86291787e-02 1.30181203e-03 9.95123405e-01 -1.53205224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:-16.06, Z:-1.54 [[ 8.31791815e-01 5.49076021e-01 8.14733063e-02 5.42200509e+01] [-5.46256053e-01 8.35770587e-01 -5.56044010e-02 -1.60555242e+01] [-9.86240363e-02 1.74599891e-03 9.95123234e-01 -1.53795417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.25, Y:-16.08, Z:-1.54 [[ 8.33131805e-01 5.47222860e-01 8.02404921e-02 5.42462163e+01] [-5.44477099e-01 8.36984662e-01 -5.47847146e-02 -1.60762713e+01] [-9.71395094e-02 1.95377781e-03 9.95268857e-01 -1.54200149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:-16.10, Z:-1.55 [[ 8.33933299e-01 5.45973004e-01 8.04284276e-02 5.42726524e+01] [-5.43206395e-01 8.37800079e-01 -5.49348703e-02 -1.60959684e+01] [-9.73758992e-02 2.12278140e-03 9.95245411e-01 -1.54558579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.30, Y:-16.12, Z:-1.55 [[ 8.34298049e-01 5.45645127e-01 7.88553183e-02 5.42985172e+01] [-5.42982478e-01 8.38013623e-01 -5.38813188e-02 -1.61155695e+01] [-9.54819101e-02 2.13602300e-03 9.95428874e-01 -1.54906792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:-16.14, Z:-1.55 [[ 8.33135838e-01 5.47660139e-01 7.71559944e-02 5.43243710e+01] [-5.45117979e-01 8.36698772e-01 -5.27404340e-02 -1.61362873e+01] [-9.34401592e-02 1.88082594e-03 9.95623121e-01 -1.54930078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:-16.16, Z:-1.55 [[ 8.31761466e-01 5.49717081e-01 7.73562815e-02 5.43514613e+01] [-5.47168557e-01 8.35349230e-01 -5.28983412e-02 -1.61556162e+01] [-9.36986318e-02 1.67187683e-03 9.95599202e-01 -1.55081200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:-16.18, Z:-1.55 [[ 8.27036315e-01 5.56844786e-01 7.70377742e-02 5.43761400e+01] [-5.54345958e-01 8.30616102e-01 -5.27015118e-02 -1.61772804e+01] [-9.33353778e-02 8.80485330e-04 9.95634336e-01 -1.55334667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.40, Y:-16.20, Z:-1.56 [[ 8.24744419e-01 5.60214365e-01 7.71784122e-02 5.44010832e+01] [-5.57718932e-01 8.28347509e-01 -5.28204291e-02 -1.61989334e+01] [-9.35213087e-02 5.19492487e-04 9.95617143e-01 -1.55712976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.43, Y:-16.22, Z:-1.56 [[ 8.23032357e-01 5.62463954e-01 7.90698454e-02 5.44266559e+01] [-5.59850904e-01 8.26821751e-01 -5.41549316e-02 -1.62207478e+01] [-9.58368650e-02 3.03936555e-04 9.95397008e-01 -1.55988121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.45, Y:-16.24, Z:-1.56 [[ 8.21846620e-01 5.64003615e-01 8.04242212e-02 5.44528473e+01] [-5.61305121e-01 8.25772306e-01 -5.51058994e-02 -1.62409774e+01] [-9.74920210e-02 1.46069862e-04 9.95236296e-01 -1.56118610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:-16.26, Z:-1.56 [[ 8.19989764e-01 5.66773533e-01 7.99033792e-02 5.44798603e+01] [-5.64120845e-01 8.23873616e-01 -5.47716730e-02 -1.62600363e+01] [-9.68734206e-02 -1.62950625e-04 9.95296696e-01 -1.56361570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:-16.28, Z:-1.57 [[ 8.18507282e-01 5.69093411e-01 7.86035604e-02 5.45073933e+01] [-5.66535049e-01 8.22272777e-01 -5.39028574e-02 -1.62787024e+01] [-9.53093289e-02 -4.11790653e-04 9.95447619e-01 -1.56810916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:-16.30, Z:-1.57 [[ 8.16399395e-01 5.72285527e-01 7.73388885e-02 5.45349519e+01] [-5.69821193e-01 8.20054089e-01 -5.30575066e-02 -1.62971971e+01] [-9.37861149e-02 -7.53221496e-04 9.95592084e-01 -1.57203475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.56, Y:-16.31, Z:-1.58 [[ 8.13687701e-01 5.76176213e-01 7.70278984e-02 5.45625395e+01] [-5.73746966e-01 8.17324650e-01 -5.28662060e-02 -1.63149575e+01] [-9.34170505e-02 -1.17794137e-03 9.95626369e-01 -1.57597243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:-16.33, Z:-1.58 [[ 8.07742815e-01 5.84374830e-01 7.78306071e-02 5.45918796e+01] [-5.81930116e-01 8.11481076e-01 -5.34397146e-02 -1.63305832e+01] [-9.43868889e-02 -2.12642873e-03 9.95533321e-01 -1.57878040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:-16.35, Z:-1.58 [[ 8.05051067e-01 5.87749372e-01 8.02711323e-02 5.46206036e+01] [-5.85162938e-01 8.09038942e-01 -5.51391475e-02 -1.63476418e+01] [-9.73504712e-02 -2.58186209e-03 9.95246813e-01 -1.57991744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.65, Y:-16.36, Z:-1.58 [[ 8.03428375e-01 5.89586272e-01 8.30112902e-02 5.46485419e+01] [-5.86827079e-01 8.07700271e-01 -5.70460454e-02 -1.63645931e+01] [-1.00681807e-01 -2.88086133e-03 9.94914506e-01 -1.58096268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:-16.38, Z:-1.58 [[ 8.01836809e-01 5.91573401e-01 8.42534462e-02 5.46788954e+01] [-5.88739184e-01 8.06244964e-01 -5.79243624e-02 -1.63792045e+01] [-1.02195429e-01 -3.15741927e-03 9.94759330e-01 -1.58196262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.71, Y:-16.40, Z:-1.59 [[ 8.00998561e-01 5.92890862e-01 8.29561988e-02 5.47075999e+01] [-5.90148078e-01 8.05276247e-01 -5.70562169e-02 -1.63950377e+01] [-1.00630766e-01 -3.25449375e-03 9.94918518e-01 -1.58591059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:-16.41, Z:-1.59 [[ 8.00313859e-01 5.93891863e-01 8.24025637e-02 5.47361997e+01] [-5.91188557e-01 8.04537948e-01 -5.66990244e-02 -1.64114387e+01] [-9.99690787e-02 -3.33843768e-03 9.94984944e-01 -1.59115104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:-16.43, Z:-1.60 [[ 8.00171786e-01 5.94072674e-01 8.24789095e-02 5.47648562e+01] [-5.91362929e-01 8.04404418e-01 -5.67751604e-02 -1.64278594e+01] [-1.00074971e-01 -3.34508796e-03 9.94974276e-01 -1.59509382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:-16.44, Z:-1.60 [[ 8.00741824e-01 5.93115879e-01 8.38217514e-02 5.47946811e+01] [-5.90309374e-01 8.05110507e-01 -5.77227416e-02 -1.64414023e+01] [-1.01722047e-01 -3.25975219e-03 9.94807519e-01 -1.59503805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:-16.46, Z:-1.60 [[ 8.00893381e-01 5.92932611e-01 8.36702476e-02 5.48236827e+01] [-5.90133646e-01 8.05245655e-01 -5.76343162e-02 -1.64568684e+01] [-1.01548369e-01 -3.21768597e-03 9.94825399e-01 -1.59588240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:-16.47, Z:-1.60 [[ 8.01513163e-01 5.92059797e-01 8.39157054e-02 5.48520638e+01] [-5.89237944e-01 8.05888060e-01 -5.78193733e-02 -1.64726398e+01] [-1.01859191e-01 -3.10332892e-03 9.94793986e-01 -1.59706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:-16.49, Z:-1.60 [[ 8.02897330e-01 5.90228139e-01 8.35860139e-02 5.48788430e+01] [-5.87417076e-01 8.07231464e-01 -5.76068001e-02 -1.64887749e+01] [-1.01474415e-01 -2.84750585e-03 9.94834074e-01 -1.60023872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:-16.51, Z:-1.61 [[ 8.03011013e-01 5.90247419e-01 8.23486367e-02 5.49051275e+01] [-5.87518380e-01 8.07217531e-01 -5.67627577e-02 -1.65062224e+01] [-9.99773345e-02 -2.80021805e-03 9.94985774e-01 -1.60506974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:-16.52, Z:-1.61 [[ 8.02806307e-01 5.90795134e-01 8.03936755e-02 5.49323550e+01] [-5.88195765e-01 8.06816792e-01 -5.54292882e-02 -1.65207910e+01] [-9.76103211e-02 -2.78823734e-03 9.95220805e-01 -1.60970712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.96, Y:-16.53, Z:-1.61 [[ 8.00507915e-01 5.94265140e-01 7.76918447e-02 5.49613692e+01] [-5.91853958e-01 8.04263223e-01 -5.35682838e-02 -1.65268827e+01] [-9.43184571e-02 -3.10039060e-03 9.95537250e-01 -1.61428399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.99, Y:-16.54, Z:-1.62 [[ 7.99448324e-01 5.95631293e-01 7.81392379e-02 5.49857692e+01] [-5.93204319e-01 8.03251074e-01 -5.38177351e-02 -1.65400019e+01] [-9.48209539e-02 -3.32803520e-03 9.95488780e-01 -1.61620162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:-16.56, Z:-1.62 [[ 8.00228311e-01 5.94161778e-01 8.12799581e-02 5.50080299e+01] [-5.91534110e-01 8.04338654e-01 -5.59171349e-02 -1.65564138e+01] [-9.86004364e-02 -3.33339326e-03 9.95121521e-01 -1.61606897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.03, Y:-16.57, Z:-1.62 [[ 8.02155383e-01 5.91471334e-01 8.19048419e-02 5.50302229e+01] [-5.88795309e-01 8.06320157e-01 -5.62840000e-02 -1.65726738e+01] [-9.93318975e-02 -3.07667311e-03 9.95049601e-01 -1.61848525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:-16.59, Z:-1.62 [[ 8.04676880e-01 5.87997472e-01 8.21832785e-02 5.50533496e+01] [-5.85291343e-01 8.08858235e-01 -5.64127623e-02 -1.65878293e+01] [-9.96451832e-02 -2.70711589e-03 9.95019351e-01 -1.62177580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.08, Y:-16.60, Z:-1.63 [[ 8.07275389e-01 5.84461396e-01 8.19226622e-02 5.50766030e+01] [-5.81760455e-01 8.11418218e-01 -5.61715972e-02 -1.66019426e+01] [-9.93036708e-02 -2.31341730e-03 9.95054485e-01 -1.62664624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.10, Y:-16.61, Z:-1.63 [[ 8.11222404e-01 5.79309703e-01 7.94888666e-02 5.51037739e+01] [-5.76748084e-01 8.15105791e-01 -5.44444333e-02 -1.66116939e+01] [-9.63320240e-02 -1.67850755e-03 9.95347841e-01 -1.63203034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.13, Y:-16.62, Z:-1.63 [[ 8.13154148e-01 5.76936905e-01 7.69684320e-02 5.51284223e+01] [-5.74530140e-01 8.16787519e-01 -5.26618183e-02 -1.66245167e+01] [-9.32494012e-02 -1.39850797e-03 9.95641800e-01 -1.63499730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:-16.64, Z:-1.64 [[ 8.14737172e-01 5.74851309e-01 7.58242325e-02 5.51524084e+01] [-5.72511871e-01 8.18257026e-01 -5.18227384e-02 -1.66388580e+01] [-9.18340800e-02 -1.18836196e-03 9.95773614e-01 -1.63624746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:-16.65, Z:-1.64 [[ 8.15994898e-01 5.73088419e-01 7.56438427e-02 5.51758109e+01] [-5.70757809e-01 8.19492889e-01 -5.16423220e-02 -1.66542562e+01] [-9.15852078e-02 -1.03444258e-03 9.95796706e-01 -1.63559898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:-16.67, Z:-1.63 [[ 8.17290088e-01 5.71012379e-01 7.73419313e-02 5.51979183e+01] [-5.68572044e-01 8.20940989e-01 -5.27420455e-02 -1.66709106e+01] [-9.36095225e-02 -8.68908935e-04 9.95608609e-01 -1.63489639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.22, Y:-16.69, Z:-1.64 [[ 8.18596311e-01 5.68931946e-01 7.88449121e-02 5.52201291e+01] [-5.66391765e-01 8.22384314e-01 -5.37066914e-02 -1.66885882e+01] [-9.53962715e-02 -6.93009425e-04 9.95439135e-01 -1.63554665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.24, Y:-16.71, Z:-1.64 [[ 8.21723904e-01 5.64239980e-01 8.00191947e-02 5.52414819e+01] [-5.61606992e-01 8.25610808e-01 -5.44461253e-02 -1.67057075e+01] [-9.67853926e-02 -1.99656618e-04 9.95305254e-01 -1.64047237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.27, Y:-16.72, Z:-1.64 [[ 8.22693374e-01 5.62642368e-01 8.12968550e-02 5.52656455e+01] [-5.59922743e-01 8.26700406e-01 -5.52535995e-02 -1.67188308e+01] [-9.82961591e-02 -6.31879267e-05 9.95157204e-01 -1.64313792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:-16.73, Z:-1.64 [[ 8.23605244e-01 5.61212525e-01 8.19445208e-02 5.52913201e+01] [-5.58448326e-01 8.27671734e-01 -5.56324461e-02 -1.67297753e+01] [-9.90447891e-02 5.73939322e-05 9.95082975e-01 -1.64401088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:-16.74, Z:-1.65 [[ 8.24465348e-01 5.60019534e-01 8.14555808e-02 5.53166000e+01] [-5.57288434e-01 8.28479390e-01 -5.52403943e-02 -1.67415864e+01] [-9.84199698e-02 1.49537790e-04 9.95144958e-01 -1.64546234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.34, Y:-16.76, Z:-1.65 [[ 8.26445171e-01 5.57458123e-01 7.89228709e-02 5.53375458e+01] [-5.54888332e-01 8.30204966e-01 -5.34663741e-02 -1.67608026e+01] [-9.53274239e-02 3.93646529e-04 9.95445894e-01 -1.64893911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.36, Y:-16.78, Z:-1.65 [[ 8.26708880e-01 5.57063179e-01 7.89496237e-02 5.53607569e+01] [-5.54495366e-01 8.30470025e-01 -5.34268432e-02 -1.67769174e+01] [-9.53274230e-02 3.91245201e-04 9.95445895e-01 -1.65141251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:-16.80, Z:-1.65 [[ 8.28261909e-01 5.54789621e-01 7.86809196e-02 5.53799307e+01] [-5.52234257e-01 8.31990451e-01 -5.31903673e-02 -1.67984305e+01] [-9.49712375e-02 6.05255954e-04 9.95479833e-01 -1.65469516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.40, Y:-16.82, Z:-1.66 [[ 8.30561918e-01 5.51308659e-01 7.89028768e-02 5.54007162e+01] [-5.48728680e-01 8.34300812e-01 -5.32821772e-02 -1.68179879e+01] [-9.52036598e-02 9.57875800e-04 9.95457355e-01 -1.65687256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.42, Y:-16.83, Z:-1.66 [[ 8.33122461e-01 5.47330569e-01 7.96003423e-02 5.54222591e+01] [-5.44692123e-01 8.36915380e-01 -5.36948557e-02 -1.68349880e+01] [-9.60075866e-02 1.37671084e-03 9.95379650e-01 -1.65855441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:-16.85, Z:-1.66 [[ 8.35483417e-01 5.43507666e-01 8.10362731e-02 5.54441937e+01] [-5.40760752e-01 8.39402274e-01 -5.46043116e-02 -1.68518952e+01] [-9.76998938e-02 1.79976078e-03 9.95214294e-01 -1.66059893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:-16.87, Z:-1.67 [[ 8.38824233e-01 5.38043009e-01 8.29676275e-02 5.54650357e+01] [-5.35142419e-01 8.42913837e-01 -5.58467024e-02 -1.68712325e+01] [-9.99824891e-02 2.44607047e-03 9.94986190e-01 -1.66561493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.49, Y:-16.89, Z:-1.67 [[ 8.39163429e-01 5.37603422e-01 8.23850701e-02 5.54904234e+01] [-5.34745716e-01 8.43194276e-01 -5.54114841e-02 -1.68893280e+01] [-9.92560230e-02 2.44422773e-03 9.95058927e-01 -1.66889883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:-16.91, Z:-1.67 [[ 8.39045657e-01 5.37893567e-01 8.16877940e-02 5.55163010e+01] [-5.35084915e-01 8.43009358e-01 -5.49486780e-02 -1.69062534e+01] [-9.84201151e-02 2.39454341e-03 9.95142074e-01 -1.67113829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:-16.95, Z:-1.68 [[ 8.38002168e-01 5.38837785e-01 8.60593321e-02 5.55221893e+01] [-5.39781306e-01 8.41690429e-01 -1.39055434e-02 -1.69498275e+01] [-7.99281483e-02 -3.48003431e-02 9.96192967e-01 -1.68068291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.55, Y:-16.95, Z:-1.68 [[ 8.39650156e-01 5.38346309e-01 7.19087441e-02 5.55500662e+01] [-5.37977855e-01 8.42556120e-01 -2.60578625e-02 -1.69527510e+01] [-7.46153065e-02 -1.68058236e-02 9.97070770e-01 -1.67886666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.61, Y:-16.92, Z:-1.66 [[ 8.37748624e-01 5.44051108e-01 4.67507743e-02 5.56111327e+01] [-5.38058705e-01 8.37047353e-01 -9.92197489e-02 -1.69190719e+01] [-9.31132262e-02 5.79665471e-02 9.93966703e-01 -1.66334260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:-16.98, Z:-1.68 [[ 8.36875792e-01 5.41341692e-01 8.11669974e-02 5.55998058e+01] [-5.38594671e-01 8.40800564e-01 -5.44994589e-02 -1.69832829e+01] [-9.77480865e-02 1.89316552e-03 9.95209389e-01 -1.67713259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:-17.00, Z:-1.68 [[ 8.36717905e-01 5.41216657e-01 8.35923307e-02 5.56247623e+01] [-5.38307344e-01 8.40880992e-01 -5.60745958e-02 -1.70030491e+01] [-1.00639707e-01 1.92025283e-03 9.94921083e-01 -1.67900375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.63, Y:-17.05, Z:-1.69 [[ 8.38782981e-01 5.36417816e-01 9.32686279e-02 5.56311670e+01] [-5.37133995e-01 8.43274061e-01 -1.93889022e-02 -1.70473455e+01] [-8.90515672e-02 -3.38346695e-02 9.95452175e-01 -1.68830128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:-17.02, Z:-1.68 [[ 8.39016067e-01 5.40345188e-01 6.38679714e-02 5.56936664e+01] [-5.34899026e-01 8.40618897e-01 -8.51052399e-02 -1.70154804e+01] [-9.96748305e-02 3.72417480e-02 9.94322875e-01 -1.67750338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.70, Y:-17.07, Z:-1.69 [[ 8.39932350e-01 5.36337136e-01 8.28017121e-02 5.56970528e+01] [-5.33453806e-01 8.44000056e-01 -5.55962387e-02 -1.70659477e+01] [-9.97029771e-02 2.52619102e-03 9.95014037e-01 -1.69110119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:-17.09, Z:-1.69 [[ 8.39324193e-01 5.37106526e-01 8.39730856e-02 5.57217597e+01] [-5.34143040e-01 8.43510767e-01 -5.63985671e-02 -1.70891987e+01] [-1.01124240e-01 2.48304256e-03 9.94870706e-01 -1.69295735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:-17.11, Z:-1.70 [[ 8.38804406e-01 5.37899701e-01 8.40897173e-02 5.57469484e+01] [-5.34929631e-01 8.43005400e-01 -5.64994351e-02 -1.71114739e+01] [-1.01279115e-01 2.40989370e-03 9.94855132e-01 -1.69502853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:55.77, Y:-17.13, Z:-1.70 [[ 8.37448675e-01 5.39931388e-01 8.45802171e-02 5.57734808e+01] [-5.36934453e-01 8.41706168e-01 -5.68517423e-02 -1.71321883e+01] [-1.01887731e-01 2.19638364e-03 9.94793479e-01 -1.69600930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.80, Y:-17.15, Z:-1.70 [[ 8.36393004e-01 5.41696446e-01 8.37359097e-02 5.58003286e+01] [-5.38765725e-01 8.40571851e-01 -5.63068070e-02 -1.71518107e+01] [-1.00887246e-01 1.98058134e-03 9.94895895e-01 -1.69912181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:-17.21, Z:-1.71 [[ 8.37950811e-01 5.36882696e-01 9.79561582e-02 5.57941005e+01] [-5.39678445e-01 8.41867676e-01 2.44806671e-03 -1.72096023e+01] [-8.11517986e-02 -5.49161866e-02 9.95187720e-01 -1.71186201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:-17.15, Z:-1.70 [[ 8.30710167e-01 5.54094367e-01 5.38521203e-02 5.58782497e+01] [-5.47397223e-01 8.30605362e-01 -1.02230195e-01 -1.71489475e+01] [-1.01375035e-01 5.54451613e-02 9.93302037e-01 -1.69599926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:-17.21, Z:-1.71 [[ 8.27494906e-01 5.54773318e-01 8.64797435e-02 5.58759433e+01] [-5.51704820e-01 8.32001387e-01 -5.82707764e-02 -1.72086583e+01] [-1.04278339e-01 5.07479377e-04 9.94548023e-01 -1.71001456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:-17.23, Z:-1.71 [[ 8.24564867e-01 5.59001181e-01 8.72379478e-02 5.59023634e+01] [-5.55898850e-01 8.29166859e-01 -5.88114715e-02 -1.72291844e+01] [-1.05210497e-01 -1.60168364e-06 9.94449974e-01 -1.71133034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:-17.25, Z:-1.71 [[ 8.21952386e-01 5.62745061e-01 8.78195407e-02 5.59292012e+01] [-5.59615334e-01 8.26630397e-01 -5.92694346e-02 -1.72485384e+01] [-1.05947883e-01 -4.28508387e-04 9.94371592e-01 -1.71297094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:-17.27, Z:-1.72 [[ 8.19482189e-01 5.66252092e-01 8.83601159e-02 5.59574265e+01] [-5.63096772e-01 8.24231688e-01 -5.97004962e-02 -1.72658649e+01] [-1.06634738e-01 -8.31802718e-04 9.94297913e-01 -1.71508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.99, Y:-17.28, Z:-1.72 [[ 8.14988552e-01 5.72771326e-01 8.79014704e-02 5.59885889e+01] [-5.69679928e-01 8.19713591e-01 -5.94508930e-02 -1.72779728e+01] [-1.06105797e-01 -1.62390615e-03 9.94353520e-01 -1.72045146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:-17.29, Z:-1.73 [[ 8.12791620e-01 5.76091781e-01 8.65334801e-02 5.60180732e+01] [-5.73112283e-01 8.17382555e-01 -5.85497255e-02 -1.72930579e+01] [-1.04460973e-01 -2.00467409e-03 9.94526966e-01 -1.72556692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.05, Y:-17.31, Z:-1.73 [[ 8.10373711e-01 5.79766145e-01 8.46502516e-02 5.60458055e+01] [-5.76932751e-01 8.14779380e-01 -5.72988928e-02 -1.73099072e+01] [-1.02191238e-01 -2.40398615e-03 9.94761867e-01 -1.72941661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:-17.33, Z:-1.73 [[ 8.06560567e-01 5.85490613e-01 8.16136825e-02 5.60730618e+01] [-5.82884138e-01 8.10673649e-01 -5.52658724e-02 -1.73283726e+01] [-9.85197113e-02 -2.99604752e-03 9.95130590e-01 -1.73113086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:-17.34, Z:-1.73 [[ 8.04951414e-01 5.87608518e-01 8.22766742e-02 5.61019590e+01] [-5.84968140e-01 8.09138790e-01 -5.57377139e-02 -1.73426861e+01] [-9.93252041e-02 -3.26308148e-03 9.95049675e-01 -1.73206204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:-17.35, Z:-1.73 [[ 8.03758882e-01 5.89261882e-01 8.21102529e-02 5.61323675e+01] [-5.86639230e-01 8.07934743e-01 -5.56405019e-02 -1.73548046e+01] [-9.91265529e-02 -3.44754789e-03 9.95068862e-01 -1.73414822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:-17.37, Z:-1.74 [[ 8.02563609e-01 5.90763451e-01 8.30072212e-02 5.61620630e+01] [-5.88089506e-01 8.06836505e-01 -5.62635543e-02 -1.73667293e+01] [-1.00211708e-01 -3.66059452e-03 9.94959403e-01 -1.73682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:-17.38, Z:-1.74 [[ 8.01083895e-01 5.92979582e-01 8.14850151e-02 5.61902038e+01] [-5.90413710e-01 8.05208249e-01 -5.52388185e-02 -1.73789348e+01] [-9.83678978e-02 -3.85894224e-03 9.95142636e-01 -1.74424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.21, Y:-17.39, Z:-1.75 [[ 8.01011522e-01 5.93198544e-01 8.05979533e-02 5.62142658e+01] [-5.90689770e-01 8.05047016e-01 -5.46342202e-02 -1.73921053e+01] [-9.72940816e-02 -3.84574659e-03 9.95248246e-01 -1.74730018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-17.40, Z:-1.75 [[ 8.01116115e-01 5.92975872e-01 8.11947414e-02 5.62406412e+01] [-5.90434696e-01 8.05210795e-01 -5.49767620e-02 -1.74031148e+01] [-9.79787757e-02 -3.89742250e-03 9.95180873e-01 -1.74993994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.24, Y:-17.44, Z:-1.76 [[ 8.04825966e-01 5.86106163e-01 9.34597776e-02 5.62382925e+01] [-5.88343560e-01 8.08599121e-01 -4.39498949e-03 -1.74446869e+01] [-7.81474245e-02 -5.14492566e-02 9.95613356e-01 -1.75892080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:-17.39, Z:-1.74 [[ 8.00780472e-01 5.96209054e-01 5.73184087e-02 5.63203490e+01] [-5.89913118e-01 8.01636221e-01 -9.68601173e-02 -1.73870445e+01] [-1.03697391e-01 4.37508092e-02 9.93646173e-01 -1.74090650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:-17.47, Z:-1.77 [[ 8.06524919e-01 5.83428729e-01 9.55430387e-02 5.62886275e+01] [-5.86014314e-01 8.10299774e-01 -1.22479230e-03 -1.74704187e+01] [-7.81330817e-02 -5.50017628e-02 9.95424546e-01 -1.76573929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:-17.41, Z:-1.74 [[ 8.05920610e-01 5.89223788e-01 5.75091130e-02 5.63688283e+01] [-5.82610433e-01 8.06609187e-01 -9.97331569e-02 -1.74133794e+01] [-1.05152527e-01 4.68715974e-02 9.93350894e-01 -1.74340342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:-17.46, Z:-1.76 [[ 8.08365810e-01 5.82066698e-01 8.79947502e-02 5.63667662e+01] [-5.79013229e-01 8.13136340e-01 -5.96068225e-02 -1.74640269e+01] [-1.06246875e-01 -2.76600703e-03 9.94335935e-01 -1.75662025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.39, Y:-17.48, Z:-1.76 [[ 8.11613921e-01 5.77155432e-01 9.04126650e-02 5.63916214e+01] [-5.73908554e-01 8.16631249e-01 -6.11749517e-02 -1.74781202e+01] [-1.09141263e-01 -2.23815937e-03 9.94023730e-01 -1.75591866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.41, Y:-17.49, Z:-1.76 [[ 8.17631836e-01 5.68344496e-01 9.19930089e-02 5.64135860e+01] [-5.64934681e-01 8.22789916e-01 -6.21736363e-02 -1.74949022e+01] [-1.11026964e-01 -1.13489668e-03 9.93816746e-01 -1.76360760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.44, Y:-17.51, Z:-1.77 [[ 8.19843651e-01 5.65143695e-01 9.20271281e-02 5.64362788e+01] [-5.61718084e-01 8.24992145e-01 -6.21349801e-02 -1.75135868e+01] [-1.11036850e-01 -7.52333110e-04 9.93816005e-01 -1.76981794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.46, Y:-17.53, Z:-1.77 [[ 8.20787138e-01 5.63773361e-01 9.20221202e-02 5.64616066e+01] [-5.60340368e-01 8.25929336e-01 -6.21240988e-02 -1.75297773e+01] [-1.11027681e-01 -5.73047428e-04 9.93817149e-01 -1.77302326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:-17.54, Z:-1.77 [[ 8.21752253e-01 5.62576577e-01 9.07239153e-02 5.64884840e+01] [-5.59232868e-01 8.26745082e-01 -6.12467903e-02 -1.75428058e+01] [-1.09461560e-01 -4.06107421e-04 9.93990947e-01 -1.77360031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.51, Y:-17.56, Z:-1.77 [[ 8.22368390e-01 5.61882109e-01 8.94355990e-02 5.65142294e+01] [-5.58630335e-01 8.27217259e-01 -6.03635281e-02 -1.75553440e+01] [-1.07899858e-01 -3.20381179e-04 9.94161716e-01 -1.77372179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:-17.57, Z:-1.78 [[ 8.23273948e-01 5.60935526e-01 8.70134619e-02 5.65376353e+01] [-5.57859305e-01 8.27859455e-01 -5.86661691e-02 -1.75708999e+01] [-1.04942856e-01 -2.42940662e-04 9.94478224e-01 -1.77547083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:-17.59, Z:-1.78 [[ 8.25577438e-01 5.57593331e-01 8.66693162e-02 5.65549597e+01] [-5.54529772e-01 8.30114245e-01 -5.83701288e-02 -1.75941515e+01] [-1.04492229e-01 1.28345304e-04 9.94525695e-01 -1.78183749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:-17.61, Z:-1.79 [[ 8.26543212e-01 5.55996218e-01 8.77184417e-02 5.65769357e+01] [-5.52855407e-01 8.31184773e-01 -5.90150205e-02 -1.76138967e+01] [-1.05722361e-01 2.82849743e-04 9.94395647e-01 -1.78686116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.60, Y:-17.63, Z:-1.79 [[ 8.28255029e-01 5.53287403e-01 8.86941738e-02 5.66009502e+01] [-5.50061485e-01 8.32990188e-01 -5.96632958e-02 -1.76316009e+01] [-1.06892327e-01 6.29175886e-04 9.94270403e-01 -1.79035942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.63, Y:-17.65, Z:-1.79 [[ 8.29442113e-01 5.51242282e-01 9.03201447e-02 5.66268465e+01] [-5.47885364e-01 8.34344732e-01 -6.07494576e-02 -1.76482514e+01] [-1.08845807e-01 9.03073081e-04 9.94058235e-01 -1.79251828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.65, Y:-17.67, Z:-1.79 [[ 8.32005243e-01 5.47813376e-01 8.75658677e-02 5.66510177e+01] [-5.44639542e-01 8.36599536e-01 -5.88980903e-02 -1.76693347e+01] [-1.05522726e-01 1.31168583e-03 9.94416027e-01 -1.79330668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:-17.69, Z:-1.80 [[ 8.32994699e-01 5.46552386e-01 8.60251180e-02 5.66752370e+01] [-5.43481275e-01 8.37423646e-01 -5.78769466e-02 -1.76898224e+01] [-1.03672251e-01 1.45814896e-03 9.94610445e-01 -1.79731459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.70, Y:-17.71, Z:-1.80 [[ 8.34674913e-01 5.45142391e-01 7.83426070e-02 5.66976776e+01] [-5.42865024e-01 8.38342905e-01 -4.97869407e-02 -1.77112592e+01] [-9.28189406e-02 -9.73550838e-04 9.95682528e-01 -1.80037413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.72, Y:-17.73, Z:-1.80 [[ 8.34281735e-01 5.44738905e-01 8.50500567e-02 5.67230963e+01] [-5.41458099e-01 8.38596838e-01 -5.98203163e-02 -1.77264187e+01] [-1.03909162e-01 3.85595521e-03 9.94579317e-01 -1.80412574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:-17.75, Z:-1.81 [[ 8.34298914e-01 5.44414639e-01 8.69368848e-02 5.67465765e+01] [-5.41262555e-01 8.38814377e-01 -5.85259527e-02 -1.77481865e+01] [-1.04786294e-01 1.77245836e-03 9.94493183e-01 -1.80811928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.75, Y:-17.79, Z:-1.82 [[ 8.36476972e-01 5.39955691e-01 9.35634892e-02 5.67524866e+01] [-5.39833808e-01 8.41278770e-01 -2.88008764e-02 -1.77887251e+01] [-9.42641742e-02 -2.64174648e-02 9.95196655e-01 -1.81638263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:-17.78, Z:-1.81 [[ 8.30029948e-01 5.53112478e-01 7.15323126e-02 5.68054668e+01] [-5.47957282e-01 8.32658381e-01 -8.01426086e-02 -1.77750749e+01] [-1.03889856e-01 2.73241138e-02 9.94213403e-01 -1.81044047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.82, Y:-17.81, Z:-1.82 [[ 8.28270012e-01 5.53703032e-01 8.59170557e-02 5.68175339e+01] [-5.50662612e-01 8.32713925e-01 -5.79500358e-02 -1.78131172e+01] [-1.03631439e-01 6.86966512e-04 9.94615530e-01 -1.81962751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.85, Y:-17.83, Z:-1.82 [[ 8.26262669e-01 5.56552152e-01 8.68314682e-02 5.68458471e+01] [-5.53460390e-01 8.30812603e-01 -5.85834105e-02 -1.78309185e+01] [-1.04745401e-01 3.47506810e-04 9.94499010e-01 -1.82232711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:-17.85, Z:-1.82 [[ 8.23908193e-01 5.59563130e-01 8.98019665e-02 5.68731042e+01] [-5.56270532e-01 8.28787731e-01 -6.06134689e-02 -1.78487402e+01] [-1.08343830e-01 -1.42540166e-05 9.94113482e-01 -1.82434991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:-17.87, Z:-1.83 [[ 8.21518758e-01 5.62827886e-01 9.12781531e-02 5.68995307e+01] [-5.59442946e-01 8.26574005e-01 -6.16360626e-02 -1.78683862e+01] [-1.10138643e-01 -4.29737228e-04 9.93916141e-01 -1.82635592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:-17.89, Z:-1.83 [[ 8.21393328e-01 5.63012882e-01 9.12660715e-02 5.69272576e+01] [-5.59627093e-01 8.26448007e-01 -6.16539473e-02 -1.78869924e+01] [-1.10138629e-01 -4.32825308e-04 9.93916141e-01 -1.82966292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.95, Y:-17.91, Z:-1.83 [[ 8.17472721e-01 5.68561288e-01 9.20674333e-02 5.69505765e+01] [-5.65147120e-01 8.22640083e-01 -6.22256040e-02 -1.79113345e+01] [-1.11117431e-01 -1.16391101e-03 9.93806602e-01 -1.83291453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.98, Y:-17.93, Z:-1.84 [[ 8.15924305e-01 5.71063858e-01 9.02972817e-02 5.69762685e+01] [-5.67792190e-01 8.20904357e-01 -6.10578902e-02 -1.79311658e+01] [-1.08993386e-01 -1.45147471e-03 9.94041415e-01 -1.83783740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:-17.95, Z:-1.84 [[ 8.13721935e-01 5.74290937e-01 8.97024671e-02 5.70035365e+01] [-5.71079081e-01 8.18649191e-01 -6.06810148e-02 -1.79497288e+01] [-1.08283409e-01 -1.84972971e-03 9.94118344e-01 -1.84243354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:-17.97, Z:-1.85 [[ 8.12087659e-01 5.76580234e-01 8.98268715e-02 5.70312395e+01] [-5.73370586e-01 8.17037740e-01 -6.07906528e-02 -1.79678141e+01] [-1.08442633e-01 -2.13674694e-03 9.94100412e-01 -1.84567330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:-17.98, Z:-1.85 [[ 8.08018129e-01 5.81883398e-01 9.22952608e-02 5.70603415e+01] [-5.78525689e-01 8.13267041e-01 -6.24879817e-02 -1.79843907e+01] [-1.11421413e-01 -2.90375724e-03 9.93769006e-01 -1.84518035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:-18.00, Z:-1.85 [[ 8.06474537e-01 5.83902599e-01 9.30407224e-02 5.70894690e+01] [-5.80500618e-01 8.11817467e-01 -6.30193108e-02 -1.80007675e+01] [-1.12329223e-01 -3.18672728e-03 9.93665935e-01 -1.84743820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:-18.02, Z:-1.85 [[ 8.05698663e-01 5.84992204e-01 9.29181727e-02 5.71174989e+01] [-5.81603438e-01 8.11032150e-01 -6.29626311e-02 -1.80178495e+01] [-1.12192274e-01 -3.31262097e-03 9.93680995e-01 -1.85121937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.14, Y:-18.04, Z:-1.86 [[ 8.05463689e-01 5.85273200e-01 9.31854458e-02 5.71444435e+01] [-5.81863731e-01 8.10829283e-01 -6.31701880e-02 -1.80359825e+01] [-1.12529306e-01 -3.33993855e-03 9.93642793e-01 -1.85643961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.17, Y:-18.05, Z:-1.86 [[ 8.04791930e-01 5.85986648e-01 9.44965507e-02 5.71712460e+01] [-5.82482041e-01 8.10313292e-01 -6.40861979e-02 -1.80549465e+01] [-1.14125467e-01 -3.46648880e-03 9.93460297e-01 -1.86100505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:-18.07, Z:-1.86 [[ 8.04459915e-01 5.86244157e-01 9.57185129e-02 5.71982586e+01] [-5.82646674e-01 8.10126750e-01 -6.49423008e-02 -1.80731572e+01] [-1.15616172e-01 -3.52659538e-03 9.93287704e-01 -1.86401159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:-18.09, Z:-1.86 [[ 8.04758349e-01 5.85927330e-01 9.51481092e-02 5.72292089e+01] [-5.82367398e-01 8.10356307e-01 -6.45822715e-02 -1.80863499e+01] [-1.14944388e-01 -3.43803462e-03 9.93365979e-01 -1.86342628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:-18.10, Z:-1.87 [[ 8.05893474e-01 5.84664504e-01 9.32905474e-02 5.72580862e+01] [-5.81231233e-01 8.11268978e-01 -6.33474430e-02 -1.81017094e+01] [-1.12720728e-01 -3.17208896e-03 9.93621646e-01 -1.86670054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:-18.12, Z:-1.87 [[ 8.07516452e-01 5.82915559e-01 9.01478291e-02 5.72864650e+01] [-5.79696824e-01 8.12527886e-01 -6.12374623e-02 -1.81175558e+01] [-1.08943895e-01 -2.80815195e-03 9.94043934e-01 -1.87134388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:-18.13, Z:-1.88 [[ 8.08515255e-01 5.81716026e-01 8.89356377e-02 5.73140742e+01] [-5.78574479e-01 8.13387805e-01 -6.04305435e-02 -1.81330111e+01] [-1.07492579e-01 -2.59687396e-03 9.94202495e-01 -1.87574464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:-18.15, Z:-1.88 [[ 8.09937483e-01 5.79685539e-01 8.92521706e-02 5.73416735e+01] [-5.76507393e-01 8.14836969e-01 -6.06625109e-02 -1.81485595e+01] [-1.07891148e-01 -2.32169483e-03 9.94160002e-01 -1.87965477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:-18.20, Z:-1.89 [[ 8.13494668e-01 5.72517086e-01 1.02228228e-01 5.73398996e+01] [-5.74425110e-01 8.18459801e-01 -1.26232868e-02 -1.81957481e+01] [-9.08967424e-02 -4.84534846e-02 9.94680874e-01 -1.88881896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-18.14, Z:-1.87 [[ 8.12216925e-01 5.79173968e-01 6.97221704e-02 5.74179709e+01] [-5.71379089e-01 8.13933392e-01 -1.05063648e-01 -1.81426618e+01] [-1.17599333e-01 4.54966832e-02 9.92018371e-01 -1.86802199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:-18.19, Z:-1.88 [[ 8.12575932e-01 5.74600888e-01 9.77454577e-02 5.74198489e+01] [-5.70738664e-01 8.18431943e-01 -6.65321903e-02 -1.81925985e+01] [-1.18227460e-01 -1.72465543e-03 9.92985042e-01 -1.88219959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:-18.21, Z:-1.89 [[ 8.13436581e-01 5.73408403e-01 9.75896163e-02 5.74481150e+01] [-5.69549682e-01 8.19268217e-01 -6.64285209e-02 -1.82086449e+01] [-1.18042743e-01 -1.54674602e-03 9.93007310e-01 -1.88539233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.48, Y:-18.22, Z:-1.89 [[ 8.15281348e-01 5.70933338e-01 9.67028797e-02 5.74758187e+01] [-5.67125147e-01 8.20995599e-01 -6.58429493e-02 -1.82244051e+01] [-1.16984573e-01 -1.16210634e-03 9.93133052e-01 -1.88969508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:-18.24, Z:-1.90 [[ 8.20465369e-01 5.63854934e-01 9.43620203e-02 5.75019596e+01] [-5.60180531e-01 8.25873838e-01 -6.42664524e-02 -1.82431771e+01] [-1.14168080e-01 -1.31368043e-04 9.93461440e-01 -1.89634127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:-18.26, Z:-1.90 [[ 8.23159763e-01 5.60081988e-01 9.33604385e-02 5.75259019e+01] [-5.56459173e-01 8.28437085e-01 -6.36017588e-02 -1.82648106e+01] [-1.12965449e-01 4.03136239e-04 9.93598835e-01 -1.90108237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:-18.29, Z:-1.90 [[ 8.25603342e-01 5.56625896e-01 9.24485438e-02 5.75509032e+01] [-5.53050069e-01 8.30762801e-01 -6.29983232e-02 -1.82869377e+01] [-1.11869309e-01 8.82952600e-04 9.93722536e-01 -1.90497647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.58, Y:-18.31, Z:-1.91 [[ 8.27340631e-01 5.54054547e-01 9.23636245e-02 5.75770857e+01] [-5.50466416e-01 8.32479425e-01 -6.29661163e-02 -1.83069377e+01] [-1.11777480e-01 1.25135303e-03 9.93732474e-01 -1.90747498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:-18.33, Z:-1.91 [[ 8.28427286e-01 5.52180379e-01 9.38352828e-02 5.76043740e+01] [-5.48461616e-01 8.33723230e-01 -6.39955519e-02 -1.83254245e+01] [-1.13569743e-01 1.55061052e-03 9.93528816e-01 -1.90876261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:-18.35, Z:-1.91 [[ 8.29890018e-01 5.49999968e-01 9.37154941e-02 5.76312476e+01] [-5.46273919e-01 8.35162586e-01 -6.39395090e-02 -1.83451013e+01] [-1.13434402e-01 1.86843004e-03 9.93543731e-01 -1.91052371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.66, Y:-18.37, Z:-1.92 [[ 8.29988032e-01 5.49780460e-01 9.41345424e-02 5.76566033e+01] [-5.46016541e-01 8.35306965e-01 -6.42511498e-02 -1.83656958e+01] [-1.13955266e-01 1.92866812e-03 9.93484010e-01 -1.91520394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:-18.39, Z:-1.92 [[ 8.30142916e-01 5.49535922e-01 9.41966558e-02 5.76817821e+01] [-5.45762493e-01 8.35467731e-01 -6.43192956e-02 -1.83864324e+01] [-1.14044030e-01 1.98520594e-03 9.93473713e-01 -1.91957118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.71, Y:-18.41, Z:-1.92 [[ 8.29578564e-01 5.50217205e-01 9.51863099e-02 5.77074331e+01] [-5.46365217e-01 8.35019334e-01 -6.50212340e-02 -1.84074087e+01] [-1.15258211e-01 1.93373304e-03 9.93333683e-01 -1.92261071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.73, Y:-18.43, Z:-1.93 [[ 8.29553572e-01 5.50221790e-01 9.53774235e-02 5.77330947e+01] [-5.46351266e-01 8.35016254e-01 -6.51778332e-02 -1.84285382e+01] [-1.15503963e-01 1.95892822e-03 9.93305088e-01 -1.92597173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.76, Y:-18.45, Z:-1.93 [[ 8.29272874e-01 5.50590467e-01 9.56903205e-02 5.77585948e+01] [-5.46693802e-01 8.34773256e-01 -6.54178697e-02 -1.84494757e+01] [-1.15898176e-01 1.93595976e-03 9.93259213e-01 -1.92808448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:-18.52, Z:-1.94 [[ 8.32487013e-01 5.42646124e-01 1.11805889e-01 5.77455818e+01] [-5.45809647e-01 8.37904722e-01 -2.73962996e-03 -1.85156300e+01] [-9.51693318e-02 -5.87440264e-02 9.93726289e-01 -1.93729779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:-18.45, Z:-1.92 [[ 0.83030472 0.55379417 0.06249869 57.83494013] [ -0.54523539 0.83040887 -0.11462754 -18.4515051 ] [ -0.11537953 0.06109929 0.99144059 -1.91788689] [ 0. 0. 0. 1. ]] SLAMing on 57.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.83, Y:-18.52, Z:-1.94 [[ 8.30735470e-01 5.48479714e-01 9.51240326e-02 5.78283107e+01] [-5.44600300e-01 8.36160624e-01 -6.51607547e-02 -1.85156879e+01] [-1.15278323e-01 2.32677345e-03 9.93330506e-01 -1.93697483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:-18.54, Z:-1.94 [[ 8.31613019e-01 5.47388156e-01 9.37336252e-02 5.78522849e+01] [-5.43611551e-01 8.36875217e-01 -6.42366932e-02 -1.85380902e+01] [-1.13605753e-01 2.46538897e-03 9.93522851e-01 -1.94311211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-18.56, Z:-1.95 [[ 8.31434944e-01 5.47562075e-01 9.42958540e-02 5.78773181e+01] [-5.43733198e-01 8.36761290e-01 -6.46896655e-02 -1.85605262e+01] [-1.14324728e-01 2.51346223e-03 9.93440254e-01 -1.94731737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:-18.58, Z:-1.95 [[ 8.31032998e-01 5.47950843e-01 9.55721167e-02 5.79032152e+01] [-5.44011756e-01 8.36506642e-01 -6.56341932e-02 -1.85817399e+01] [-1.15911022e-01 2.55182532e-03 9.93256323e-01 -1.94933518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.93, Y:-18.60, Z:-1.95 [[ 8.28650601e-01 5.51005966e-01 9.86438359e-02 5.79293356e+01] [-5.46821358e-01 8.34498255e-01 -6.78164024e-02 -1.86023244e+01] [-1.19685351e-01 2.25554628e-03 9.92809312e-01 -1.94624234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.96, Y:-18.62, Z:-1.95 [[ 8.26896145e-01 5.53572579e-01 9.89957814e-02 5.79555274e+01] [-5.49367543e-01 8.32798650e-01 -6.81301095e-02 -1.86230020e+01] [-1.20158514e-01 1.95145576e-03 9.92752801e-01 -1.94863289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-18.64, Z:-1.95 [[ 8.24946346e-01 5.56476049e-01 9.89845089e-02 5.79808160e+01] [-5.52284047e-01 8.30862132e-01 -6.81942018e-02 -1.86449033e+01] [-1.20190920e-01 1.58899249e-03 9.92749524e-01 -1.95289404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:-18.70, Z:-1.97 [[ 8.25011892e-01 5.54713745e-01 1.07926083e-01 5.79777491e+01] [-5.56397173e-01 8.30750146e-01 -1.66247208e-02 -1.87001566e+01] [-9.88815701e-02 -4.63341749e-02 9.94019909e-01 -1.96554713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.05, Y:-18.65, Z:-1.96 [[ 8.21570223e-01 5.65820543e-01 6.97816797e-02 5.80504931e+01] [-5.58055069e-01 8.23189980e-01 -1.04560018e-01 -1.86544929e+01] [-1.16605786e-01 4.69613773e-02 9.92067397e-01 -1.95741847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.05, Y:-18.71, Z:-1.97 [[ 8.18348887e-01 5.66741006e-01 9.54449119e-02 5.80507503e+01] [-5.62895511e-01 8.23895981e-01 -6.59094508e-02 -1.87101873e+01] [-1.15990268e-01 2.11413247e-04 9.93250328e-01 -1.97222442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.08, Y:-18.73, Z:-1.97 [[ 8.16960503e-01 5.68732867e-01 9.54906407e-02 5.80790529e+01] [-5.64888755e-01 8.22522295e-01 -6.60133972e-02 -1.87270119e+01] [-1.16087170e-01 -1.12508777e-05 9.93239029e-01 -1.97237396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:-18.74, Z:-1.97 [[ 8.15393935e-01 5.70695046e-01 9.71591226e-02 5.81072766e+01] [-5.66719813e-01 8.21162048e-01 -6.72424232e-02 -1.87439950e+01] [-1.18158302e-01 -2.32935775e-04 9.92994744e-01 -1.97309707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:-18.76, Z:-1.98 [[ 8.14219335e-01 5.72525925e-01 9.62337788e-02 5.81339989e+01] [-5.68630378e-01 8.19886503e-01 -6.66754436e-02 -1.87632952e+01] [-1.17074196e-01 -4.33014695e-04 9.93123076e-01 -1.97602166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:-18.79, Z:-1.98 [[ 8.12699837e-01 5.75013789e-01 9.42237655e-02 5.81565049e+01] [-5.71288205e-01 8.18143404e-01 -6.53540899e-02 -1.87886640e+01] [-1.14668055e-01 -7.15667657e-04 9.93403606e-01 -1.98356581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:-18.81, Z:-1.99 [[ 8.12216046e-01 5.75548045e-01 9.51290826e-02 5.81814671e+01] [-5.71745312e-01 8.17767634e-01 -6.60559951e-02 -1.88094494e+01] [-1.15811884e-01 -7.37867844e-04 9.93270891e-01 -1.98783536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.21, Y:-18.83, Z:-1.99 [[ 8.11312829e-01 5.76415690e-01 9.75522731e-02 5.82079638e+01] [-5.72413038e-01 8.17156215e-01 -6.78161849e-02 -1.88297365e+01] [-1.18805759e-01 -8.20052191e-04 9.92917176e-01 -1.99023521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:-18.85, Z:-1.99 [[ 8.10057647e-01 5.77940903e-01 9.89490854e-02 5.82349733e+01] [-5.73824280e-01 8.16078013e-01 -6.88648898e-02 -1.88491353e+01] [-1.20550010e-01 -9.94857150e-04 9.92706757e-01 -1.99126399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.26, Y:-18.87, Z:-1.99 [[ 8.09399503e-01 5.79067536e-01 9.77406397e-02 5.82622179e+01] [-5.75050369e-01 8.15278853e-01 -6.80989362e-02 -1.88675531e+01] [-1.19119760e-01 -1.08654578e-03 9.92879299e-01 -1.99449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-18.89, Z:-2.00 [[ 8.08665227e-01 5.80375592e-01 9.60454202e-02 5.82902485e+01] [-5.76497478e-01 8.14348047e-01 -6.69919125e-02 -1.88850453e+01] [-1.17094871e-01 -1.19591239e-03 9.93120013e-01 -1.99914175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-18.90, Z:-2.01 [[ 8.07797510e-01 5.82265169e-01 9.18175131e-02 5.83182679e+01] [-5.78726633e-01 8.12997817e-01 -6.41095397e-02 -1.89017432e+01] [-1.11976190e-01 -1.34971374e-03 9.93709973e-01 -2.00765019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.34, Y:-18.92, Z:-2.01 [[ 8.07573263e-01 5.82842723e-01 9.01098461e-02 5.83426188e+01] [-5.79434963e-01 8.12583821e-01 -6.29496431e-02 -1.89235479e+01] [-1.09911544e-01 -1.37634668e-03 9.93940420e-01 -2.01410213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:-18.95, Z:-2.02 [[ 8.07179182e-01 5.83475817e-01 8.95418335e-02 5.83653608e+01] [-5.80106995e-01 8.12129317e-01 -6.26246601e-02 -1.89480847e+01] [-1.09259523e-01 -1.39452200e-03 9.94012280e-01 -2.01875154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-18.97, Z:-2.02 [[ 8.06961548e-01 5.83747623e-01 8.97316701e-02 5.83889660e+01] [-5.80358356e-01 8.11933998e-01 -6.28280276e-02 -1.89722748e+01] [-1.09531905e-01 -1.37672217e-03 9.93982327e-01 -2.01982838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:-18.99, Z:-2.02 [[ 8.06236181e-01 5.84380430e-01 9.21017609e-02 5.84153704e+01] [-5.80804868e-01 8.11478550e-01 -6.45621281e-02 -1.89927662e+01] [-1.12467448e-01 -1.44082744e-03 9.93654365e-01 -2.01905489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:-19.01, Z:-2.02 [[ 8.05186878e-01 5.85381999e-01 9.48789089e-02 5.84444836e+01] [-5.81584729e-01 8.10756106e-01 -6.65863297e-02 -1.90088638e+01] [-1.15902093e-01 -1.56568558e-03 9.93259409e-01 -2.01931203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.48, Y:-19.02, Z:-2.02 [[ 8.03179555e-01 5.87670492e-01 9.77036107e-02 5.84758070e+01] [-5.83650224e-01 8.09098158e-01 -6.86482859e-02 -1.90211492e+01] [-1.19394383e-01 -1.88783449e-03 9.92845112e-01 -2.02292495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.50, Y:-19.04, Z:-2.03 [[ 8.03158975e-01 5.87679955e-01 9.78158064e-02 5.85025465e+01] [-5.83641222e-01 8.09091420e-01 -6.88040506e-02 -1.90407369e+01] [-1.19576691e-01 -1.82874606e-03 9.92823283e-01 -2.02867471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.53, Y:-19.06, Z:-2.03 [[ 8.04022562e-01 5.86508768e-01 9.77506255e-02 5.85270597e+01] [-5.82457583e-01 8.09941315e-01 -6.88348024e-02 -1.90623374e+01] [-1.19544485e-01 -1.59085886e-03 9.92827571e-01 -2.03362909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.55, Y:-19.08, Z:-2.04 [[ 8.05003223e-01 5.85212853e-01 9.74460265e-02 5.85519376e+01] [-5.81168250e-01 8.10878626e-01 -6.86973051e-02 -1.90849720e+01] [-1.19219446e-01 -1.33098467e-03 9.92867037e-01 -2.03660481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.58, Y:-19.11, Z:-2.04 [[ 8.06412798e-01 5.83326526e-01 9.71007931e-02 5.85763846e+01] [-5.79287789e-01 8.12237154e-01 -6.85307475e-02 -1.91071373e+01] [-1.18844675e-01 -9.85231948e-04 9.92912369e-01 -2.03834095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.60, Y:-19.13, Z:-2.04 [[ 8.06279007e-01 5.83517059e-01 9.70670112e-02 5.86036965e+01] [-5.79473942e-01 8.12100321e-01 -6.85785650e-02 -1.91262739e+01] [-1.18844914e-01 -9.54346339e-04 9.92912371e-01 -2.04189068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.63, Y:-19.15, Z:-2.04 [[ 8.09848113e-01 5.78451214e-01 9.76740803e-02 5.86258618e+01] [-5.74315612e-01 8.15716961e-01 -6.90464890e-02 -1.91519821e+01] [-1.19614429e-01 -1.78580345e-04 9.92820405e-01 -2.04258832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:-19.17, Z:-2.05 [[ 8.11590780e-01 5.75997089e-01 9.77126347e-02 5.86505573e+01] [-5.71831085e-01 8.17451706e-01 -6.91514156e-02 -1.91736660e+01] [-1.19706374e-01 2.47529491e-04 9.92809308e-01 -2.04549573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.68, Y:-19.19, Z:-2.05 [[ 8.12782425e-01 5.74333777e-01 9.75983692e-02 5.86761285e+01] [-5.70156323e-01 8.18621038e-01 -6.91474012e-02 -1.91936560e+01] [-1.19609766e-01 5.55465113e-04 9.92820827e-01 -2.04915116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.70, Y:-19.21, Z:-2.05 [[ 8.12741002e-01 5.74424885e-01 9.74069548e-02 5.87030447e+01] [-5.70255465e-01 8.18557077e-01 -6.90870181e-02 -1.92118185e+01] [-1.19418455e-01 6.03004062e-04 9.92843829e-01 -2.05278236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.73, Y:-19.23, Z:-2.06 [[ 8.11270259e-01 5.76333347e-01 9.83892295e-02 5.87302957e+01] [-5.72083664e-01 8.17214612e-01 -6.98609992e-02 -1.92295008e+01] [-1.20668339e-01 3.89279984e-04 9.92692803e-01 -2.05652667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:-19.25, Z:-2.06 [[ 8.09671003e-01 5.78565477e-01 9.84624573e-02 5.87565477e+01] [-5.74316536e-01 8.15635933e-01 -6.99895822e-02 -1.92488973e+01] [-1.20803074e-01 1.19917849e-04 9.92676485e-01 -2.06105865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:-19.30, Z:-2.07 [[ 8.07228721e-01 5.80664875e-01 1.05877738e-01 5.87583123e+01] [-5.81357095e-01 8.13187055e-01 -2.73996657e-02 -1.92995503e+01] [-1.02008430e-01 -3.94349773e-02 9.94001591e-01 -2.06759090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.83, Y:-19.26, Z:-2.06 [[ 8.04414338e-01 5.89325752e-01 7.49181635e-02 5.88263966e+01] [-5.81841641e-01 8.07022246e-01 -1.00873189e-01 -1.92611431e+01] [-1.19907792e-01 3.75533320e-02 9.92074528e-01 -2.06268042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:-19.30, Z:-2.07 [[ 8.02574524e-01 5.88691116e-01 9.65241099e-02 5.88354482e+01] [-5.84658989e-01 8.08357147e-01 -6.87938095e-02 -1.93048707e+01] [-1.18524259e-01 -1.22152965e-03 9.92950406e-01 -2.07058811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:-19.32, Z:-2.07 [[ 8.01166929e-01 5.90475037e-01 9.73179417e-02 5.88646406e+01] [-5.86384509e-01 8.07054571e-01 -6.93983206e-02 -1.93208602e+01] [-1.19518866e-01 -1.46609405e-03 9.92830847e-01 -2.07410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.89, Y:-19.34, Z:-2.08 [[ 8.00701109e-01 5.90957811e-01 9.82171057e-02 5.88913583e+01] [-5.86785036e-01 8.06701092e-01 -7.01189666e-02 -1.93393610e+01] [-1.20669197e-01 -1.48799362e-03 9.92691659e-01 -2.07745845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.92, Y:-19.36, Z:-2.08 [[ 8.00587525e-01 5.91072840e-01 9.84505579e-02 5.89158349e+01] [-5.86871327e-01 8.06616892e-01 -7.03650086e-02 -1.93608337e+01] [-1.21002729e-01 -1.44446148e-03 9.92651124e-01 -2.08094673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.94, Y:-19.38, Z:-2.09 [[ 8.01611753e-01 5.90025917e-01 9.63743493e-02 5.89401397e+01] [-5.85983729e-01 8.07383419e-01 -6.89571229e-02 -1.93833556e+01] [-1.18497541e-01 -1.19696042e-03 9.92953624e-01 -2.08600587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.97, Y:-19.40, Z:-2.09 [[ 8.01281445e-01 5.90717509e-01 9.48729150e-02 5.89685383e+01] [-5.86796691e-01 8.06877526e-01 -6.79580806e-02 -1.93991835e+01] [-1.16694851e-01 -1.21756358e-03 9.93167070e-01 -2.09158711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:-19.41, Z:-2.10 [[ 8.00671526e-01 5.91642602e-01 9.42557102e-02 5.89982751e+01] [-5.87770470e-01 8.06199346e-01 -6.75906001e-02 -1.94143538e+01] [-1.15978370e-01 -1.28285413e-03 9.93250911e-01 -2.09612501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.03, Y:-19.43, Z:-2.10 [[ 7.99621131e-01 5.93033075e-01 9.44342049e-02 5.90270461e+01] [-5.89147023e-01 8.05176837e-01 -6.77941478e-02 -1.94312498e+01] [-1.16240406e-01 -1.42599758e-03 9.93220084e-01 -2.10079013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.06, Y:-19.45, Z:-2.10 [[ 7.95895646e-01 5.98115106e-01 9.38532930e-02 5.90553913e+01] [-5.94303190e-01 8.01407475e-01 -6.74520339e-02 -1.94491498e+01] [-1.15558811e-01 -2.09253129e-03 9.93298436e-01 -2.10107684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:-19.47, Z:-2.10 [[ 7.93898350e-01 6.00943243e-01 9.26964337e-02 5.90841597e+01] [-5.97235716e-01 7.99288055e-01 -6.66941139e-02 -1.94664847e+01] [-1.14170529e-01 -2.41327400e-03 9.93458236e-01 -2.10263151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:-19.48, Z:-2.11 [[ 7.92320589e-01 6.03264335e-01 9.11055816e-02 5.91128927e+01] [-5.99690516e-01 7.97536934e-01 -6.56210597e-02 -1.94837789e+01] [-1.12246911e-01 -2.64223653e-03 9.93676834e-01 -2.10589920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:-19.50, Z:-2.11 [[ 7.91547230e-01 6.04243123e-01 9.13412925e-02 5.91395726e+01] [-6.00648874e-01 7.96795331e-01 -6.58644852e-02 -1.95022121e+01] [-1.12578478e-01 -2.72919367e-03 9.93639088e-01 -2.11077430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:-19.52, Z:-2.11 [[ 7.91275900e-01 6.04547779e-01 9.16756950e-02 5.91651829e+01] [-6.00920712e-01 7.96564226e-01 -6.61795501e-02 -1.95220412e+01] [-1.13034279e-01 -2.72354075e-03 9.93587356e-01 -2.11474002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.19, Y:-19.54, Z:-2.12 [[ 7.90806434e-01 6.04552428e-01 9.56114365e-02 5.91941129e+01] [-6.00596760e-01 7.96560507e-01 -6.91005857e-02 -1.95379920e+01] [-1.17935221e-01 -2.77873131e-03 9.93017403e-01 -2.11697411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.22, Y:-19.55, Z:-2.12 [[ 7.89699092e-01 6.05826961e-01 9.66904247e-02 5.92235863e+01] [-6.01781220e-01 7.95591008e-01 -6.99593524e-02 -1.95526305e+01] [-1.19309294e-01 -2.93964466e-03 9.92852784e-01 -2.12072598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.712320588000004 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:59.25, Y:-19.57, Z:-2.13 [[ 7.88484476e-01 6.07442572e-01 9.64663291e-02 5.92529543e+01] [-6.03418377e-01 7.94357489e-01 -6.98744755e-02 -1.95674869e+01] [-1.19073482e-01 -3.11461652e-03 9.92880559e-01 -2.12515964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:-19.58, Z:-2.13 [[ 7.87234059e-01 6.09158491e-01 9.58565017e-02 5.92815505e+01] [-6.05188779e-01 7.93041674e-01 -6.95085963e-02 -1.95844899e+01] [-1.18359952e-01 -3.29174483e-03 9.92965300e-01 -2.12899749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:-19.60, Z:-2.13 [[ 7.86306917e-01 6.10593514e-01 9.43238696e-02 5.93084994e+01] [-6.06751626e-01 7.91936904e-01 -6.84719242e-02 -1.96025075e+01] [-1.16507066e-01 -3.39121360e-03 9.93184073e-01 -2.13288018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:59.34, Y:-19.62, Z:-2.14 [[ 7.85196575e-01 6.12084239e-01 9.39107178e-02 5.93354380e+01] [-6.08277891e-01 7.90784659e-01 -6.82468415e-02 -1.96219041e+01] [-1.16035971e-01 -3.53662718e-03 9.93238715e-01 -2.13592892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.36, Y:-19.64, Z:-2.14 [[ 7.85452184e-01 6.11369183e-01 9.63980803e-02 5.93619801e+01] [-6.07342965e-01 7.91337951e-01 -7.01339462e-02 -1.96413891e+01] [-1.19161193e-01 -3.45983475e-03 9.92868894e-01 -2.13689276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.39, Y:-19.66, Z:-2.14 [[ 7.85196746e-01 6.11264964e-01 9.91020386e-02 5.93893860e+01] [-6.06997918e-01 7.91418384e-01 -7.21835794e-02 -1.96591691e+01] [-1.22554468e-01 -3.47641946e-03 9.92455700e-01 -2.13855586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:-19.68, Z:-2.14 [[ 7.84069934e-01 6.12330896e-01 1.01416035e-01 5.94182000e+01] [-6.07859826e-01 7.90593105e-01 -7.39525105e-02 -1.96751694e+01] [-1.25462225e-01 -3.66279347e-03 9.92091636e-01 -2.14092278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.45, Y:-19.69, Z:-2.14 [[ 7.82813647e-01 6.13790422e-01 1.02294245e-01 5.94488333e+01] [-6.09243117e-01 7.89459549e-01 -7.46755974e-02 -1.96888458e+01] [-1.26592335e-01 -3.86498812e-03 9.91947298e-01 -2.14413735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.48, Y:-19.70, Z:-2.15 [[ 7.79946163e-01 6.18104492e-01 9.81367373e-02 5.94825806e+01] [-6.13945106e-01 7.86084098e-01 -7.17160857e-02 -1.96971148e+01] [-1.21471763e-01 -4.31588374e-03 9.92585505e-01 -2.15126595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.51, Y:-19.72, Z:-2.16 [[ 7.78935517e-01 6.19814159e-01 9.53408015e-02 5.95101743e+01] [-6.15893014e-01 7.84736342e-01 -6.97471793e-02 -1.97153400e+01] [-1.18047681e-01 -4.39117847e-03 9.92998219e-01 -2.15746822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:-19.73, Z:-2.16 [[ 7.78152629e-01 6.21204456e-01 9.26472354e-02 5.95371940e+01] [-6.17503991e-01 7.83636100e-01 -6.78475045e-02 -1.97346113e+01] [-1.14748890e-01 -4.41432356e-03 9.93384722e-01 -2.16218826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:-19.75, Z:-2.17 [[ 7.77336163e-01 6.22344999e-01 9.18433011e-02 5.95645859e+01] [-6.18710563e-01 7.82730122e-01 -6.73111928e-02 -1.97527385e+01] [-1.13779302e-01 -4.50099614e-03 9.93495854e-01 -2.16500984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:-19.77, Z:-2.17 [[ 7.76580698e-01 6.23212170e-01 9.23526418e-02 5.95932240e+01] [-6.19534536e-01 7.82039311e-01 -6.77604265e-02 -1.97688334e+01] [-1.14452519e-01 -4.59421177e-03 9.93418096e-01 -2.16703205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.62, Y:-19.78, Z:-2.17 [[ 7.75469823e-01 6.24529231e-01 9.27889691e-02 5.96231960e+01] [-6.20817273e-01 7.80986977e-01 -6.81561125e-02 -1.97839216e+01] [-1.15032461e-01 -4.75198615e-03 9.93350367e-01 -2.16949529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:-19.80, Z:-2.17 [[ 7.75157285e-01 6.24471015e-01 9.57451564e-02 5.96563743e+01] [-6.20508086e-01 7.81033022e-01 -7.04069146e-02 -1.97953652e+01] [-1.18747206e-01 -4.83421098e-03 9.92912751e-01 -2.17216806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:-19.81, Z:-2.17 [[ 7.75841211e-01 6.23318139e-01 9.76980683e-02 5.96857871e+01] [-6.19172423e-01 7.81954280e-01 -7.19236791e-02 -1.98109269e+01] [-1.21226756e-01 -4.69059534e-03 9.92613758e-01 -2.17436382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.72, Y:-19.83, Z:-2.18 [[ 7.76454306e-01 6.22447064e-01 9.83786740e-02 5.97153555e+01] [-6.18226381e-01 7.82648829e-01 -7.25048401e-02 -1.98262163e+01] [-1.22126379e-01 -4.52359631e-03 9.92504249e-01 -2.17707181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.74, Y:-19.84, Z:-2.18 [[ 7.76957635e-01 6.21839576e-01 9.82465055e-02 5.97449923e+01] [-6.17616465e-01 7.83132488e-01 -7.24804035e-02 -1.98412107e+01] [-1.22011214e-01 -4.36445646e-03 9.92519126e-01 -2.18064835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:-19.90, Z:-2.19 [[ 7.80655428e-01 6.12882948e-01 1.22276718e-01 5.97347868e+01] [-6.16883103e-01 7.87028714e-01 -6.40625500e-03 -1.99022714e+01] [-1.00161573e-01 -7.04293634e-02 9.92475372e-01 -2.19435757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:-19.82, Z:-2.17 [[ 7.81915120e-01 6.20712880e-01 5.76564516e-02 5.98392778e+01] [-6.11323293e-01 7.81605379e-01 -1.24003478e-01 -1.98206016e+01] [-1.22035149e-01 6.17134622e-02 9.90605305e-01 -2.17495758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.79, Y:-19.93, Z:-2.20 [[ 7.86810398e-01 6.05929659e-01 1.17382478e-01 5.97904313e+01] [-6.10044236e-01 7.92366593e-01 -1.10128503e-03 -1.99291691e+01] [-9.36772552e-02 -7.07420014e-02 9.93086170e-01 -2.20485014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.89, Y:-19.85, Z:-2.18 [[ 7.86155374e-01 6.15191329e-01 5.91553605e-02 5.98923831e+01] [-6.05416907e-01 7.85814649e-01 -1.26355475e-01 -1.98493686e+01] [-1.24217942e-01 6.35213807e-02 9.90219641e-01 -2.17866237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.84, Y:-19.96, Z:-2.21 [[ 7.90807438e-01 5.99829625e-01 1.21770349e-01 5.98423220e+01] [-6.03538469e-01 7.97295028e-01 -7.87110397e-03 -1.99552747e+01] [-1.01808215e-01 -6.72685625e-02 9.92527092e-01 -2.20886102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.94, Y:-19.88, Z:-2.18 [[ 0.79118372 0.60813617 0.06479749 59.94351107] [ -0.59784519 0.79139096 -0.1275989 -19.88014462] [ -0.12887766 0.06221531 0.98970693 -2.1834221 ] [ 0. 0. 0. 1. ]] SLAMing on 59.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.93, Y:-19.94, Z:-2.20 [[ 7.92545030e-01 6.01116410e-01 1.02622786e-01 5.99341194e+01] [-5.96309670e-01 7.99160769e-01 -7.58738614e-02 -1.99437482e+01] [-1.27621128e-01 -1.06150787e-03 9.91822424e-01 -2.20490885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.96, Y:-19.96, Z:-2.21 [[ 7.94209923e-01 5.98863122e-01 1.02925017e-01 5.99604006e+01] [-5.94006238e-01 8.00851106e-01 -7.61189523e-02 -1.99635716e+01] [-1.28012447e-01 -6.83675093e-04 9.91772326e-01 -2.20920099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.99, Y:-19.98, Z:-2.21 [[ 7.96008049e-01 5.96593564e-01 1.02212061e-01 5.99876302e+01] [-5.91781410e-01 8.02543478e-01 -7.56222706e-02 -1.99827549e+01] [-1.27145383e-01 -2.91261335e-04 9.91884049e-01 -2.21249835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.01, Y:-20.00, Z:-2.21 [[ 7.97698063e-01 5.94373305e-01 1.01971435e-01 6.00149526e+01] [-5.89561820e-01 8.04189260e-01 -7.54751228e-02 -2.00005930e+01] [-1.26864731e-01 8.78943680e-05 9.91920023e-01 -2.21489171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.04, Y:-20.02, Z:-2.22 [[ 7.99579654e-01 5.92142339e-01 1.00198943e-01 6.00427693e+01] [-5.87476132e-01 8.05833258e-01 -7.41926790e-02 -2.00190816e+01] [-1.24676267e-01 4.58469120e-04 9.92197369e-01 -2.21778389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.07, Y:-20.04, Z:-2.22 [[ 8.03156044e-01 5.87184486e-01 1.00770777e-01 6.00683860e+01] [-5.82421824e-01 8.09452154e-01 -7.46460318e-02 -2.00399970e+01] [-1.25400114e-01 1.26131199e-03 9.92105448e-01 -2.22076925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:-20.06, Z:-2.23 [[ 8.04574352e-01 5.85232040e-01 1.00814538e-01 6.00930013e+01] [-5.80446174e-01 8.10864310e-01 -7.47081655e-02 -2.00617794e+01] [-1.25468523e-01 1.59086093e-03 9.92096325e-01 -2.22586180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:-20.08, Z:-2.23 [[ 8.06339377e-01 5.82958367e-01 9.98816853e-02 6.01173988e+01] [-5.78239949e-01 8.12499684e-01 -7.40461003e-02 -2.00836797e+01] [-1.24319631e-01 1.95070582e-03 9.92240306e-01 -2.23103063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.14, Y:-20.11, Z:-2.23 [[ 8.06974810e-01 5.82266553e-01 9.87791322e-02 6.01417980e+01] [-5.77642950e-01 8.12995334e-01 -7.32612390e-02 -2.01059539e+01] [-1.22964543e-01 2.06090508e-03 9.92408925e-01 -2.23420975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.17, Y:-20.13, Z:-2.24 [[ 8.06080236e-01 5.83592449e-01 9.82573516e-02 6.01674366e+01] [-5.79024033e-01 8.12044549e-01 -7.29028156e-02 -2.01268949e+01] [-1.22334879e-01 1.87215083e-03 9.92487114e-01 -2.23772124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:-20.15, Z:-2.24 [[ 8.05541730e-01 5.84682735e-01 9.61697490e-02 6.01937086e+01] [-5.80311557e-01 8.11260276e-01 -7.13810960e-02 -2.01470854e+01] [-1.19753992e-01 1.69203481e-03 9.92802155e-01 -2.24256321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.22, Y:-20.17, Z:-2.25 [[ 8.04767268e-01 5.86010669e-01 9.45575999e-02 6.02203279e+01] [-5.81791265e-01 8.10301964e-01 -7.02114737e-02 -2.01662572e+01] [-1.17764882e-01 1.49111023e-03 9.93040387e-01 -2.24798159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.25, Y:-20.19, Z:-2.25 [[ 8.03953340e-01 5.87095883e-01 9.47494198e-02 6.02454581e+01] [-5.82863490e-01 8.09516264e-01 -7.03816021e-02 -2.01866172e+01] [-1.18021945e-01 1.35754655e-03 9.93010059e-01 -2.25247186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.27, Y:-20.21, Z:-2.25 [[ 8.02728531e-01 5.88142890e-01 9.85639248e-02 6.02697735e+01] [-5.83565625e-01 8.08756026e-01 -7.32451549e-02 -2.02086994e+01] [-1.22792785e-01 1.27745725e-03 9.92431509e-01 -2.25336304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:-20.23, Z:-2.26 [[ 8.02599853e-01 5.88320837e-01 9.85498244e-02 6.02965889e+01] [-5.83742580e-01 8.08626594e-01 -7.32641220e-02 -2.02285038e+01] [-1.22792819e-01 1.27404488e-03 9.92431509e-01 -2.25719715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.32, Y:-20.25, Z:-2.26 [[ 8.02045064e-01 5.88690586e-01 1.00832083e-01 6.03213260e+01] [-5.83894887e-01 8.08357446e-01 -7.50000007e-02 -2.02512318e+01] [-1.25660160e-01 1.27804254e-03 9.92072523e-01 -2.25805677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:-20.27, Z:-2.26 [[ 8.01989639e-01 5.88746748e-01 1.00944963e-01 6.03467119e+01] [-5.83930720e-01 8.08316451e-01 -7.51626806e-02 -2.02733838e+01] [-1.25847258e-01 1.33482620e-03 9.92048732e-01 -2.26004236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.37, Y:-20.29, Z:-2.27 [[ 8.02547049e-01 5.88109006e-01 1.00229895e-01 6.03717309e+01] [-5.83346553e-01 8.08780307e-01 -7.47075294e-02 -2.02946068e+01] [-1.25000136e-01 1.48754361e-03 9.92155609e-01 -2.26532547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:-20.32, Z:-2.27 [[ 8.03162050e-01 5.87350292e-01 9.97514673e-02 6.03960965e+01] [-5.82617935e-01 8.09331130e-01 -7.44275741e-02 -2.03161040e+01] [-1.24447025e-01 1.66040913e-03 9.92224864e-01 -2.27348916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:-20.34, Z:-2.28 [[ 8.03761578e-01 5.86598737e-01 9.93440873e-02 6.04176115e+01] [-5.81889830e-01 8.09875648e-01 -7.42001302e-02 -2.03409775e+01] [-1.23982060e-01 1.83189968e-03 9.92282769e-01 -2.28300903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:-20.36, Z:-2.28 [[ 8.03175795e-01 5.87620592e-01 9.80340891e-02 6.04438336e+01] [-5.83033952e-01 8.09134790e-01 -7.32959942e-02 -2.03603827e+01] [-1.22393028e-01 1.71236597e-03 9.92480234e-01 -2.28499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:-20.38, Z:-2.29 [[ 8.01437124e-01 5.90082685e-01 9.74728759e-02 6.04721374e+01] [-5.85557468e-01 8.07341620e-01 -7.29517650e-02 -2.03781075e+01] [-1.21741483e-01 1.39028236e-03 9.92560869e-01 -2.28577211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.50, Y:-20.40, Z:-2.29 [[ 7.96708019e-01 5.96576651e-01 9.67090044e-02 6.05010266e+01] [-5.92160651e-01 8.02555973e-01 -7.24546329e-02 -2.03950620e+01] [-1.20839131e-01 4.57920079e-04 9.92671998e-01 -2.28609774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.53, Y:-20.42, Z:-2.29 [[ 7.93427155e-01 6.00645264e-01 9.84815502e-02 6.05264458e+01] [-5.96086563e-01 7.99515639e-01 -7.38617118e-02 -2.04156524e+01] [-1.23102227e-01 -9.96409119e-05 9.92393990e-01 -2.29111757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.55, Y:-20.44, Z:-2.29 [[ 7.90482873e-01 6.04291245e-01 9.98444685e-02 6.05517059e+01] [-5.99623655e-01 7.96763276e-01 -7.49650194e-02 -2.04364872e+01] [-1.24853111e-01 -6.10541270e-04 9.92175049e-01 -2.29494094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.58, Y:-20.46, Z:-2.30 [[ 7.87269092e-01 6.07939469e-01 1.03038724e-01 6.05783239e+01] [-6.02987113e-01 7.93982532e-01 -7.74485697e-02 -2.04561315e+01] [-1.28894990e-01 -1.15815774e-03 9.91657572e-01 -2.29804219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-20.47, Z:-2.30 [[ 7.84448100e-01 6.11201572e-01 1.05232206e-01 6.06056254e+01] [-6.06052891e-01 7.91473234e-01 -7.91834135e-02 -2.04743458e+01] [-1.31685501e-01 -1.66100441e-03 9.91290154e-01 -2.29988133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:-20.49, Z:-2.30 [[ 7.82568093e-01 6.13588014e-01 1.05341961e-01 6.06332729e+01] [-6.08438740e-01 7.89623811e-01 -7.93507284e-02 -2.04926683e+01] [-1.31869176e-01 -1.99678150e-03 9.91265118e-01 -2.30261917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:-20.51, Z:-2.31 [[ 7.82365725e-01 6.14584599e-01 1.00943763e-01 6.06625155e+01] [-6.09856246e-01 7.88848355e-01 -7.61159103e-02 -2.05080890e+01] [-1.26408987e-01 -2.01070482e-03 9.91976172e-01 -2.30663956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:60.69, Y:-20.53, Z:-2.31 [[ 7.82437387e-01 6.14592628e-01 1.00337615e-01 6.06913389e+01] [-6.09911017e-01 7.88842287e-01 -7.57390098e-02 -2.05252361e+01] [-1.25699191e-01 -1.93598397e-03 9.92066513e-01 -2.31061905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.72, Y:-20.54, Z:-2.31 [[ 7.82884967e-01 6.13965707e-01 1.00683855e-01 6.07187228e+01] [-6.09236592e-01 7.89330692e-01 -7.60778128e-02 -2.05429336e+01] [-1.26182025e-01 -1.78011280e-03 9.92005508e-01 -2.31466398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:-20.56, Z:-2.32 [[ 7.82998590e-01 6.13637374e-01 1.01795777e-01 6.07442250e+01] [-6.08795981e-01 7.89586100e-01 -7.69496169e-02 -2.05631068e+01] [-1.27595692e-01 -1.72141868e-03 9.91824771e-01 -2.31887460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:-20.59, Z:-2.32 [[ 7.83417576e-01 6.13230857e-01 1.01018898e-01 6.07691435e+01] [-6.08455410e-01 7.89902090e-01 -7.63983104e-02 -2.05855576e+01] [-1.26644840e-01 -1.61371612e-03 9.91946813e-01 -2.32191735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:-20.60, Z:-2.32 [[ 7.83081888e-01 6.13757581e-01 1.00421051e-01 6.07973709e+01] [-6.09032777e-01 7.89492870e-01 -7.60268600e-02 -2.06038590e+01] [-1.25943766e-01 -1.62445468e-03 9.92036052e-01 -2.32339681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:-20.62, Z:-2.33 [[ 7.83390927e-01 6.13357710e-01 1.00453846e-01 6.08257022e+01] [-6.08616734e-01 7.89803819e-01 -7.61288363e-02 -2.06207498e+01] [-1.26033040e-01 -1.49925181e-03 9.92024912e-01 -2.32615566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:-20.64, Z:-2.33 [[ 7.82612713e-01 6.14190231e-01 1.01428312e-01 6.08532684e+01] [-6.09359371e-01 7.89156336e-01 -7.68988620e-02 -2.06386339e+01] [-1.27273325e-01 -1.62426534e-03 9.91866353e-01 -2.32993964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.88, Y:-20.66, Z:-2.34 [[ 7.80768404e-01 6.16460286e-01 1.01869593e-01 6.08780779e+01] [-6.11601607e-01 7.87383528e-01 -7.72700094e-02 -2.06606870e+01] [-1.27844332e-01 -1.97362492e-03 9.91792283e-01 -2.33596592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-20.68, Z:-2.34 [[ 7.80973869e-01 6.16266456e-01 1.01466601e-01 6.09047989e+01] [-6.11434866e-01 7.87535489e-01 -7.70406321e-02 -2.06790516e+01] [-1.27386106e-01 -1.87349689e-03 9.91851435e-01 -2.33991095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:-20.70, Z:-2.34 [[ 7.80510709e-01 6.17206482e-01 9.92934615e-02 6.09330754e+01] [-6.12584219e-01 7.86798780e-01 -7.54205116e-02 -2.06952660e+01] [-1.24674003e-01 -1.95909057e-03 9.92195825e-01 -2.34414961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:-20.71, Z:-2.35 [[ 7.80390459e-01 6.17494726e-01 9.84428516e-02 6.09619196e+01] [-6.12950176e-01 7.86572568e-01 -7.48042529e-02 -2.07119486e+01] [-1.23623678e-01 -1.96403796e-03 9.92327229e-01 -2.34847356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.98, Y:-20.74, Z:-2.35 [[ 7.81473661e-01 6.16372445e-01 9.68706690e-02 6.09843973e+01] [-6.11960198e-01 7.87452857e-01 -7.36390753e-02 -2.07366173e+01] [-1.21670182e-01 -1.73399609e-03 9.92569071e-01 -2.35440867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.01, Y:-20.76, Z:-2.36 [[ 7.82504807e-01 6.15001950e-01 9.72565140e-02 6.10076726e+01] [-6.10540097e-01 7.88524155e-01 -7.39624706e-02 -2.07604132e+01] [-1.22176174e-01 -1.50301274e-03 9.92507291e-01 -2.35715123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-20.78, Z:-2.36 [[ 7.83796364e-01 6.13115822e-01 9.87534758e-02 6.10342007e+01] [-6.08496241e-01 7.89992115e-01 -7.51317706e-02 -2.07811058e+01] [-1.24078944e-01 -1.20311018e-03 9.92271620e-01 -2.35821573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-20.80, Z:-2.36 [[ 7.84886434e-01 6.11510593e-01 1.00040391e-01 6.10627165e+01] [-6.06752401e-01 7.91235690e-01 -7.61420229e-02 -2.07985030e+01] [-1.25717181e-01 -9.36906455e-04 9.92065680e-01 -2.36063063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:-20.82, Z:-2.36 [[ 7.85809741e-01 6.10178842e-01 1.00919932e-01 6.10905557e+01] [-6.05321327e-01 7.92263393e-01 -7.68427452e-02 -2.08157859e+01] [-1.26842985e-01 -7.05209540e-04 9.91922557e-01 -2.36466133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.12, Y:-20.83, Z:-2.37 [[ 7.87508037e-01 6.07891961e-01 1.01481303e-01 6.11166883e+01] [-6.02957067e-01 7.94019688e-01 -7.73014275e-02 -2.08342980e+01] [-1.27569069e-01 -3.13373214e-04 9.91829640e-01 -2.37193378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:-20.85, Z:-2.38 [[ 7.87256139e-01 6.08153667e-01 1.01867012e-01 6.11433907e+01] [-6.03178488e-01 7.93819255e-01 -7.76318343e-02 -2.08534562e+01] [-1.28076080e-01 -3.27852116e-04 9.91764292e-01 -2.37574562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.17, Y:-20.87, Z:-2.38 [[ 7.86754374e-01 6.08961153e-01 1.00915157e-01 6.11706125e+01] [-6.04075837e-01 7.93199949e-01 -7.69819749e-02 -2.08720364e+01] [-1.26924929e-01 -3.94502242e-04 9.91912247e-01 -2.37867407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.20, Y:-20.89, Z:-2.38 [[ 7.85736594e-01 6.10375394e-01 1.00298972e-01 6.11971376e+01] [-6.05557375e-01 7.92112066e-01 -7.65424087e-02 -2.08916043e+01] [-1.26167629e-01 -5.94610585e-04 9.92008758e-01 -2.38238252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:-20.91, Z:-2.39 [[ 7.85259610e-01 6.11019114e-01 1.00114873e-01 6.12225471e+01] [-6.06220150e-01 7.91615558e-01 -7.64325793e-02 -2.09129603e+01] [-1.25954258e-01 -6.72236085e-04 9.92035822e-01 -2.38634746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:-20.93, Z:-2.39 [[ 7.84377835e-01 6.12175358e-01 9.99637081e-02 6.12477517e+01] [-6.07396414e-01 7.90721594e-01 -7.63476094e-02 -2.09338902e+01] [-1.25781588e-01 -8.32225290e-04 9.92057609e-01 -2.38944833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:-20.95, Z:-2.39 [[ 7.83977840e-01 6.12711711e-01 9.98153538e-02 6.12757788e+01] [-6.07947467e-01 7.90305993e-01 -7.62647678e-02 -2.09515464e+01] [-1.25612989e-01 -8.92603586e-04 9.92078918e-01 -2.39432012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:-20.97, Z:-2.40 [[ 7.83760514e-01 6.12909017e-01 1.00309492e-01 6.13037405e+01] [-6.08094967e-01 7.90152972e-01 -7.66732820e-02 -2.09694847e+01] [-1.26253589e-01 -9.04206500e-04 9.91997587e-01 -2.39872094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:-20.99, Z:-2.40 [[ 7.85002563e-01 6.11022819e-01 1.02088642e-01 6.13278224e+01] [-6.06015737e-01 7.91612766e-01 -7.80650731e-02 -2.09921102e+01] [-1.28514214e-01 -5.86041422e-04 9.91707494e-01 -2.40329532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-21.01, Z:-2.41 [[ 7.85881886e-01 6.10082845e-01 1.00938514e-01 6.13529447e+01] [-6.05176047e-01 7.92337531e-01 -7.72216848e-02 -2.10143388e+01] [-1.27088998e-01 -3.98447407e-04 9.91891238e-01 -2.40625758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.38, Y:-21.03, Z:-2.41 [[ 7.87280215e-01 6.08314466e-01 1.00714318e-01 6.13800224e+01] [-6.03405275e-01 7.93696105e-01 -7.71269492e-02 -2.10340186e+01] [-1.26854001e-01 -5.10294468e-05 9.91921398e-01 -2.40820251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.41, Y:-21.05, Z:-2.41 [[ 7.88247291e-01 6.07216022e-01 9.97743023e-02 6.14085950e+01] [-6.02385778e-01 7.94536771e-01 -7.64375123e-02 -2.10515272e+01] [-1.25688434e-01 1.49041240e-04 9.92069753e-01 -2.41037334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:-21.07, Z:-2.41 [[ 7.89317885e-01 6.05728094e-01 1.00353134e-01 6.14363385e+01] [-6.00825504e-01 7.95671606e-01 -7.69116930e-02 -2.10693549e+01] [-1.26435713e-01 4.13052521e-04 9.91974717e-01 -2.41464068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.46, Y:-21.09, Z:-2.42 [[ 7.90169804e-01 6.04754809e-01 9.95153315e-02 6.14618219e+01] [-5.99922565e-01 7.96411498e-01 -7.62996833e-02 -2.10893973e+01] [-1.25397755e-01 5.88212939e-04 9.92106374e-01 -2.42092867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:-21.12, Z:-2.43 [[ 7.91456494e-01 6.03295604e-01 9.81378249e-02 6.14833351e+01] [-5.98581412e-01 7.97517221e-01 -7.52766654e-02 -2.11153234e+01] [-1.23680687e-01 8.34727839e-04 9.92321717e-01 -2.42788662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.51, Y:-21.14, Z:-2.43 [[ 7.92069589e-01 6.02386235e-01 9.87754551e-02 6.15081143e+01] [-5.97593291e-01 7.98204064e-01 -7.58454429e-02 -2.11374851e+01] [-1.24531220e-01 1.04731950e-03 9.92215137e-01 -2.43081775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.53, Y:-21.16, Z:-2.43 [[ 7.92341792e-01 6.01931520e-01 9.93626172e-02 6.15339104e+01] [-5.97067566e-01 7.98546824e-01 -7.63759883e-02 -2.11588641e+01] [-1.25318817e-01 1.18969145e-03 9.92115809e-01 -2.43210255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.56, Y:-21.18, Z:-2.43 [[ 7.92645284e-01 6.01207815e-01 1.01304570e-01 6.15603313e+01] [-5.96134571e-01 7.99091492e-01 -7.79510099e-02 -2.11794627e+01] [-1.27816376e-01 1.39634415e-03 9.91796866e-01 -2.43342634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:-21.20, Z:-2.43 [[ 7.92099155e-01 6.01193032e-01 1.05573986e-01 6.15846486e+01] [-5.95669318e-01 7.99102372e-01 -8.13232028e-02 -2.12022339e+01] [-1.33255366e-01 1.52885578e-03 9.91080557e-01 -2.43411759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:-21.22, Z:-2.44 [[ 7.91445762e-01 6.01653809e-01 1.07825322e-01 6.16100004e+01] [-5.95883127e-01 7.98755458e-01 -8.31445541e-02 -2.12235137e+01] [-1.36150302e-01 1.55311519e-03 9.90686975e-01 -2.43786847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.64, Y:-21.24, Z:-2.44 [[ 7.91809068e-01 6.01230434e-01 1.07519136e-01 6.16350256e+01] [-5.95477129e-01 7.99073908e-01 -8.29932489e-02 -2.12443401e+01] [-1.35813804e-01 1.68962036e-03 9.90732939e-01 -2.44329946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.66, Y:-21.26, Z:-2.45 [[ 7.92777247e-01 6.00312239e-01 1.05496216e-01 6.16607962e+01] [-5.94755316e-01 7.99763521e-01 -8.15133351e-02 -2.12649239e+01] [-1.33305478e-01 1.87748185e-03 9.91073219e-01 -2.45008441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.69, Y:-21.29, Z:-2.46 [[ 7.94189004e-01 5.98871487e-01 1.03037701e-01 6.16859741e+01] [-5.93549197e-01 8.00842301e-01 -7.96929121e-02 -2.12861802e+01] [-1.30242762e-01 2.13328975e-03 9.91479839e-01 -2.45747851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:-21.31, Z:-2.46 [[ 7.96233447e-01 5.96565851e-01 1.00605587e-01 6.17093884e+01] [-5.91464692e-01 8.02560198e-01 -7.78886817e-02 -2.13095300e+01] [-1.27207768e-01 2.51292074e-03 9.91872910e-01 -2.46291338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.73, Y:-21.34, Z:-2.46 [[ 7.98398794e-01 5.94020714e-01 9.84822660e-02 6.17288600e+01] [-5.89104700e-01 8.04444453e-01 -7.63202054e-02 -2.13387250e+01] [-1.24559296e-01 2.91759419e-03 9.92207876e-01 -2.46435356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532320588000005 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.75, Y:-21.36, Z:-2.47 [[ 7.97457241e-01 5.95087052e-01 9.96661871e-02 6.17529966e+01] [-5.90049979e-01 8.03656201e-01 -7.73157995e-02 -2.13614745e+01] [-1.26106980e-01 2.84801247e-03 9.92012560e-01 -2.46512064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:-21.38, Z:-2.47 [[ 7.95525926e-01 5.97391918e-01 1.01298554e-01 6.17787561e+01] [-5.92195926e-01 8.01945254e-01 -7.86625345e-02 -2.13823755e+01] [-1.28228257e-01 2.58949426e-03 9.91741301e-01 -2.46765747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:-21.40, Z:-2.47 [[ 7.93512201e-01 6.00010707e-01 1.01614652e-01 6.18056889e+01] [-5.94793054e-01 7.99988839e-01 -7.89878545e-02 -2.14017144e+01] [-1.28684146e-01 2.23813711e-03 9.91683105e-01 -2.47013159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.83, Y:-21.42, Z:-2.47 [[ 7.88614161e-01 6.06258371e-01 1.02657165e-01 6.18332134e+01] [-6.00974275e-01 7.95266683e-01 -7.98800598e-02 -2.14200602e+01] [-1.30067778e-01 1.30023129e-03 9.91504252e-01 -2.47472953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.86, Y:-21.44, Z:-2.48 [[ 7.86171605e-01 6.09603537e-01 1.01576256e-01 6.18598136e+01] [-6.04447878e-01 7.92706050e-01 -7.91194120e-02 -2.14392903e+01] [-1.28751586e-01 8.03882521e-04 9.91676552e-01 -2.48078522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.89, Y:-21.46, Z:-2.49 [[ 7.84754446e-01 6.11950348e-01 9.83729200e-02 6.18852827e+01] [-6.07124939e-01 7.90896046e-01 -7.66991066e-02 -2.14598888e+01] [-1.24738798e-01 4.65311774e-04 9.92189506e-01 -2.48773189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:-21.48, Z:-2.49 [[ 7.83130975e-01 6.14376132e-01 9.61657142e-02 6.19096108e+01] [-6.09777158e-01 7.89013279e-01 -7.50324183e-02 -2.14822212e+01] [-1.21974152e-01 1.20555043e-04 9.92533270e-01 -2.49334925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.93, Y:-21.51, Z:-2.50 [[ 7.82558539e-01 6.15484277e-01 9.37082547e-02 6.19311574e+01] [-6.11117125e-01 7.88149164e-01 -7.31898623e-02 -2.15076155e+01] [-1.18903292e-01 8.63253028e-06 9.92905840e-01 -2.49669116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.96, Y:-21.53, Z:-2.50 [[ 7.82337279e-01 6.15771168e-01 9.36709723e-02 6.19575853e+01] [-6.11400355e-01 7.87925039e-01 -7.32375477e-02 -2.15279688e+01] [-1.18903275e-01 2.59980628e-05 9.92905842e-01 -2.50052181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:61.98, Y:-21.55, Z:-2.50 [[ 7.82772383e-01 6.15252994e-01 9.34406219e-02 6.19835208e+01] [-6.10893444e-01 7.88329710e-01 -7.31127135e-02 -2.15481817e+01] [-1.18644834e-01 1.48349710e-04 9.92936746e-01 -2.50151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.01, Y:-21.57, Z:-2.50 [[ 7.83263949e-01 6.14452346e-01 9.45827717e-02 6.20103291e+01] [-6.09969631e-01 7.88953865e-01 -7.40867579e-02 -2.15672652e+01] [-1.20144226e-01 3.36868200e-04 9.92756391e-01 -2.50324876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:-21.59, Z:-2.51 [[ 7.84282310e-01 6.12624000e-01 9.79443348e-02 6.20368126e+01] [-6.07790898e-01 7.90374175e-01 -7.68042245e-02 -2.15875863e+01] [-1.24464784e-01 7.06519468e-04 9.92223774e-01 -2.50512040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.06, Y:-21.61, Z:-2.51 [[ 7.84643614e-01 6.11555176e-01 1.01659563e-01 6.20615955e+01] [-6.06326570e-01 7.91201180e-01 -7.98046545e-02 -2.16091549e+01] [-1.29238116e-01 9.79318591e-04 9.91613105e-01 -2.50704522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.08, Y:-21.63, Z:-2.51 [[ 7.85422961e-01 6.10034559e-01 1.04731134e-01 6.20835116e+01] [-6.04458413e-01 7.92373679e-01 -8.23041922e-02 -2.16343569e+01] [-1.33194595e-01 1.33798751e-03 9.91089002e-01 -2.51029529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.11, Y:-21.66, Z:-2.52 [[ 7.85658112e-01 6.09935912e-01 1.03535083e-01 6.21082044e+01] [-6.04474976e-01 7.92449497e-01 -8.14481299e-02 -2.16564265e+01] [-1.31724464e-01 1.40601694e-03 9.91285372e-01 -2.51642651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:-21.68, Z:-2.52 [[ 7.86121131e-01 6.09728121e-01 1.01218509e-01 6.21328006e+01] [-6.04497617e-01 7.92609266e-01 -7.97068468e-02 -2.16781980e+01] [-1.28826234e-01 1.47288881e-03 9.91666089e-01 -2.52278035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.15, Y:-21.70, Z:-2.53 [[ 7.85247951e-01 6.11050878e-01 1.00012395e-01 6.21549283e+01] [-6.05945108e-01 7.91590248e-01 -7.88378418e-02 -2.17024534e+01] [-1.27342769e-01 1.30523239e-03 9.91857911e-01 -2.52852474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.18, Y:-21.72, Z:-2.53 [[ 7.83797848e-01 6.12962225e-01 9.96907386e-02 6.21803992e+01] [-6.07894347e-01 7.90111508e-01 -7.86655476e-02 -2.17236891e+01] [-1.26985809e-01 1.05645046e-03 9.91903971e-01 -2.53020942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.21, Y:-21.74, Z:-2.53 [[ 7.82421203e-01 6.14898209e-01 9.85761359e-02 6.22068372e+01] [-6.09948587e-01 7.88606084e-01 -7.78663232e-02 -2.17438046e+01] [-1.25617603e-01 7.97887440e-04 9.92078415e-01 -2.53275405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:-21.76, Z:-2.54 [[ 7.81308391e-01 6.16393031e-01 9.80654330e-02 6.22325348e+01] [-6.11496229e-01 7.87438409e-01 -7.75442748e-02 -2.17642380e+01] [-1.25018239e-01 6.19350106e-04 9.92154250e-01 -2.53674963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:-21.79, Z:-2.54 [[ 7.80724906e-01 6.17092413e-01 9.83136516e-02 6.22569788e+01] [-6.12166372e-01 7.86890480e-01 -7.78184116e-02 -2.17866365e+01] [-1.25383228e-01 5.70460728e-04 9.92108220e-01 -2.54133741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.28, Y:-21.81, Z:-2.55 [[ 7.78832969e-01 6.18916133e-01 1.01794040e-01 6.22776218e+01] [-6.13643269e-01 7.85457011e-01 -8.06177537e-02 -2.18134685e+01] [-1.29850471e-01 3.22537141e-04 9.91533535e-01 -2.54778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:-21.83, Z:-2.55 [[ 7.77630308e-01 6.20454213e-01 1.01625165e-01 6.23027072e+01] [-6.15200669e-01 7.84242661e-01 -8.05703721e-02 -2.18348403e+01] [-1.29689017e-01 1.34093635e-04 9.91554709e-01 -2.55201629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:-21.85, Z:-2.55 [[ 7.77311425e-01 6.20889276e-01 1.01407378e-01 6.23291463e+01] [-6.15650900e-01 7.83898265e-01 -8.04827886e-02 -2.18542675e+01] [-1.29463968e-01 1.28647600e-04 9.91584119e-01 -2.55484351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:-21.87, Z:-2.56 [[ 7.77132002e-01 6.21288235e-01 1.00333347e-01 6.23560654e+01] [-6.16153145e-01 7.83582103e-01 -7.97144234e-02 -2.18739213e+01] [-1.28145048e-01 1.27922286e-04 9.91755429e-01 -2.55825176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:-21.89, Z:-2.56 [[ 7.77221334e-01 6.21414080e-01 9.88510985e-02 6.23818213e+01] [-6.16420698e-01 7.83482298e-01 -7.86194076e-02 -2.18946872e+01] [-1.26303293e-01 1.70817657e-04 9.91991658e-01 -2.56220171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.41, Y:-21.92, Z:-2.56 [[ 7.76210004e-01 6.22566751e-01 9.95422998e-02 6.24069574e+01] [-6.17501512e-01 7.82566698e-01 -7.92543102e-02 -2.19162659e+01] [-1.27239587e-01 5.04677778e-05 9.91872010e-01 -2.56317153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:-21.93, Z:-2.57 [[ 7.75305020e-01 6.23792392e-01 9.89200535e-02 6.24344619e+01] [-6.18789669e-01 7.81590075e-01 -7.88435183e-02 -2.19345049e+01] [-1.26496919e-01 -8.29316065e-05 9.91966997e-01 -2.56596262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:-21.95, Z:-2.57 [[ 7.74222444e-01 6.25115733e-01 9.90450762e-02 6.24622837e+01] [-6.20100250e-01 7.80532040e-01 -7.90279304e-02 -2.19516508e+01] [-1.26709458e-01 -2.32679144e-04 9.91939847e-01 -2.56930125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:-21.97, Z:-2.58 [[ 7.72816513e-01 6.26883750e-01 9.88503959e-02 6.24874876e+01] [-6.21891575e-01 7.79112673e-01 -7.89576630e-02 -2.19720452e+01] [-1.26512872e-01 -4.54442495e-04 9.91964862e-01 -2.57558934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.51, Y:-21.99, Z:-2.58 [[ 7.72761042e-01 6.26952572e-01 9.88475835e-02 6.25110621e+01] [-6.21950534e-01 7.79057323e-01 -7.90393615e-02 -2.19943144e+01] [-1.26561865e-01 -3.99767942e-04 9.91958636e-01 -2.58048030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:-22.02, Z:-2.58 [[ 7.72987989e-01 6.26659165e-01 9.89336122e-02 6.25359131e+01] [-6.21635149e-01 7.79293404e-01 -7.91930047e-02 -2.20157289e+01] [-1.26725334e-01 -2.85369300e-04 9.91937805e-01 -2.58448006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.56, Y:-22.04, Z:-2.59 [[ 7.73126845e-01 6.26346614e-01 9.98238516e-02 6.25625305e+01] [-6.21217666e-01 7.79544669e-01 -7.99920015e-02 -2.20353377e+01] [-1.27919871e-01 -1.68376378e-04 9.91784492e-01 -2.58708268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:-22.05, Z:-2.59 [[ 7.73899172e-01 6.25390233e-01 9.98355027e-02 6.25893249e+01] [-6.20241127e-01 7.80312151e-01 -8.00867709e-02 -2.20538817e+01] [-1.27988340e-01 5.70010456e-05 9.91775671e-01 -2.59019754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:-22.07, Z:-2.59 [[ 7.74552031e-01 6.24662660e-01 9.93262945e-02 6.26151002e+01] [-6.19549304e-01 7.80894681e-01 -7.97631296e-02 -2.20738444e+01] [-1.27388424e-01 2.43157320e-04 9.91852877e-01 -2.59370112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.64, Y:-22.10, Z:-2.60 [[ 7.76184179e-01 6.23100674e-01 9.63518018e-02 6.26365604e+01] [-6.18268150e-01 7.82141451e-01 -7.74547925e-02 -2.20991039e+01] [-1.23622871e-01 5.47934301e-04 9.92329122e-01 -2.60069581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:-22.12, Z:-2.61 [[ 7.76122947e-01 6.23249333e-01 9.58824248e-02 6.26605737e+01] [-6.18454938e-01 7.82022970e-01 -7.71593472e-02 -2.21211024e+01] [-1.23071770e-01 5.86180913e-04 9.92397600e-01 -2.60573395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:-22.14, Z:-2.61 [[ 7.75835377e-01 6.23586160e-01 9.60196211e-02 6.26858170e+01] [-6.18770316e-01 7.81754400e-01 -7.73521429e-02 -2.21425602e+01] [-1.23299487e-01 5.98437747e-04 9.92369326e-01 -2.60931153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.71, Y:-22.16, Z:-2.61 [[ 7.74961043e-01 6.24557701e-01 9.67629110e-02 6.27115939e+01] [-6.19663733e-01 7.80978498e-01 -7.80348873e-02 -2.21634727e+01] [-1.24307043e-01 5.13531018e-04 9.92243667e-01 -2.61222775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.74, Y:-22.19, Z:-2.61 [[ 7.73964918e-01 6.25700094e-01 9.73534657e-02 6.27360792e+01] [-6.20744420e-01 7.80063609e-01 -7.85947304e-02 -2.21864723e+01] [-1.25118626e-01 3.97943483e-04 9.92141709e-01 -2.61259430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.76, Y:-22.21, Z:-2.62 [[ 7.74448652e-01 6.25169626e-01 9.69134861e-02 6.27606799e+01] [-6.20244270e-01 7.80488718e-01 -7.83224522e-02 -2.22089427e+01] [-1.24604701e-01 5.46683122e-04 9.92206314e-01 -2.61694179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.79, Y:-22.23, Z:-2.62 [[ 7.74640054e-01 6.25011331e-01 9.64034416e-02 6.27853240e+01] [-6.20126334e-01 7.80615420e-01 -7.79929172e-02 -2.22303271e+01] [-1.24000470e-01 6.34124698e-04 9.92281957e-01 -2.62203013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-22.25, Z:-2.63 [[ 7.73942661e-01 6.25805308e-01 9.68528445e-02 6.28102383e+01] [-6.20870062e-01 7.79979092e-01 -7.84409441e-02 -2.22512483e+01] [-1.24631953e-01 5.75761463e-04 9.92202875e-01 -2.62708867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-22.30, Z:-2.63 [[ 7.73648144e-01 6.23500380e-01 1.12764465e-01 6.28129272e+01] [-6.23131598e-01 7.80941836e-01 -4.28586020e-02 -2.22980020e+01] [-1.14784843e-01 -3.71096235e-02 9.92696991e-01 -2.63371414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.86, Y:-22.29, Z:-2.63 [[ 7.73340125e-01 6.27619288e-01 8.96609171e-02 6.28595831e+01] [-6.23245560e-01 7.78519275e-01 -7.39777624e-02 -2.22936803e+01] [-1.16232623e-01 1.32920350e-03 9.93221129e-01 -2.63083007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.88, Y:-22.32, Z:-2.63 [[ 7.75774346e-01 6.24251702e-01 9.21085046e-02 6.28753090e+01] [-6.20711684e-01 7.81203950e-01 -6.66137743e-02 -2.23220846e+01] [-1.13539290e-01 -5.49556780e-03 9.93518308e-01 -2.63339402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:-22.31, Z:-2.63 [[ 7.77066796e-01 6.25403044e-01 7.09804721e-02 6.29271918e+01] [-6.16249614e-01 7.78903174e-01 -1.16388395e-01 -2.23086271e+01] [-1.28076572e-01 4.66998688e-02 9.90664178e-01 -2.63112509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.93, Y:-22.36, Z:-2.64 [[ 7.77548161e-01 6.20695355e-01 1.00777646e-01 6.29250924e+01] [-6.15284690e-01 7.84050219e-01 -8.17924433e-02 -2.23626283e+01] [-1.29782925e-01 1.59062134e-03 9.91541155e-01 -2.64187541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.95, Y:-22.39, Z:-2.65 [[ 7.77626055e-01 6.20418922e-01 1.01872859e-01 6.29486398e+01] [-6.14875609e-01 7.84268698e-01 -8.27683220e-02 -2.23855582e+01] [-1.31246728e-01 1.72366722e-03 9.91348236e-01 -2.64578070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:-22.41, Z:-2.65 [[ 7.77130932e-01 6.21384678e-01 9.97426530e-02 6.29710051e+01] [-6.16068947e-01 7.83504018e-01 -8.11203208e-02 -2.24104636e+01] [-1.28555694e-01 1.59275923e-03 9.91701012e-01 -2.65035193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.032320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:-22.43, Z:-2.65 [[ 7.75330312e-01 6.23918446e-01 9.79218009e-02 6.29954733e+01] [-6.18805666e-01 7.81488514e-01 -7.97198274e-02 -2.24316953e+01] [-1.26263434e-01 1.21463345e-03 9.91996003e-01 -2.65461626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.02, Y:-22.45, Z:-2.66 [[ 7.73406006e-01 6.26442313e-01 9.70215391e-02 6.30203045e+01] [-6.21432918e-01 7.79467311e-01 -7.90685710e-02 -2.24526588e+01] [-1.25157017e-01 8.59729507e-04 9.92136574e-01 -2.65896757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:-22.47, Z:-2.66 [[ 7.67895044e-01 6.32853809e-01 9.91627837e-02 6.30456377e+01] [-6.27661571e-01 7.74271298e-01 -8.09006135e-02 -2.24734314e+01] [-1.27977159e-01 -1.17488395e-04 9.91777109e-01 -2.66066419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:-22.49, Z:-2.66 [[ 7.65137797e-01 6.35699471e-01 1.02226881e-01 6.30706292e+01] [-6.30192985e-01 7.71936456e-01 -8.34919746e-02 -2.24949372e+01] [-1.31988460e-01 -5.39797774e-04 9.91251106e-01 -2.66250979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-22.52, Z:-2.66 [[ 7.62928076e-01 6.38192606e-01 1.03203434e-01 6.30945843e+01] [-6.32590305e-01 7.69876205e-01 -8.43808905e-02 -2.25178367e+01] [-1.33305128e-01 -9.08941248e-04 9.91074627e-01 -2.66471989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-22.54, Z:-2.67 [[ 7.61231482e-01 6.40193452e-01 1.03339121e-01 6.31177789e+01] [-6.34582439e-01 7.68212813e-01 -8.45825116e-02 -2.25410806e+01] [-1.33535607e-01 -1.19032073e-03 9.91043301e-01 -2.66790142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.212320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-22.59, Z:-2.68 [[ 7.60842635e-01 6.38531032e-01 1.15743710e-01 6.31192649e+01] [-6.38087217e-01 7.68604440e-01 -4.57374907e-02 -2.25883791e+01] [-1.18165937e-01 -3.90555489e-02 9.92225516e-01 -2.67532849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:-22.56, Z:-2.67 [[ 7.58587833e-01 6.47197997e-01 7.53608118e-02 6.31882383e+01] [-6.38690324e-01 7.61485190e-01 -1.10521382e-01 -2.25564775e+01] [-1.28915359e-01 3.57079540e-02 9.91012499e-01 -2.67477265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:-22.60, Z:-2.69 [[ 7.56279255e-01 6.46923958e-01 9.76272540e-02 6.31944220e+01] [-6.41944950e-01 7.62551716e-01 -8.01346523e-02 -2.25985568e+01] [-1.26286857e-01 -2.06714750e-03 9.91991611e-01 -2.68654199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:-22.62, Z:-2.69 [[ 7.55600911e-01 6.47664076e-01 9.79719726e-02 6.32196373e+01] [-6.42644805e-01 7.61923027e-01 -8.05043764e-02 -2.26194571e+01] [-1.26786894e-01 -2.13199909e-03 9.91927688e-01 -2.69000652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:-22.64, Z:-2.69 [[ 7.54243849e-01 6.49128852e-01 9.87317044e-02 6.32438902e+01] [-6.44032186e-01 7.60674904e-01 -8.12171976e-02 -2.26419605e+01] [-1.27823156e-01 -2.32882363e-03 9.91794241e-01 -2.69221370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:-22.66, Z:-2.69 [[ 7.52670497e-01 6.51135117e-01 9.75201630e-02 6.32685261e+01] [-6.46169071e-01 7.58957477e-01 -8.03061609e-02 -2.26638099e+01] [-1.26303818e-01 -2.57043507e-03 9.91988275e-01 -2.69468125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.392320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.30, Y:-22.68, Z:-2.70 [[ 7.50913815e-01 6.53205044e-01 9.72194065e-02 6.32954908e+01] [-6.48275913e-01 7.57175732e-01 -8.01451880e-02 -2.26831070e+01] [-1.25963416e-01 -2.84287065e-03 9.92030814e-01 -2.69833166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-22.70, Z:-2.70 [[ 7.49228552e-01 6.55073839e-01 9.76465152e-02 6.33226904e+01] [-6.50105733e-01 7.55558489e-01 -8.05847792e-02 -2.27022130e+01] [-1.26566634e-01 -3.10414185e-03 9.91953251e-01 -2.70284413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:-22.72, Z:-2.71 [[ 7.47536858e-01 6.57035338e-01 9.74331087e-02 6.33491132e+01] [-6.52094497e-01 7.53852280e-01 -8.04953833e-02 -2.27215030e+01] [-1.26338483e-01 -3.36232807e-03 9.91981493e-01 -2.70723390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:-22.74, Z:-2.71 [[ 7.45401410e-01 6.59427350e-01 9.76335378e-02 6.33783247e+01] [-6.54475306e-01 7.51759146e-01 -8.07481264e-02 -2.27371574e+01] [-1.26644428e-01 -3.70897229e-03 9.91941244e-01 -2.71150694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:-22.75, Z:-2.71 [[ 7.45338901e-01 6.59469755e-01 9.78241530e-02 6.34071950e+01] [-6.54487522e-01 7.51722198e-01 -8.09927148e-02 -2.27542227e+01] [-1.26948833e-01 -3.65766654e-03 9.91902523e-01 -2.71490694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.43, Y:-22.77, Z:-2.72 [[ 7.45911825e-01 6.58698504e-01 9.86500381e-02 6.34349432e+01] [-6.53613234e-01 7.52398903e-01 -8.17657143e-02 -2.27727168e+01] [-1.28083134e-01 -3.48895716e-03 9.91757298e-01 -2.71773201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.572320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.46, Y:-22.79, Z:-2.72 [[ 7.47565667e-01 6.56746749e-01 9.91427340e-02 6.34599778e+01] [-6.51581592e-01 7.54104824e-01 -8.22638621e-02 -2.27938998e+01] [-1.28790538e-01 -3.10194148e-03 9.91666968e-01 -2.72121248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:-22.82, Z:-2.72 [[ 7.49650820e-01 6.54316898e-01 9.94637860e-02 6.34832952e+01] [-6.49085166e-01 7.56215913e-01 -8.26192516e-02 -2.28172787e+01] [-1.29275270e-01 -2.62487827e-03 9.91605272e-01 -2.72472351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:-22.84, Z:-2.73 [[ 7.55710590e-01 6.46942933e-01 1.01815255e-01 6.35059972e+01] [-6.41380173e-01 7.62537279e-01 -8.46662377e-02 -2.28422308e+01] [-1.32412152e-01 -1.31911359e-03 9.91193867e-01 -2.72677858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.53, Y:-22.86, Z:-2.73 [[ 7.55562095e-01 6.47123119e-01 1.01772246e-01 6.35316747e+01] [-6.41555027e-01 7.62384433e-01 -8.47179077e-02 -2.28634280e+01] [-1.32412492e-01 -1.28285605e-03 9.91193869e-01 -2.73074131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:-22.88, Z:-2.73 [[ 7.58430915e-01 6.43783823e-01 1.01611691e-01 6.35573684e+01] [-6.38197383e-01 7.65207129e-01 -8.46294885e-02 -2.28835791e+01] [-1.32237086e-01 -6.62694714e-04 9.91217894e-01 -2.73454649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:-22.90, Z:-2.74 [[ 7.60575370e-01 6.41301720e-01 1.01277888e-01 6.35835154e+01] [-6.35718063e-01 7.67288785e-01 -8.44420846e-02 -2.29030989e+01] [-1.31862241e-01 -1.59612849e-04 9.91268038e-01 -2.73916925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:-22.92, Z:-2.75 [[ 7.61929977e-01 6.39845583e-01 1.00301253e-01 6.36085743e+01] [-6.34345249e-01 7.68503484e-01 -8.37167850e-02 -2.29233166e+01] [-1.30647677e-01 1.60704762e-04 9.91428847e-01 -2.74532775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:-22.95, Z:-2.75 [[ 7.63535290e-01 6.38171738e-01 9.87456046e-02 6.36318248e+01] [-6.32816185e-01 7.69893872e-01 -8.25051554e-02 -2.29456901e+01] [-1.28676094e-01 5.07780889e-04 9.91686546e-01 -2.75300067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:-22.97, Z:-2.76 [[ 7.63479450e-01 6.38225976e-01 9.88267818e-02 6.36569476e+01] [-6.32850955e-01 7.69848871e-01 -8.26582390e-02 -2.29668937e+01] [-1.28836322e-01 5.65243581e-04 9.91665711e-01 -2.75660883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:-23.02, Z:-2.76 [[ 7.67086815e-01 6.29760646e-01 1.22390141e-01 6.36427517e+01] [-6.32086883e-01 7.74533820e-01 -2.37388770e-02 -2.30249531e+01] [-1.09745114e-01 -5.91514231e-02 9.92198125e-01 -2.76214185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:-22.97, Z:-2.75 [[ 7.61887432e-01 6.44633327e-01 6.30508985e-02 6.37402337e+01] [-6.34405767e-01 7.62322698e-01 -1.28036818e-01 -2.29670011e+01] [-1.30601931e-01 5.75497890e-02 9.89763182e-01 -2.75281564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:-23.03, Z:-2.76 [[ 7.59294498e-01 6.42669223e-01 1.02216121e-01 6.37322413e+01] [-6.36921809e-01 7.66143766e-01 -8.57574426e-02 -2.30268175e+01] [-1.33425913e-01 1.14772909e-05 9.91058790e-01 -2.76261657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:-23.05, Z:-2.77 [[ 7.58059452e-01 6.44067793e-01 1.02579458e-01 6.37574398e+01] [-6.38279504e-01 7.64968399e-01 -8.61546527e-02 -2.30477548e+01] [-1.33959480e-01 -1.64016404e-04 9.90986796e-01 -2.76581170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:-23.07, Z:-2.77 [[ 7.57141996e-01 6.45119483e-01 1.02746535e-01 6.37832100e+01] [-6.39309439e-01 7.64081654e-01 -8.63867278e-02 -2.30686486e+01] [-1.34236504e-01 -2.79810428e-04 9.90949284e-01 -2.77014015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:-23.09, Z:-2.78 [[ 7.56471106e-01 6.46054421e-01 1.01809382e-01 6.38093518e+01] [-6.40346671e-01 7.63291259e-01 -8.56889397e-02 -2.30889310e+01] [-1.33069930e-01 -3.72091781e-04 9.91106581e-01 -2.77501834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.84, Y:-23.11, Z:-2.78 [[ 7.55883190e-01 6.46921665e-01 1.00662616e-01 6.38353425e+01] [-6.41338059e-01 7.62556331e-01 -8.48135411e-02 -2.31086108e+01] [-1.31628632e-01 -4.49636836e-04 9.91298997e-01 -2.78036320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:-23.13, Z:-2.79 [[ 7.55381217e-01 6.47725574e-01 9.92511838e-02 6.38613221e+01] [-6.42293424e-01 7.61873557e-01 -8.37128425e-02 -2.31281905e+01] [-1.29839801e-01 -5.13273849e-04 9.91534852e-01 -2.78526286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:-23.15, Z:-2.79 [[ 7.54942223e-01 6.48400208e-01 9.81804975e-02 6.38865851e+01] [-6.43079384e-01 7.61299457e-01 -8.28977881e-02 -2.31486346e+01] [-1.28495702e-01 -5.54813394e-04 9.91709911e-01 -2.78807061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:-23.17, Z:-2.79 [[ 7.54188096e-01 6.49223459e-01 9.85353558e-02 6.39122573e+01] [-6.43859362e-01 7.60597466e-01 -8.32863538e-02 -2.31688334e+01] [-1.29017197e-01 -6.29334752e-04 9.91642157e-01 -2.79132154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-23.19, Z:-2.79 [[ 7.54171424e-01 6.49130045e-01 9.92756120e-02 6.39390335e+01] [-6.43671995e-01 7.60677253e-01 -8.40028553e-02 -2.31885681e+01] [-1.30045477e-01 -5.48378234e-04 9.91507879e-01 -2.79474892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:-23.21, Z:-2.80 [[ 7.56480566e-01 6.46135820e-01 1.01220823e-01 6.39668845e+01] [-6.40421487e-01 7.63222445e-01 -8.57427430e-02 -2.32071797e+01] [-1.32655461e-01 3.87290177e-05 9.91162210e-01 -2.79852391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:-23.25, Z:-2.81 [[ 7.59463589e-01 6.40693053e-01 1.12816083e-01 6.39700280e+01] [-6.39267039e-01 7.67141958e-01 -5.32059150e-02 -2.32487826e+01] [-1.20634611e-01 -3.17116478e-02 9.92190336e-01 -2.80535750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-23.23, Z:-2.80 [[ 7.59662236e-01 6.45218910e-01 8.12763564e-02 6.40308122e+01] [-6.36434372e-01 7.63302063e-01 -1.11001126e-01 -2.32296544e+01] [-1.33658436e-01 3.25962970e-02 9.90491244e-01 -2.80449899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-23.28, Z:-2.81 [[ 7.61730679e-01 6.39718990e-01 1.02596230e-01 6.40342162e+01] [-6.33752548e-01 7.68607633e-01 -8.71780648e-02 -2.32752882e+01] [-1.34625709e-01 1.38558404e-03 9.90895554e-01 -2.81260678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.06, Y:-23.30, Z:-2.82 [[ 7.64275912e-01 6.36748149e-01 1.02147570e-01 6.40583199e+01] [-6.30795280e-01 7.71069327e-01 -8.68873243e-02 -2.32980092e+01] [-1.34088201e-01 1.97168380e-03 9.90967440e-01 -2.81597259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:-23.32, Z:-2.82 [[ 7.67982525e-01 6.32482963e-01 1.00837216e-01 6.40842121e+01] [-6.26634049e-01 7.74569385e-01 -8.58605683e-02 -2.33183107e+01] [-1.32410767e-01 2.75138304e-03 9.91191111e-01 -2.81943844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:-23.34, Z:-2.82 [[ 7.68656767e-01 6.31795675e-01 1.00005000e-01 6.41075298e+01] [-6.26026039e-01 7.75129496e-01 -8.52388576e-02 -2.33405934e+01] [-1.31370367e-01 2.91369036e-03 9.91329076e-01 -2.82448946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.13, Y:-23.36, Z:-2.83 [[ 7.69389921e-01 6.30937776e-01 9.97831228e-02 6.41304163e+01] [-6.25175233e-01 7.75827160e-01 -8.51360402e-02 -2.33640833e+01] [-1.31130001e-01 3.12087419e-03 9.91360269e-01 -2.82845062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-23.39, Z:-2.83 [[ 7.69425107e-01 6.30785654e-01 1.00471212e-01 6.41544994e+01] [-6.24930085e-01 7.75950372e-01 -8.58103029e-02 -2.33868598e+01] [-1.32088583e-01 3.23711823e-03 9.91232630e-01 -2.83135593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-23.41, Z:-2.83 [[ 7.69196135e-01 6.31111217e-01 1.00179524e-01 6.41798979e+01] [-6.25280923e-01 7.75685589e-01 -8.56483120e-02 -2.34078285e+01] [-1.31761424e-01 3.24000536e-03 9.91276162e-01 -2.83454227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.20, Y:-23.43, Z:-2.84 [[ 7.68335174e-01 6.32220012e-01 9.97943707e-02 6.42045603e+01] [-6.26432626e-01 7.74782689e-01 -8.54046251e-02 -2.34295828e+01] [-1.31313464e-01 3.10492781e-03 9.91336035e-01 -2.83843326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.23, Y:-23.45, Z:-2.84 [[ 7.67907639e-01 6.32742953e-01 9.97708032e-02 6.42273805e+01] [-6.26951241e-01 7.74355767e-01 -8.54709730e-02 -2.34530960e+01] [-1.31339253e-01 3.08238416e-03 9.91332689e-01 -2.84247226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:-23.48, Z:-2.85 [[ 7.67649638e-01 6.32987372e-01 1.00204892e-01 6.42502696e+01] [-6.27135293e-01 7.74155822e-01 -8.59307201e-02 -2.34766952e+01] [-1.31967261e-01 3.12266204e-03 9.91249157e-01 -2.84588236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:64.27, Y:-23.50, Z:-2.85 [[ 7.68740322e-01 6.31476713e-01 1.01368034e-01 6.42737607e+01] [-6.25462256e-01 7.75386979e-01 -8.70172324e-02 -2.35005140e+01] [-1.33548809e-01 3.49177630e-03 9.91036086e-01 -2.84915975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.30, Y:-23.52, Z:-2.85 [[ 7.69077543e-01 6.31092122e-01 1.01205072e-01 6.42982443e+01] [-6.25081917e-01 7.75699438e-01 -8.69653925e-02 -2.35221957e+01] [-1.33387891e-01 3.62167022e-03 9.91057291e-01 -2.85396181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:-23.54, Z:-2.86 [[ 7.69542377e-01 6.30522362e-01 1.01222927e-01 6.43213386e+01] [-6.24493378e-01 7.76161833e-01 -8.70679615e-02 -2.35449081e+01] [-1.33463670e-01 3.78943811e-03 9.91046462e-01 -2.85966726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.34, Y:-23.57, Z:-2.86 [[ 7.70352272e-01 6.29487461e-01 1.01503270e-01 6.43435480e+01] [-6.23404028e-01 7.77000091e-01 -8.73972288e-02 -2.35687869e+01] [-1.33883509e-01 4.04910657e-03 9.90988805e-01 -2.86448065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:-23.59, Z:-2.87 [[ 7.70827248e-01 6.28924144e-01 1.01389227e-01 6.43658240e+01] [-6.22837821e-01 7.77455266e-01 -8.73862538e-02 -2.35928929e+01] [-1.33784913e-01 4.21066046e-03 9.91001447e-01 -2.86904482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:-23.62, Z:-2.87 [[ 7.69256358e-01 6.31059269e-01 1.00044266e-01 6.43877202e+01] [-6.25140771e-01 7.75725046e-01 -8.63114674e-02 -2.36182776e+01] [-1.32074494e-01 3.85389549e-03 9.91232301e-01 -2.87287020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:-23.64, Z:-2.88 [[ 7.66567480e-01 6.34328829e-01 1.00006178e-01 6.44116288e+01] [-6.28430974e-01 7.73056056e-01 -8.63646101e-02 -2.36413103e+01] [-1.32093943e-01 3.35732192e-03 9.91231516e-01 -2.87716618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.44, Y:-23.66, Z:-2.88 [[ 7.63983826e-01 6.37397337e-01 1.00266388e-01 6.44353296e+01] [-6.31483139e-01 7.70529823e-01 -8.66766268e-02 -2.36644132e+01] [-1.32505693e-01 2.90300743e-03 9.91177993e-01 -2.88109826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:-23.69, Z:-2.88 [[ 7.61806544e-01 6.39839844e-01 1.01270742e-01 6.44587954e+01] [-6.33815895e-01 7.68503981e-01 -8.76301462e-02 -2.36868903e+01] [-1.33896228e-01 2.57021266e-03 9.90992025e-01 -2.88398354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.48, Y:-23.71, Z:-2.88 [[ 7.56867122e-01 6.45359922e-01 1.03260500e-01 6.44823324e+01] [-6.39140153e-01 7.63876823e-01 -8.93983470e-02 -2.37103552e+01] [-1.36572413e-01 1.66473770e-03 9.90628692e-01 -2.88498835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:-23.73, Z:-2.89 [[ 7.54280818e-01 6.48440613e-01 1.02884490e-01 6.45055988e+01] [-6.42281973e-01 7.61264337e-01 -8.91654455e-02 -2.37329892e+01] [-1.36140789e-01 1.17493220e-03 9.90688803e-01 -2.88956626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.53, Y:-23.76, Z:-2.90 [[ 7.52101956e-01 6.51136175e-01 1.01805350e-01 6.45287113e+01] [-6.45118640e-01 7.58960551e-01 -8.83222663e-02 -2.37559184e+01] [-1.34776067e-01 7.50820513e-04 9.90875798e-01 -2.89508319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.55, Y:-23.78, Z:-2.90 [[ 7.50776301e-01 6.52912332e-01 1.00201962e-01 6.45522689e+01] [-6.47087260e-01 7.57433325e-01 -8.70220385e-02 -2.37789139e+01] [-1.32714068e-01 4.94670977e-04 9.91154242e-01 -2.90080313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:-23.80, Z:-2.90 [[ 7.52174408e-01 6.51509508e-01 9.88383577e-02 6.45751053e+01] [-6.45818545e-01 7.58640045e-01 -8.59283915e-02 -2.38035509e+01] [-1.30965900e-01 8.01492630e-04 9.91386550e-01 -2.90366456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:-23.83, Z:-2.91 [[ 7.53120864e-01 6.50431654e-01 9.87300748e-02 6.45981229e+01] [-6.44731894e-01 7.59564048e-01 -8.59257909e-02 -2.38273419e+01] [-1.30880670e-01 1.05807769e-03 9.91397564e-01 -2.90564626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:-23.85, Z:-2.91 [[ 7.53333394e-01 6.50151419e-01 9.89541766e-02 6.46196843e+01] [-6.44411076e-01 7.59803751e-01 -8.62126713e-02 -2.38524942e+01] [-1.31237045e-01 1.17971689e-03 9.91350315e-01 -2.90878869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.64, Y:-23.88, Z:-2.91 [[ 7.52757225e-01 6.50863669e-01 9.86561920e-02 6.46419306e+01] [-6.45152149e-01 7.59193800e-01 -8.60434706e-02 -2.38768617e+01] [-1.30901738e-01 1.12158997e-03 9.91394713e-01 -2.91316078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:-23.90, Z:-2.92 [[ 7.50029566e-01 6.53938238e-01 9.90980848e-02 6.46673772e+01] [-6.48189652e-01 7.56547650e-01 -8.65206858e-02 -2.38969243e+01] [-1.31551608e-01 6.58719392e-04 9.91309104e-01 -2.91961340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.69, Y:-23.92, Z:-2.92 [[ 7.47611468e-01 6.56593378e-01 9.98109667e-02 6.46939400e+01] [-6.50772369e-01 7.54244699e-01 -8.72367972e-02 -2.39165468e+01] [-1.32560996e-01 2.65010777e-04 9.91174814e-01 -2.92453445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.72, Y:-23.94, Z:-2.93 [[ 7.44517978e-01 6.59837793e-01 1.01523733e-01 6.47191133e+01] [-6.53831074e-01 7.51408030e-01 -8.88307272e-02 -2.39380211e+01] [-1.34899619e-01 -2.43298098e-04 9.90859240e-01 -2.92861310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:-23.96, Z:-2.93 [[ 7.42129443e-01 6.62217477e-01 1.03498319e-01 6.47424078e+01] [-6.55982896e-01 7.49311441e-01 -9.06576166e-02 -2.39613488e+01] [-1.37587533e-01 -6.13440641e-04 9.90489422e-01 -2.93100287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-23.99, Z:-2.93 [[ 7.40877372e-01 6.63553531e-01 1.03910692e-01 6.47648591e+01] [-6.57268361e-01 7.48128389e-01 -9.11164958e-02 -2.39859602e+01] [-1.38199211e-01 -7.91060128e-04 9.90404136e-01 -2.93410945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:-24.01, Z:-2.94 [[ 7.42159319e-01 6.62491453e-01 1.01511671e-01 6.47852292e+01] [-6.56471769e-01 7.49069300e-01 -8.91066812e-02 -2.40125277e+01] [-1.35071691e-01 -5.08192235e-04 9.90835698e-01 -2.94002030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.81, Y:-24.04, Z:-2.95 [[ 7.43972812e-01 6.60648987e-01 1.00236571e-01 6.48093481e+01] [-6.54750934e-01 7.50694949e-01 -8.80812620e-02 -2.40352156e+01] [-1.33437884e-01 -9.99242433e-05 9.91057173e-01 -2.94539265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:-24.06, Z:-2.95 [[ 7.44775777e-01 6.59852024e-01 9.95205916e-02 6.48336334e+01] [-6.54018591e-01 7.51395564e-01 -8.75464942e-02 -2.40565117e+01] [-1.32547062e-01 1.14191110e-04 9.91176706e-01 -2.94929081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:-24.08, Z:-2.95 [[ 7.45179651e-01 6.59388780e-01 9.95676883e-02 6.48592600e+01] [-6.53533011e-01 7.51802078e-01 -8.76825969e-02 -2.40770149e+01] [-1.32672116e-01 2.68515790e-04 9.91159946e-01 -2.95197625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:-24.10, Z:-2.95 [[ 7.44126988e-01 6.60528173e-01 9.98877285e-02 6.48864012e+01] [-6.54632504e-01 7.50801248e-01 -8.80554949e-02 -2.40970942e+01] [-1.33158966e-01 1.34716277e-04 9.91094683e-01 -2.95236822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-24.12, Z:-2.96 [[ 7.42590586e-01 6.62126435e-01 1.00736319e-01 6.49113238e+01] [-6.56137890e-01 7.49392134e-01 -8.88509969e-02 -2.41192353e+01] [-1.34321599e-01 -1.17002102e-04 9.90937785e-01 -2.95527059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:-24.14, Z:-2.96 [[ 7.40061142e-01 6.64870871e-01 1.01273052e-01 6.49349262e+01] [-6.58830173e-01 7.46958118e-01 -8.94224451e-02 -2.41424617e+01] [-1.35101108e-01 -5.43665745e-04 9.90831668e-01 -2.95863779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.96, Y:-24.17, Z:-2.96 [[ 7.37930499e-01 6.67182016e-01 1.01620551e-01 6.49582449e+01] [-6.61107977e-01 7.44894190e-01 -8.98269866e-02 -2.41660447e+01] [-1.35627508e-01 -8.96083678e-04 9.90759495e-01 -2.96385966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.98, Y:-24.19, Z:-2.97 [[ 7.35598358e-01 6.69753259e-01 1.01615092e-01 6.49822636e+01] [-6.63690813e-01 7.42582583e-01 -8.99200325e-02 -2.41876370e+01] [-1.35681832e-01 -1.29597456e-03 9.90751614e-01 -2.97018789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.01, Y:-24.21, Z:-2.98 [[ 7.35025902e-01 6.70654607e-01 9.97964008e-02 6.50079124e+01] [-6.64803692e-01 7.41768519e-01 -8.84054046e-02 -2.42076221e+01] [-1.33315320e-01 -1.36475335e-03 9.91072733e-01 -2.97501089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:-24.23, Z:-2.98 [[ 7.34229568e-01 6.71754326e-01 9.82500230e-02 6.50336887e+01] [-6.66081536e-01 7.40772546e-01 -8.71287666e-02 -2.42272329e+01] [-1.31310046e-01 -1.47000955e-03 9.91340260e-01 -2.97930177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.06, Y:-24.25, Z:-2.98 [[ 7.34456507e-01 6.71713851e-01 9.68201497e-02 6.50590042e+01] [-6.66193302e-01 7.40809435e-01 -8.59526905e-02 -2.42475611e+01] [-1.29460893e-01 -1.37242243e-03 9.91583579e-01 -2.98322195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:-24.27, Z:-2.99 [[ 7.34298873e-01 6.71892618e-01 9.67753857e-02 6.50839583e+01] [-6.66366977e-01 7.40647369e-01 -8.60030628e-02 -2.42695573e+01] [-1.29461258e-01 -1.33596908e-03 9.91583581e-01 -2.98730343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:-24.29, Z:-2.99 [[ 7.33745782e-01 6.72497536e-01 9.67687545e-02 6.51089205e+01] [-6.66972130e-01 7.40098018e-01 -8.60412719e-02 -2.42904686e+01] [-1.29480907e-01 -1.40964203e-03 9.91580913e-01 -2.99060220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:-24.31, Z:-3.00 [[ 7.32163846e-01 6.74205752e-01 9.68643751e-02 6.51333012e+01] [-6.68672023e-01 7.38541741e-01 -8.62196208e-02 -2.43127718e+01] [-1.29668148e-01 -1.64360849e-03 9.91556085e-01 -2.99511570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:-24.33, Z:-3.00 [[ 7.31507528e-01 6.74840654e-01 9.74003535e-02 6.51581512e+01] [-6.69238460e-01 7.37961528e-01 -8.67909399e-02 -2.43343937e+01] [-1.30447768e-01 -1.69583673e-03 9.91453733e-01 -2.99905992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:-24.36, Z:-3.00 [[ 7.31115214e-01 6.75276374e-01 9.73260662e-02 6.51835826e+01] [-6.69674255e-01 7.37562825e-01 -8.68186150e-02 -2.43556204e+01] [-1.30410648e-01 -1.70235058e-03 9.91458605e-01 -3.00232216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:-24.37, Z:-3.01 [[ 7.31286256e-01 6.74951282e-01 9.82912918e-02 6.52106908e+01] [-6.69221322e-01 7.37860583e-01 -8.77757471e-02 -2.43748847e+01] [-1.31769623e-01 -1.58943076e-03 9.91279093e-01 -3.00554606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:-24.40, Z:-3.01 [[ 7.31705044e-01 6.74735198e-01 9.66444070e-02 6.52355867e+01] [-6.69182537e-01 7.38058462e-01 -8.63969817e-02 -2.43967911e+01] [-1.29624307e-01 -1.45564217e-03 9.91562111e-01 -3.01046910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.26, Y:-24.42, Z:-3.02 [[ 7.32344777e-01 6.74144675e-01 9.59170737e-02 6.52594779e+01] [-6.68658512e-01 7.38598227e-01 -8.58396924e-02 -2.44183090e+01] [-1.28712552e-01 -1.27151736e-03 9.91681129e-01 -3.01579766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:-24.44, Z:-3.02 [[ 7.32992672e-01 6.73310821e-01 9.68208692e-02 6.52841103e+01] [-6.67700578e-01 7.39358780e-01 -8.67440705e-02 -2.44394393e+01] [-1.29991081e-01 -1.06458223e-03 9.91514592e-01 -3.01943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:-24.46, Z:-3.02 [[ 7.33781144e-01 6.72448796e-01 9.68392960e-02 6.53101889e+01] [-6.66816503e-01 7.40143168e-01 -8.68552910e-02 -2.44597052e+01] [-1.30080679e-01 -8.41265967e-04 9.91503056e-01 -3.02304802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-24.48, Z:-3.03 [[ 7.34125416e-01 6.72212466e-01 9.58659115e-02 6.53366717e+01] [-6.66679169e-01 7.40357940e-01 -8.60755839e-02 -2.44796354e+01] [-1.28836169e-01 -7.21532340e-04 9.91665630e-01 -3.02557346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:-24.50, Z:-3.03 [[ 7.36651376e-01 6.69698770e-01 9.40654391e-02 6.53632905e+01] [-6.64340186e-01 7.42632826e-01 -8.45494130e-02 -2.44986770e+01] [-1.26478721e-01 -2.08009826e-04 9.91969299e-01 -3.03059355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:-24.52, Z:-3.04 [[ 7.38423067e-01 6.67805646e-01 9.36322236e-02 6.53884976e+01] [-6.62469693e-01 7.44335667e-01 -8.42515262e-02 -2.45201147e+01] [-1.25957448e-01 1.84759935e-04 9.92035628e-01 -3.03580132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:-24.54, Z:-3.04 [[ 7.39943861e-01 6.66031831e-01 9.42585876e-02 6.54130533e+01] [-6.60597653e-01 7.45923109e-01 -8.49085121e-02 -2.45417897e+01] [-1.26861431e-01 5.60530579e-04 9.91920291e-01 -3.04109713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:-24.57, Z:-3.04 [[ 7.43261956e-01 6.62063935e-01 9.60885592e-02 6.54352067e+01] [-6.56370284e-01 7.49446171e-01 -8.66515240e-02 -2.45660874e+01] [-1.29382052e-01 1.33510639e-03 9.91593920e-01 -3.04428169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:-24.59, Z:-3.05 [[ 7.45391801e-01 6.59784362e-01 9.52662529e-02 6.54581949e+01] [-6.54157853e-01 7.51452866e-01 -8.60005492e-02 -2.45902837e+01] [-1.28329916e-01 1.78493681e-03 9.91729926e-01 -3.04722981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.46, Y:-24.64, Z:-3.05 [[ 7.47534765e-01 6.55240768e-01 1.08863727e-01 6.54598608e+01] [-6.54130655e-01 7.54683707e-01 -5.06516396e-02 -2.46365410e+01] [-1.15346700e-01 -3.33472395e-02 9.92765380e-01 -3.04997731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.52, Y:-24.61, Z:-3.05 [[ 7.49148980e-01 6.58605263e-01 7.08160611e-02 6.55245860e+01] [-6.50095725e-01 7.51529243e-01 -1.12157680e-01 -2.46120918e+01] [-1.27087979e-01 3.79855929e-02 9.91163831e-01 -3.05171224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:-24.66, Z:-3.06 [[ 7.50587943e-01 6.54049044e-01 9.40084411e-02 6.55262596e+01] [-6.48505174e-01 7.56446760e-01 -8.50255123e-02 -2.46591374e+01] [-1.26723236e-01 2.85416392e-03 9.91934008e-01 -3.05885236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.55, Y:-24.69, Z:-3.06 [[ 7.51513595e-01 6.52807618e-01 9.52340822e-02 6.55464667e+01] [-6.47096032e-01 7.57517093e-01 -8.62240051e-02 -2.46857478e+01] [-1.28429132e-01 3.17291532e-03 9.91713613e-01 -3.06237883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:-24.71, Z:-3.06 [[ 7.50329355e-01 6.54060880e-01 9.59699140e-02 6.55705463e+01] [-6.48258747e-01 7.56435761e-01 -8.69800884e-02 -2.47082182e+01] [-1.29485348e-01 3.05037739e-03 9.91576643e-01 -3.06498831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.60, Y:-24.73, Z:-3.07 [[ 7.48291082e-01 6.56270344e-01 9.67971691e-02 6.55959433e+01] [-6.50373675e-01 7.54520783e-01 -8.78206753e-02 -2.47288410e+01] [-1.30669581e-01 2.76109765e-03 9.91422129e-01 -3.06751067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:-24.75, Z:-3.07 [[ 7.46676059e-01 6.58173563e-01 9.63453410e-02 6.56208487e+01] [-6.52336008e-01 7.52862129e-01 -8.75005537e-02 -2.47497135e+01] [-1.30125310e-01 2.48503345e-03 9.91494442e-01 -3.07146760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:-24.77, Z:-3.08 [[ 7.45371950e-01 6.59851144e-01 9.49585359e-02 6.56430155e+01] [-6.54183246e-01 7.51393044e-01 -8.63294499e-02 -2.47736335e+01] [-1.28315770e-01 2.22726715e-03 9.91730862e-01 -3.07674651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.66, Y:-24.81, Z:-3.08 [[ 7.45254952e-01 6.60159454e-01 9.37259446e-02 6.56561415e+01] [-6.54629566e-01 7.51122229e-01 -8.52967061e-02 -2.48075254e+01] [-1.26709067e-01 2.21201816e-03 9.91937457e-01 -3.08285724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.68, Y:-24.83, Z:-3.09 [[ 7.45700880e-01 6.59595924e-01 9.41457051e-02 6.56766764e+01] [-6.54000184e-01 7.51616606e-01 -8.57685127e-02 -2.48340728e+01] [-1.27334037e-01 2.38634692e-03 9.91857020e-01 -3.08582795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:-24.86, Z:-3.09 [[ 7.45248624e-01 6.60089048e-01 9.42705579e-02 6.57005155e+01] [-6.54470752e-01 7.51183610e-01 -8.59721928e-02 -2.48573623e+01] [-1.27563801e-01 2.37333538e-03 9.91827527e-01 -3.08774540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:-24.88, Z:-3.09 [[ 7.43162154e-01 6.62327030e-01 9.50416616e-02 6.57258470e+01] [-6.56622382e-01 7.49211985e-01 -8.67666321e-02 -2.48780888e+01] [-1.28674238e-01 2.07519494e-03 9.91684745e-01 -3.09102126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.75, Y:-24.90, Z:-3.10 [[ 7.36596529e-01 6.69595533e-01 9.52227681e-02 6.57503592e+01] [-6.63917131e-01 7.42725418e-01 -8.70229709e-02 -2.48999091e+01] [-1.28994563e-01 8.80791365e-04 9.91644910e-01 -3.09559918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:-24.92, Z:-3.10 [[ 7.32786706e-01 6.73761160e-01 9.52341471e-02 6.57736402e+01] [-6.68104217e-01 7.38949154e-01 -8.71257932e-02 -2.49227521e+01] [-1.29075168e-01 2.18287747e-04 9.91634788e-01 -3.10046577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:-24.95, Z:-3.11 [[ 7.29761233e-01 6.77075067e-01 9.49626085e-02 6.57974177e+01] [-6.71466138e-01 7.35913899e-01 -8.69710223e-02 -2.49452131e+01] [-1.28770214e-01 -2.96095606e-04 9.91674414e-01 -3.10540015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.82, Y:-24.97, Z:-3.11 [[ 7.27197982e-01 6.79955396e-01 9.40412384e-02 6.58214201e+01] [-6.74467108e-01 7.33253114e-01 -8.62206030e-02 -2.49678731e+01] [-1.27582195e-01 -7.28273590e-04 9.91827734e-01 -3.11114015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:-25.02, Z:-3.11 [[ 7.26911208e-01 6.78476625e-01 1.06158210e-01 6.58117056e+01] [-6.79572564e-01 7.32949355e-01 -3.10865421e-02 -2.50245154e+01] [-9.89000837e-02 -4.95450510e-02 9.93863201e-01 -3.11101450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:-24.98, Z:-3.11 [[ 7.22502621e-01 6.88597948e-01 6.18290262e-02 6.58923179e+01] [-6.79269036e-01 7.23671884e-01 -1.22035163e-01 -2.49836624e+01] [-1.28777091e-01 4.61721821e-02 9.90598097e-01 -3.11469266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.89, Y:-25.03, Z:-3.12 [[ 7.20737221e-01 6.86677652e-01 9.49297666e-02 6.58901679e+01] [-6.81120924e-01 7.26959781e-01 -8.71995618e-02 -2.50349697e+01] [-1.28888113e-01 -1.81068046e-03 9.91657489e-01 -3.11610206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.92, Y:-25.05, Z:-3.12 [[ 7.18373882e-01 6.88949265e-01 9.63736230e-02 6.59186495e+01] [-6.83228858e-01 7.24806289e-01 -8.86237588e-02 -2.50529294e+01] [-1.30909482e-01 -2.18024669e-03 9.91391928e-01 -3.11790148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.95, Y:-25.07, Z:-3.12 [[ 7.16013631e-01 6.91129628e-01 9.83072644e-02 6.59472314e+01] [-6.85183163e-01 7.22726295e-01 -9.05026856e-02 -2.50708709e+01] [-1.33598332e-01 -2.55732585e-03 9.91032263e-01 -3.12139508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.97, Y:-25.09, Z:-3.13 [[ 7.12167499e-01 6.94968185e-01 9.91800169e-02 6.59731573e+01] [-6.88938407e-01 7.19033221e-01 -9.14062229e-02 -2.50900355e+01] [-1.34838144e-01 -3.23238173e-03 9.90862365e-01 -3.12925995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:-25.11, Z:-3.14 [[ 7.11152561e-01 6.96164095e-01 9.80692975e-02 6.59968425e+01] [-6.90267533e-01 7.17874871e-01 -9.04787361e-02 -2.51117992e+01] [-1.33389532e-01 -3.34986714e-03 9.91058026e-01 -3.13593697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:-25.13, Z:-3.14 [[ 7.11225204e-01 6.96421245e-01 9.56878242e-02 6.60217401e+01] [-6.90798956e-01 7.17625880e-01 -8.83736319e-02 -2.51324411e+01] [-1.30213334e-01 -3.24749466e-03 9.91480681e-01 -3.14152231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:-25.15, Z:-3.15 [[ 7.11765280e-01 6.95782645e-01 9.63156063e-02 6.60485725e+01] [-6.90067511e-01 7.18245788e-01 -8.90495279e-02 -2.51523798e+01] [-1.31137395e-01 -3.08190852e-03 9.91359413e-01 -3.14577992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:-25.17, Z:-3.14 [[ 7.15077906e-01 6.92111948e-01 9.82071228e-02 6.60777853e+01] [-6.86121238e-01 7.21786235e-01 -9.08970687e-02 -2.51708470e+01] [-1.33795497e-01 -2.38350712e-03 9.91006097e-01 -3.14400684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:-25.19, Z:-3.14 [[ 7.17074474e-01 6.89806902e-01 9.98530758e-02 6.61037980e+01] [-6.83576661e-01 7.23990870e-01 -9.25211797e-02 -2.51919777e+01] [-1.36114464e-01 -1.91265590e-03 9.90691271e-01 -3.14449508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:-25.21, Z:-3.15 [[ 7.18227561e-01 6.88363218e-01 1.01514785e-01 6.61293481e+01] [-6.81893982e-01 7.25364427e-01 -9.41649920e-02 -2.52124113e+01] [-1.38454931e-01 -1.59042865e-03 9.90367458e-01 -3.14694851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:-25.23, Z:-3.15 [[ 7.20689525e-01 6.85709885e-01 1.02022364e-01 6.61548472e+01] [-6.79134461e-01 7.27874257e-01 -9.47388485e-02 -2.52318564e+01] [-1.39222817e-01 -1.00960737e-03 9.90260566e-01 -3.15479117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.18, Y:-25.25, Z:-3.16 [[ 7.21871188e-01 6.84604291e-01 1.01088835e-01 6.61770051e+01] [-6.78124387e-01 7.28914573e-01 -9.39726620e-02 -2.52548779e+01] [-1.38019213e-01 -7.14647296e-04 9.90429294e-01 -3.16316935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:-25.28, Z:-3.17 [[ 7.23724785e-01 6.82834467e-01 9.97974243e-02 6.61985778e+01] [-6.76489370e-01 7.30573064e-01 -9.28715782e-02 -2.52791826e+01] [-1.36325225e-01 -2.98433780e-04 9.90664092e-01 -3.16916082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:-25.30, Z:-3.17 [[ 7.25288253e-01 6.81377209e-01 9.83974001e-02 6.62213816e+01] [-6.75183049e-01 7.31932440e-01 -9.16665351e-02 -2.53025734e+01] [-1.34479737e-01 4.84044966e-05 9.90916343e-01 -3.17319796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.25, Y:-25.32, Z:-3.18 [[ 7.26557558e-01 6.80208134e-01 9.71133843e-02 6.62465141e+01] [-6.74151903e-01 7.33018952e-01 -9.05672536e-02 -2.53233616e+01] [-1.32790534e-01 3.33149756e-04 9.91144068e-01 -3.17552478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.27, Y:-25.34, Z:-3.18 [[ 7.27187768e-01 6.79573196e-01 9.68412147e-02 6.62725670e+01] [-6.73532362e-01 7.33607525e-01 -9.04110412e-02 -2.53432056e+01] [-1.32484364e-01 5.20111135e-04 9.91184959e-01 -3.17753056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:-25.37, Z:-3.18 [[ 7.29195185e-01 6.77656842e-01 9.51608430e-02 6.62958070e+01] [-6.71796113e-01 7.35377694e-01 -8.89361059e-02 -2.53673790e+01] [-1.30247322e-01 9.23095787e-04 9.91481106e-01 -3.17983771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.32, Y:-25.39, Z:-3.18 [[ 7.30152314e-01 6.76674190e-01 9.48137077e-02 6.63156847e+01] [-6.70835787e-01 7.36281662e-01 -8.87054765e-02 -2.53945582e+01] [-1.29834301e-01 1.16408072e-03 9.91535022e-01 -3.18487290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.34, Y:-25.42, Z:-3.19 [[ 7.30466940e-01 6.76280808e-01 9.51962092e-02 6.63355828e+01] [-6.70379083e-01 7.36642757e-01 -8.91590342e-02 -2.54204142e+01] [-1.30422142e-01 1.31017948e-03 9.91457689e-01 -3.19022294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.36, Y:-25.44, Z:-3.20 [[ 7.31186031e-01 6.75585585e-01 9.46102809e-02 6.63574435e+01] [-6.69738568e-01 7.37280058e-01 -8.87038152e-02 -2.54441212e+01] [-1.29681292e-01 1.49483651e-03 9.91554602e-01 -3.19654578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.38, Y:-25.47, Z:-3.20 [[ 7.31069681e-01 6.76050665e-01 9.21554141e-02 6.63825635e+01] [-6.70496704e-01 7.36853731e-01 -8.64913249e-02 -2.54652207e+01] [-1.26377578e-01 1.44128391e-03 9.91981164e-01 -3.20229228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-25.49, Z:-3.21 [[ 7.29289811e-01 6.78038723e-01 9.16507578e-02 6.64063524e+01] [-6.72549814e-01 7.35025271e-01 -8.61080666e-02 -2.54879606e+01] [-1.25750227e-01 1.15803549e-03 9.92061258e-01 -3.20542088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:-25.51, Z:-3.21 [[ 7.26554787e-01 6.80905196e-01 9.21208742e-02 6.64288222e+01] [-6.75370687e-01 7.32371200e-01 -8.66421402e-02 -2.55126391e+01] [-1.26461759e-01 7.34523565e-04 9.91971211e-01 -3.20623016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-25.54, Z:-3.21 [[ 7.23078221e-01 6.84354477e-01 9.38980136e-02 6.64516873e+01] [-6.78623392e-01 7.29149447e-01 -8.83819883e-02 -2.55374542e+01] [-1.28950294e-01 1.85702364e-04 9.91651041e-01 -3.20671147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.48, Y:-25.56, Z:-3.21 [[ 7.19760128e-01 6.87640597e-01 9.53717301e-02 6.64759835e+01] [-6.81742798e-01 7.26051167e-01 -8.98691278e-02 -2.55602467e+01] [-1.31042417e-01 -3.34775240e-04 9.91376706e-01 -3.20995161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.50, Y:-25.58, Z:-3.22 [[ 7.14639812e-01 6.92751733e-01 9.68760811e-02 6.65005096e+01] [-6.86698470e-01 7.21175124e-01 -9.13873735e-02 -2.55809995e+01] [-1.33173381e-01 -1.21560125e-03 9.91092010e-01 -3.21931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:-25.60, Z:-3.23 [[ 7.12544181e-01 6.94899050e-01 9.69334814e-02 6.65224297e+01] [-6.88844889e-01 7.19105641e-01 -9.15412253e-02 -2.56044178e+01] [-1.33317324e-01 -1.54496586e-03 9.91072199e-01 -3.22613091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:-25.63, Z:-3.23 [[ 7.10489444e-01 6.97113940e-01 9.61088175e-02 6.65452219e+01] [-6.91169786e-01 7.16957914e-01 -9.08607521e-02 -2.56286386e+01] [-1.32246274e-01 -1.87190553e-03 9.91215122e-01 -3.22931751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-25.65, Z:-3.23 [[ 7.08991036e-01 6.98843739e-01 9.45998896e-02 6.65701849e+01] [-6.93088254e-01 7.15271319e-01 -8.95299467e-02 -2.56509680e+01] [-1.30232030e-01 -2.09014267e-03 9.91481341e-01 -3.23114271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.59, Y:-25.67, Z:-3.24 [[ 7.08825802e-01 6.99017724e-01 9.45526490e-02 6.65944110e+01] [-6.93257131e-01 7.15101397e-01 -8.95798110e-02 -2.56737385e+01] [-1.30232607e-01 -2.05281684e-03 9.91481343e-01 -3.23529769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.63, Y:-25.69, Z:-3.23 [[ 7.05111383e-01 7.02985289e-01 9.28957540e-02 6.66253219e+01] [-6.97454144e-01 7.11199252e-01 -8.80530564e-02 -2.56891430e+01] [-1.27967394e-01 -2.70331624e-03 9.91774691e-01 -3.23452463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.65, Y:-25.71, Z:-3.24 [[ 7.03228709e-01 7.04796746e-01 9.34394441e-02 6.66513251e+01] [-6.99203808e-01 7.09403028e-01 -8.86644206e-02 -2.57085874e+01] [-1.28776620e-01 -2.98184904e-03 9.91669144e-01 -3.23889066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-25.73, Z:-3.24 [[ 7.01434163e-01 7.06299581e-01 9.55563544e-02 6.66759050e+01] [-7.00449915e-01 7.07905547e-01 -9.07725335e-02 -2.57295908e+01] [-1.31757476e-01 -3.26148430e-03 9.91276616e-01 -3.24383716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.70, Y:-25.75, Z:-3.25 [[ 6.98240615e-01 7.09551521e-01 9.48508448e-02 6.67012262e+01] [-7.03805427e-01 7.04643436e-01 -9.01972771e-02 -2.57496538e+01] [-1.30835640e-01 -3.77713717e-03 9.91396877e-01 -3.24999779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.73, Y:-25.77, Z:-3.26 [[ 6.96448590e-01 7.11340565e-01 9.46253798e-02 6.67276658e+01] [-7.05625738e-01 7.02835909e-01 -9.00777619e-02 -2.57694538e+01] [-1.30582081e-01 -4.03557325e-03 9.91429289e-01 -3.25531284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.75, Y:-25.79, Z:-3.26 [[ 6.95218140e-01 7.12687037e-01 9.35356935e-02 6.67538404e+01] [-7.07103464e-01 7.01469732e-01 -8.91342038e-02 -2.57891634e+01] [-1.29137249e-01 -4.17169757e-03 9.91617955e-01 -3.25883539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:-25.81, Z:-3.26 [[ 6.92946675e-01 7.14516205e-01 9.63924187e-02 6.67833244e+01] [-7.08589184e-01 6.99603884e-01 -9.19552808e-02 -2.58066973e+01] [-1.33140049e-01 -4.58251926e-03 9.91086640e-01 -3.25806737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.81, Y:-25.83, Z:-3.26 [[ 6.92111357e-01 7.15140697e-01 9.77530213e-02 6.68113180e+01] [-7.09037229e-01 6.98964724e-01 -9.33516063e-02 -2.58251305e+01] [-1.35085446e-01 -4.70082442e-03 9.90822802e-01 -3.25966597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:-25.84, Z:-3.26 [[ 6.91555298e-01 7.15607242e-01 9.82728146e-02 6.68395721e+01] [-7.09429711e-01 6.98486737e-01 -9.39455373e-02 -2.58434832e+01] [-1.35870364e-01 -4.74912043e-03 9.90715242e-01 -3.26337862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.87, Y:-25.86, Z:-3.27 [[ 6.92773250e-01 7.14423644e-01 9.83060569e-02 6.68673478e+01] [-7.08216677e-01 6.99699264e-01 -9.40748561e-02 -2.58608552e+01] [-1.35993977e-01 -4.44944509e-03 9.90699672e-01 -3.27207180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.89, Y:-25.88, Z:-3.28 [[ 6.94170267e-01 7.12989724e-01 9.88599657e-02 6.68913687e+01] [-7.06684075e-01 7.01162367e-01 -9.47045553e-02 -2.58832675e+01] [-1.36840262e-01 -4.12167696e-03 9.90584552e-01 -3.27711436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:-25.91, Z:-3.28 [[ 6.95294735e-01 7.11825013e-01 9.93497973e-02 6.69161126e+01] [-7.05430694e-01 7.02346352e-01 -9.52740086e-02 -2.59055165e+01] [-1.37596390e-01 -3.84087984e-03 9.90480934e-01 -3.28023456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.94, Y:-25.93, Z:-3.28 [[ 6.98861066e-01 7.08114195e-01 1.00834010e-01 6.69415812e+01] [-7.01473330e-01 7.06091204e-01 -9.68007197e-02 -2.59262712e+01] [-1.39743971e-01 -3.08211445e-03 9.90182874e-01 -3.28141428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:-25.95, Z:-3.28 [[ 7.00456172e-01 7.06750950e-01 9.93189149e-02 6.69656467e+01] [-7.00281377e-01 7.07457302e-01 -9.54471503e-02 -2.59479759e+01] [-1.37721256e-01 -2.69464103e-03 9.90467362e-01 -3.28483684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:-25.97, Z:-3.29 [[ 7.01350998e-01 7.06070461e-01 9.78329242e-02 6.69901308e+01] [-6.99773691e-01 7.08137343e-01 -9.41184562e-02 -2.59697584e+01] [-1.35733409e-01 -2.45083332e-03 9.90742366e-01 -3.29036976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:-25.99, Z:-3.30 [[ 7.02420323e-01 7.05461682e-01 9.44960518e-02 6.70184307e+01] [-6.99570866e-01 7.08744696e-01 -9.10030737e-02 -2.59863228e+01] [-1.31172757e-01 -2.18427634e-03 9.91357119e-01 -3.30051890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.05, Y:-26.00, Z:-3.31 [[ 7.01425191e-01 7.06362898e-01 9.51533355e-02 6.70453290e+01] [-7.00384461e-01 7.07846152e-01 -9.17356655e-02 -2.60047259e+01] [-1.32152593e-01 -2.29821088e-03 9.91226720e-01 -3.30672459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:-26.03, Z:-3.31 [[ 6.99854366e-01 7.07797483e-01 9.60551367e-02 6.70711402e+01] [-7.01704581e-01 7.06410902e-01 -9.27055434e-02 -2.60255079e+01] [-1.33471146e-01 -2.52195020e-03 9.91049491e-01 -3.31007505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:-26.05, Z:-3.31 [[ 6.97436097e-01 7.09930949e-01 9.78822631e-02 6.70958889e+01] [-7.03609699e-01 7.04265263e-01 -9.45718245e-02 -2.60474741e+01] [-1.36074543e-01 -2.91310548e-03 9.90694318e-01 -3.31047403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:-26.07, Z:-3.31 [[ 6.96117479e-01 7.11306806e-01 9.72783763e-02 6.71240085e+01] [-7.05063243e-01 7.02874866e-01 -9.40890378e-02 -2.60667872e+01] [-1.35300699e-01 -3.09038365e-03 9.90799763e-01 -3.30883458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.15, Y:-26.08, Z:-3.31 [[ 6.96012970e-01 7.11523985e-01 9.64342508e-02 6.71518146e+01] [-7.05377416e-01 7.02655257e-01 -9.33717855e-02 -2.60849395e+01] [-1.34196298e-01 -3.03456898e-03 9.90950122e-01 -3.31397703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:-26.10, Z:-3.32 [[ 6.96460108e-01 7.11129960e-01 9.61118987e-02 6.71795759e+01] [-7.05007380e-01 7.03054691e-01 -9.31595186e-02 -2.61034554e+01] [-1.33820446e-01 -2.87770951e-03 9.91001416e-01 -3.32093394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:-26.12, Z:-3.33 [[ 6.98356588e-01 7.08756794e-01 9.98092340e-02 6.72062678e+01] [-7.02112628e-01 7.05448686e-01 -9.68504537e-02 -2.61224087e+01] [-1.39053710e-01 -2.44117113e-03 9.90281832e-01 -3.32652541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:-26.14, Z:-3.33 [[ 6.99489492e-01 7.07501606e-01 1.00776627e-01 6.72310622e+01] [-7.00699453e-01 7.06708502e-01 -9.78946830e-02 -2.61446401e+01] [-1.40480344e-01 -2.13782526e-03 9.90081160e-01 -3.32861982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:-26.17, Z:-3.33 [[ 7.01357738e-01 7.05666197e-01 1.00660527e-01 6.72560737e+01] [-6.98846094e-01 7.08542415e-01 -9.78865874e-02 -2.61668071e+01] [-1.40397509e-01 -1.69270051e-03 9.90093770e-01 -3.33054577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:-26.19, Z:-3.33 [[ 7.03405669e-01 7.03789637e-01 9.95018238e-02 6.72803912e+01] [-6.97093387e-01 7.10407374e-01 -9.68616142e-02 -2.61886350e+01] [-1.38857030e-01 -1.22905491e-03 9.90311676e-01 -3.33467159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:-26.21, Z:-3.34 [[ 7.08863544e-01 6.98635092e-01 9.70643267e-02 6.73046715e+01] [-6.92202493e-01 7.15478154e-01 -9.45871039e-02 -2.62096432e+01] [-1.35529275e-01 -1.38819139e-04 9.90773332e-01 -3.34322517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.33, Y:-26.23, Z:-3.35 [[ 7.11170833e-01 6.96154810e-01 9.80026900e-02 6.73301507e+01] [-6.89558851e-01 7.17891573e-01 -9.56048141e-02 -2.62304309e+01] [-1.36911056e-01 4.12732990e-04 9.90583259e-01 -3.34680171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.36, Y:-26.25, Z:-3.35 [[ 7.13085978e-01 6.93894485e-01 1.00094117e-01 6.73555342e+01] [-6.86975499e-01 7.20076077e-01 -9.77502283e-02 -2.62518560e+01] [-1.39903723e-01 9.42111342e-04 9.90164663e-01 -3.34977684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.38, Y:-26.28, Z:-3.35 [[ 7.16729679e-01 6.89953800e-01 1.01303121e-01 6.73772818e+01] [-6.82811360e-01 7.23851141e-01 -9.90362210e-02 -2.62770952e+01] [-1.41658797e-01 1.81127680e-03 9.89913887e-01 -3.35074685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-26.30, Z:-3.36 [[ 7.18361841e-01 6.88466734e-01 9.98489986e-02 6.73984840e+01] [-6.81500509e-01 7.25264742e-01 -9.77144335e-02 -2.63020257e+01] [-1.39690095e-01 2.14717693e-03 9.90192944e-01 -3.35560165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.42, Y:-26.33, Z:-3.36 [[ 7.19399320e-01 6.87535619e-01 9.87896325e-02 6.74210488e+01] [-6.80694805e-01 7.26146772e-01 -9.67752452e-02 -2.63260132e+01] [-1.38272201e-01 2.37445591e-03 9.90391418e-01 -3.36155321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:-26.35, Z:-3.37 [[ 7.21205042e-01 6.85706133e-01 9.83381262e-02 6.74448127e+01] [-6.78897553e-01 7.27873167e-01 -9.64301045e-02 -2.63480728e+01] [-1.37700397e-01 2.78436427e-03 9.90470014e-01 -3.36864010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:-26.37, Z:-3.37 [[ 7.22428990e-01 6.84373334e-01 9.86381978e-02 6.74672915e+01] [-6.77496868e-01 7.29125094e-01 -9.68224701e-02 -2.63726202e+01] [-1.38182302e-01 3.12028921e-03 9.90401896e-01 -3.37292272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.49, Y:-26.40, Z:-3.38 [[ 7.24430835e-01 6.82494075e-01 9.69628903e-02 6.74868745e+01] [-6.75820691e-01 7.30882801e-01 -9.52718457e-02 -2.63991409e+01] [-1.35890979e-01 3.48833521e-03 9.90717656e-01 -3.37771046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:-26.43, Z:-3.38 [[ 7.28941161e-01 6.77975170e-01 9.48390890e-02 6.75007028e+01] [-6.71541814e-01 7.35072201e-01 -9.32762058e-02 -2.64310183e+01] [-1.32952529e-01 4.30445187e-03 9.91113059e-01 -3.38258208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.52, Y:-26.46, Z:-3.38 [[ 7.30256872e-01 6.76310768e-01 9.65849176e-02 6.75218369e+01] [-6.69609645e-01 7.36601004e-01 -9.50888263e-02 -2.64567891e+01] [-1.35454144e-01 4.76507647e-03 9.90772158e-01 -3.38489825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.54, Y:-26.48, Z:-3.39 [[ 7.31047823e-01 6.75174368e-01 9.85324927e-02 6.75439265e+01] [-6.68174935e-01 7.37640184e-01 -9.71041468e-02 -2.64809966e+01] [-1.38243757e-01 5.15083327e-03 9.90384841e-01 -3.38747858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:-26.51, Z:-3.39 [[ 7.31361984e-01 6.74618252e-01 9.99993110e-02 6.75662366e+01] [-6.67388729e-01 7.38146978e-01 -9.86474722e-02 -2.65060071e+01] [-1.40363574e-01 5.40859795e-03 9.90085256e-01 -3.38992624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.58, Y:-26.53, Z:-3.39 [[ 7.31807580e-01 6.74324032e-01 9.87155815e-02 6.75846775e+01] [-6.67264071e-01 7.38415362e-01 -9.74751855e-02 -2.65341744e+01] [-1.38622962e-01 5.46371870e-03 9.90330158e-01 -3.39436039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:-26.56, Z:-3.40 [[ 7.31682213e-01 6.74483560e-01 9.85548890e-02 6.76044888e+01] [-6.67434925e-01 7.38269418e-01 -9.74109184e-02 -2.65604064e+01] [-1.38462124e-01 5.49486140e-03 9.90352486e-01 -3.40083040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:-26.59, Z:-3.41 [[ 7.30774869e-01 6.75561767e-01 9.78998899e-02 6.76242029e+01] [-6.68603662e-01 7.37284173e-01 -9.68565519e-02 -2.65869644e+01] [-1.37612623e-01 5.32410926e-03 9.90471817e-01 -3.40619112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:-26.62, Z:-3.41 [[ 7.28661632e-01 6.77745911e-01 9.85530587e-02 6.76415093e+01] [-6.70700551e-01 7.35279071e-01 -9.75984517e-02 -2.66164714e+01] [-1.38610953e-01 5.01665626e-03 9.90334205e-01 -3.41005632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:-26.64, Z:-3.41 [[ 7.27619281e-01 6.78838739e-01 9.87327122e-02 6.76614977e+01] [-6.71764128e-01 7.34271115e-01 -9.78717851e-02 -2.66426461e+01] [-1.38935738e-01 4.88830350e-03 9.90289334e-01 -3.41365724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.68, Y:-26.67, Z:-3.42 [[ 7.26898125e-01 6.79575604e-01 9.89753220e-02 6.76814844e+01] [-6.72459239e-01 7.33589574e-01 -9.82084967e-02 -2.66684960e+01] [-1.39347363e-01 4.83070240e-03 9.90231779e-01 -3.41713439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.70, Y:-26.70, Z:-3.42 [[ 7.24558952e-01 6.82214292e-01 9.79693042e-02 6.76996219e+01] [-6.75253220e-01 7.31139345e-01 -9.73054341e-02 -2.66965659e+01] [-1.38012371e-01 4.34943527e-03 9.90420955e-01 -3.42213066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:-26.72, Z:-3.43 [[ 7.21970507e-01 6.84983226e-01 9.77576952e-02 6.77207444e+01] [-6.78064105e-01 7.28548488e-01 -9.71914083e-02 -2.67223832e+01] [-1.37795705e-01 3.88334621e-03 9.90453060e-01 -3.42666905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:-26.75, Z:-3.43 [[ 7.19102078e-01 6.88143453e-01 9.66994843e-02 6.77412468e+01] [-6.81389209e-01 7.25567099e-01 -9.62347681e-02 -2.67478091e+01] [-1.36385290e-01 3.31263658e-03 9.90650331e-01 -3.43086915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:-26.77, Z:-3.44 [[ 7.15577049e-01 6.91894329e-01 9.60818619e-02 6.77622875e+01] [-6.85246742e-01 7.21993905e-01 -9.57167888e-02 -2.67735566e+01] [-1.35596422e-01 2.65295440e-03 9.90760603e-01 -3.43537842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:-26.80, Z:-3.44 [[ 7.09516878e-01 6.98162020e-01 9.56848632e-02 6.77840780e+01] [-6.91612501e-01 7.15938175e-01 -9.54184353e-02 -2.67978441e+01] [-1.35121974e-01 1.52414277e-03 9.90827800e-01 -3.43926375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:-26.82, Z:-3.44 [[ 7.06560765e-01 7.00935823e-01 9.72669440e-02 6.78084547e+01] [-6.94178703e-01 7.13223524e-01 -9.70985768e-02 -2.68193677e+01] [-1.37432943e-01 1.08540364e-03 9.90510478e-01 -3.44222738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:-26.84, Z:-3.45 [[ 7.03583589e-01 7.03771893e-01 9.83628783e-02 6.78329795e+01] [-6.96873629e-01 7.10425749e-01 -9.82975055e-02 -2.68416198e+01] [-1.39058543e-01 6.14015698e-04 9.90283972e-01 -3.44536032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.86, Y:-26.87, Z:-3.45 [[ 7.01584761e-01 7.05524912e-01 1.00067081e-01 6.78559616e+01] [-6.98386613e-01 7.08685033e-01 -1.00108255e-01 -2.68650639e+01] [-1.41544910e-01 3.48916597e-04 9.89931774e-01 -3.44856884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:-26.91, Z:-3.45 [[ 7.01040843e-01 7.04972826e-01 1.07494423e-01 6.78502552e+01] [-7.04518837e-01 7.08013243e-01 -4.86873366e-02 -2.69147703e+01] [-1.10430724e-01 -4.16000340e-02 9.93012836e-01 -3.45119403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:-26.89, Z:-3.46 [[ 6.98309523e-01 7.12553791e-01 6.80507493e-02 6.79229982e+01] [-7.02464340e-01 7.00462646e-01 -1.26079075e-01 -2.68859904e+01] [-1.37505131e-01 4.02389944e-02 9.89683365e-01 -3.45753682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:-26.93, Z:-3.46 [[ 6.96770832e-01 7.10833163e-01 9.60553032e-02 6.79198288e+01] [-7.04283111e-01 7.03360429e-01 -9.62777596e-02 -2.69345168e+01] [-1.35998924e-01 -5.66593069e-04 9.90708823e-01 -3.46473618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:-26.96, Z:-3.47 [[ 6.96363260e-01 7.11141028e-01 9.67297706e-02 6.79425959e+01] [-7.04486593e-01 7.03049165e-01 -9.70593181e-02 -2.69577194e+01] [-1.37028648e-01 -5.56283415e-04 9.90566929e-01 -3.47050418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:-26.98, Z:-3.47 [[ 6.95866453e-01 7.11644341e-01 9.66033724e-02 6.79659904e+01] [-7.04997625e-01 7.02539676e-01 -9.70378924e-02 -2.69800603e+01] [-1.36924169e-01 -5.79734002e-04 9.90581363e-01 -3.47422841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.99, Y:-27.00, Z:-3.48 [[ 6.94253047e-01 7.13183617e-01 9.68598736e-02 6.79908575e+01] [-7.06501522e-01 7.00976799e-01 -9.74018848e-02 -2.70020334e+01] [-1.37361953e-01 -8.10092774e-04 9.90520589e-01 -3.47833970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.272320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.02, Y:-27.02, Z:-3.48 [[ 6.89429174e-01 7.17467182e-01 9.96406354e-02 6.80187148e+01] [-7.10422328e-01 6.96590398e-01 -1.00309185e-01 -2.70215390e+01] [-1.41377258e-01 -1.63085342e-03 9.89954449e-01 -3.47952404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-27.04, Z:-3.48 [[ 6.86289883e-01 7.20405181e-01 1.00112796e-01 6.80441788e+01] [-7.13308346e-01 6.93550049e-01 -1.00893672e-01 -2.70425415e+01] [-1.42117559e-01 -2.16898671e-03 9.89847410e-01 -3.48201968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-27.06, Z:-3.49 [[ 6.83922098e-01 7.22719183e-01 9.96370753e-02 6.80685664e+01] [-7.15698983e-01 6.91137050e-01 -1.00521357e-01 -2.70636420e+01] [-1.41511587e-01 -2.56137614e-03 9.89933286e-01 -3.48713967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.09, Y:-27.09, Z:-3.49 [[ 6.81583116e-01 7.25201674e-01 9.76062875e-02 6.80932005e+01] [-7.18476748e-01 6.88530238e-01 -9.85762326e-02 -2.70855663e+01] [-1.38692529e-01 -2.93995225e-03 9.90331126e-01 -3.49287746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.12, Y:-27.11, Z:-3.50 [[ 6.78994355e-01 7.28005251e-01 9.47365882e-02 6.81166800e+01] [-7.21685255e-01 6.85563426e-01 -9.57767238e-02 -2.71078306e+01] [-1.34673898e-01 -3.33814407e-03 9.90884351e-01 -3.50084664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.14, Y:-27.13, Z:-3.51 [[ 6.78825227e-01 7.28169341e-01 9.46875025e-02 6.81401403e+01] [-7.21844174e-01 6.85389316e-01 -9.58252283e-02 -2.71313888e+01] [-1.34674796e-01 -3.30103964e-03 9.90884354e-01 -3.50504224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:-27.15, Z:-3.51 [[ 6.78877178e-01 7.28022853e-01 9.54384767e-02 6.81637294e+01] [-7.21588196e-01 6.85545093e-01 -9.66354049e-02 -2.71544887e+01] [-1.35780163e-01 -3.26370720e-03 9.90733615e-01 -3.50940223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.19, Y:-27.18, Z:-3.51 [[ 6.79635196e-01 7.27145652e-01 9.67222855e-02 6.81870448e+01] [-7.20513102e-01 6.86476387e-01 -9.80359121e-02 -2.71771770e+01] [-1.37683952e-01 -3.06101757e-03 9.90471483e-01 -3.51290184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.21, Y:-27.20, Z:-3.52 [[ 6.79235708e-01 7.27386683e-01 9.77111357e-02 6.82113358e+01] [-7.20612266e-01 6.86220786e-01 -9.90908394e-02 -2.71993195e+01] [-1.39128769e-01 -3.10580641e-03 9.90269428e-01 -3.51649552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:-27.22, Z:-3.52 [[ 6.79121228e-01 7.27212484e-01 9.97815662e-02 6.82371917e+01] [-7.20128732e-01 6.86405595e-01 -1.01301370e-01 -2.72194962e+01] [-1.42158246e-01 -3.05966198e-03 9.89839215e-01 -3.52123725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:-27.28, Z:-3.52 [[ 6.82569623e-01 7.19089021e-01 1.30421199e-01 6.82157277e+01] [-7.21615844e-01 6.91388163e-01 -3.53974884e-02 -2.72798674e+01] [-1.15625619e-01 -6.99527534e-02 9.90826589e-01 -3.52108125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:-27.22, Z:-3.52 [[ 6.77826253e-01 7.33288693e-01 5.32847434e-02 6.83266093e+01] [-7.20670559e-01 6.77011253e-01 -1.49297385e-01 -2.72181289e+01] [-1.45552455e-01 6.27969413e-02 9.87355573e-01 -3.52317713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:-27.28, Z:-3.53 [[ 6.73431676e-01 7.33010182e-01 9.58428510e-02 6.83113357e+01] [-7.26501220e-01 6.80206263e-01 -9.75469977e-02 -2.72779405e+01] [-1.36695850e-01 -3.93871010e-03 9.90605235e-01 -3.53293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.34, Y:-27.30, Z:-3.54 [[ 6.70795643e-01 7.35618648e-01 9.43313883e-02 6.83380184e+01] [-7.29326246e-01 6.77382064e-01 -9.61080954e-02 -2.72976229e+01] [-1.34597298e-01 -4.32946563e-03 9.90890924e-01 -3.53887343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-27.32, Z:-3.54 [[ 6.68910441e-01 7.37353985e-01 9.41696492e-02 6.83660160e+01] [-7.31086678e-01 6.75490877e-01 -9.60434470e-02 -2.73159994e+01] [-1.34428757e-01 -4.60171159e-03 9.90912576e-01 -3.54412235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:-27.33, Z:-3.55 [[ 6.67886635e-01 7.37705309e-01 9.85815363e-02 6.83967255e+01] [-7.30822413e-01 6.75105647e-01 -1.00652701e-01 -2.73326319e+01] [-1.40804984e-01 -4.82100228e-03 9.90025613e-01 -3.54666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:-27.36, Z:-3.55 [[ 6.68090923e-01 7.37269433e-01 1.00440542e-01 6.84194567e+01] [-7.30102496e-01 6.75582166e-01 -1.02660035e-01 -2.73565462e+01] [-1.43543945e-01 -4.74565303e-03 9.89632565e-01 -3.54952757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:-27.38, Z:-3.55 [[ 6.69040707e-01 7.36327353e-01 1.01027527e-01 6.84404677e+01] [-7.29049515e-01 6.76610531e-01 -1.03368241e-01 -2.73815428e+01] [-1.44469152e-01 -4.49650895e-03 9.89499088e-01 -3.55241536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.46, Y:-27.41, Z:-3.56 [[ 6.70367099e-01 7.35174165e-01 1.00632504e-01 6.84623020e+01] [-7.27924853e-01 6.77865522e-01 -1.03071541e-01 -2.74057887e+01] [-1.43990839e-01 -4.15713056e-03 9.89570289e-01 -3.55681186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-27.42, Z:-3.56 [[ 6.74515808e-01 7.31631709e-01 9.87089981e-02 6.84893464e+01] [-7.24605340e-01 6.81692317e-01 -1.01206157e-01 -2.74243156e+01] [-1.41334799e-01 -3.25991455e-03 9.89956488e-01 -3.56264746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-27.44, Z:-3.57 [[ 6.76151243e-01 7.30232434e-01 9.78779303e-02 6.85159933e+01] [-7.23294892e-01 6.83192771e-01 -1.00459626e-01 -2.74440485e+01] [-1.40228371e-01 -2.86870634e-03 9.90115031e-01 -3.56704511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.54, Y:-27.46, Z:-3.57 [[ 6.77885102e-01 7.28619217e-01 9.79072266e-02 6.85419429e+01] [-7.21645412e-01 6.84914580e-01 -1.00597800e-01 -2.74647925e+01] [-1.40355577e-01 -2.46055081e-03 9.90098105e-01 -3.57074704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:-27.49, Z:-3.58 [[ 6.80523249e-01 7.26349827e-01 9.64574393e-02 6.85664414e+01] [-7.19544397e-01 6.87322607e-01 -9.92143857e-02 -2.74866352e+01] [-1.38361730e-01 -1.88771391e-03 9.90379961e-01 -3.57500354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.59, Y:-27.51, Z:-3.58 [[ 6.81794700e-01 7.25366313e-01 9.48667439e-02 6.85887563e+01] [-7.18760775e-01 6.88361237e-01 -9.76819149e-02 -2.75109835e+01] [-1.36157760e-01 -1.58748241e-03 9.90685896e-01 -3.58110478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:-27.53, Z:-3.59 [[ 6.82748055e-01 7.24590041e-01 9.39380903e-02 6.86106045e+01] [-7.18092383e-01 6.89178830e-01 -9.68290766e-02 -2.75348376e+01] [-1.34901528e-01 -1.34636339e-03 9.90858095e-01 -3.58672848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:-27.56, Z:-3.59 [[ 6.83394923e-01 7.23782215e-01 9.54499063e-02 6.86339635e+01] [-7.17050032e-01 6.90027553e-01 -9.84948047e-02 -2.75583914e+01] [-1.37151853e-01 -1.13150898e-03 9.90549387e-01 -3.59104233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:-27.58, Z:-3.59 [[ 6.83804477e-01 7.22866935e-01 9.93721843e-02 6.86603955e+01] [-7.15541042e-01 6.90986664e-01 -1.02656939e-01 -2.75785522e+01] [-1.42872161e-01 -9.07602018e-04 9.89740735e-01 -3.59141285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.66, Y:-27.63, Z:-3.59 [[ 6.88488114e-01 7.17152666e-01 1.08056329e-01 6.86557317e+01] [-7.16731171e-01 6.95574882e-01 -4.97193312e-02 -2.76250993e+01] [-1.10817619e-01 -4.32161707e-02 9.92900709e-01 -3.59490293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:-27.60, Z:-3.60 [[ 6.87038143e-01 7.23215403e-01 7.02714092e-02 6.87322400e+01] [-7.12152589e-01 6.89404526e-01 -1.32514484e-01 -2.75959028e+01] [-1.44281943e-01 4.09985389e-02 9.88686928e-01 -3.59519750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.73, Y:-27.65, Z:-3.61 [[ 6.88575945e-01 7.18572775e-01 9.75517055e-02 6.87266368e+01] [-7.11438523e-01 6.95451756e-01 -1.01005361e-01 -2.76465448e+01] [-1.40422208e-01 1.47820735e-04 9.90091704e-01 -3.60517884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.74, Y:-27.67, Z:-3.61 [[ 6.90790031e-01 7.16695764e-01 9.56886387e-02 6.87440017e+01] [-7.09800313e-01 6.97385712e-01 -9.91800631e-02 -2.76747208e+01] [-1.37813820e-01 5.92773114e-04 9.90457975e-01 -3.61117708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.77, Y:-27.70, Z:-3.61 [[ 6.90956975e-01 7.16527298e-01 9.57449184e-02 6.87679866e+01] [-7.09607474e-01 6.97558700e-01 -9.93433101e-02 -2.76977964e+01] [-1.37969894e-01 7.00643366e-04 9.90436175e-01 -3.61286154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.79, Y:-27.72, Z:-3.62 [[ 6.90396932e-01 7.16809866e-01 9.76508725e-02 6.87938049e+01] [-7.09597691e-01 6.97268297e-01 -1.01429973e-01 -2.77191975e+01] [-1.40794863e-01 7.34108419e-04 9.90038518e-01 -3.61573551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.82, Y:-27.74, Z:-3.62 [[ 6.89549254e-01 7.17178566e-01 1.00879781e-01 6.88192104e+01] [-7.09466005e-01 6.96889033e-01 -1.04898354e-01 -2.77402838e+01] [-1.45532864e-01 7.61806491e-04 9.89353125e-01 -3.61890972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:-27.76, Z:-3.63 [[ 6.89121867e-01 7.17561562e-01 1.01076492e-01 6.88417483e+01] [-7.09806562e-01 6.96494671e-01 -1.05213198e-01 -2.77642792e+01] [-1.45896185e-01 7.59958059e-04 9.89299614e-01 -3.62505089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.86, Y:-27.79, Z:-3.63 [[ 6.87998939e-01 7.18772528e-01 1.00117497e-01 6.88642201e+01] [-7.11161702e-01 6.95245081e-01 -1.04323111e-01 -2.77874520e+01] [-1.44590783e-01 5.74459558e-04 9.89491372e-01 -3.63053812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.89, Y:-27.81, Z:-3.64 [[ 6.87534986e-01 7.19379593e-01 9.89375801e-02 6.88866537e+01] [-7.11939534e-01 6.94616972e-01 -1.03195746e-01 -2.78111197e+01] [-1.42960636e-01 5.13110881e-04 9.89728242e-01 -3.63668111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:-27.84, Z:-3.64 [[ 6.86043754e-01 7.21087143e-01 9.68364624e-02 6.89060576e+01] [-7.13971106e-01 6.92844353e-01 -1.01054255e-01 -2.78382800e+01] [-1.39961520e-01 1.89204496e-04 9.90156925e-01 -3.64160998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.93, Y:-27.86, Z:-3.64 [[ 6.84616191e-01 7.22303032e-01 9.78723693e-02 6.89270719e+01] [-7.15029824e-01 6.91576698e-01 -1.02244908e-01 -2.78639563e+01] [-1.41538057e-01 1.68566072e-05 9.89932815e-01 -3.64424991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:-27.89, Z:-3.65 [[ 6.83389047e-01 7.23364636e-01 9.86053483e-02 6.89491772e+01] [-7.15976496e-01 6.90466210e-01 -1.03121628e-01 -2.78885314e+01] [-1.42678200e-01 -1.26920464e-04 9.89769122e-01 -3.64628794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.97, Y:-27.91, Z:-3.65 [[ 6.81302363e-01 7.25344176e-01 9.85033837e-02 6.89740830e+01] [-7.17976127e-01 6.88386237e-01 -1.03124538e-01 -2.79104952e+01] [-1.42609157e-01 -4.64086483e-04 9.89778972e-01 -3.65043502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:-27.93, Z:-3.66 [[ 6.79464246e-01 7.27231846e-01 9.72737415e-02 6.89975557e+01] [-7.20051473e-01 6.86391464e-01 -1.01944273e-01 -2.79331332e+01] [-1.40904987e-01 -7.74612414e-04 9.90022820e-01 -3.65694428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.02, Y:-27.96, Z:-3.66 [[ 6.77646606e-01 7.29102953e-01 9.59372788e-02 6.90203059e+01] [-7.22123255e-01 6.84403193e-01 -1.00649265e-01 -2.79561612e+01] [-1.39043457e-01 -1.07390705e-03 9.90285698e-01 -3.66330539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:-27.98, Z:-3.67 [[ 6.75883695e-01 7.30646327e-01 9.66290608e-02 6.90432440e+01] [-7.23565289e-01 6.82754851e-01 -1.01484407e-01 -2.79791509e+01] [-1.40123169e-01 -1.32577851e-03 9.90133193e-01 -3.66784657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:-28.00, Z:-3.67 [[ 6.74762981e-01 7.31562218e-01 9.75276385e-02 6.90664663e+01] [-7.24341885e-01 6.81773134e-01 -1.02538902e-01 -2.80027669e+01] [-1.41505310e-01 -1.45389852e-03 9.89936429e-01 -3.66870387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:-28.03, Z:-3.67 [[ 6.75272476e-01 7.30885804e-01 9.90607096e-02 6.90869981e+01] [-7.23411894e-01 6.82498619e-01 -1.04263443e-01 -2.80288636e+01] [-1.43813468e-01 -1.25546210e-03 9.89604017e-01 -3.66985099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:-28.06, Z:-3.67 [[ 6.76217109e-01 7.29876809e-01 1.00051310e-01 6.91064217e+01] [-7.22224173e-01 6.83578011e-01 -1.05419863e-01 -2.80560887e+01] [-1.45336388e-01 -9.72759569e-04 9.89381821e-01 -3.67203747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.13, Y:-28.08, Z:-3.68 [[ 6.77667343e-01 7.28341188e-01 1.01420346e-01 6.91253164e+01] [-7.20442124e-01 6.85214410e-01 -1.06978311e-01 -2.80831523e+01] [-1.47411393e-01 -5.71781793e-04 9.89075100e-01 -3.67813132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.15, Y:-28.11, Z:-3.69 [[ 6.77915765e-01 7.28308181e-01 9.99870457e-02 6.91486517e+01] [-7.20614993e-01 6.85249564e-01 -1.05579670e-01 -2.81056192e+01] [-1.45410617e-01 -4.78041679e-04 9.89371277e-01 -3.68662251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-28.13, Z:-3.69 [[ 6.77301106e-01 7.29124149e-01 9.81895499e-02 6.91712850e+01] [-7.21699292e-01 6.84381221e-01 -1.03790536e-01 -2.81281286e+01] [-1.42875270e-01 -5.65883718e-04 9.89740540e-01 -3.69474134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.19, Y:-28.15, Z:-3.70 [[ 6.76110271e-01 7.30518167e-01 9.60109883e-02 6.91926247e+01] [-7.23419626e-01 6.82892831e-01 -1.01594416e-01 -2.81527958e+01] [-1.39781782e-01 -7.67205467e-04 9.90182036e-01 -3.70068111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:-28.18, Z:-3.70 [[ 6.73496793e-01 7.32956219e-01 9.57979725e-02 6.92107330e+01] [-7.25898451e-01 6.80274763e-01 -1.01477514e-01 -2.81813521e+01] [-1.39547518e-01 -1.19481947e-03 9.90214655e-01 -3.69901471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.23, Y:-28.21, Z:-3.70 [[ 6.70770938e-01 7.35420863e-01 9.60338656e-02 6.92332544e+01] [-7.28337715e-01 6.77608647e-01 -1.01836612e-01 -2.82062623e+01] [-1.39966147e-01 -1.63604641e-03 9.90154938e-01 -3.70039970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.26, Y:-28.23, Z:-3.70 [[ 6.67840420e-01 7.38248056e-01 9.47574840e-02 6.92565384e+01] [-7.31366068e-01 6.74525978e-01 -1.00590157e-01 -2.82290110e+01] [-1.38176872e-01 -2.12423595e-03 9.90405291e-01 -3.70367335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-28.25, Z:-3.71 [[ 6.61644033e-01 7.43680015e-01 9.57455475e-02 6.92806736e+01] [-7.36693486e-01 6.68528019e-01 -1.01749669e-01 -2.82511831e+01] [-1.39677777e-01 -3.21305993e-03 9.90191797e-01 -3.71183340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:-28.27, Z:-3.72 [[ 6.59049191e-01 7.45644847e-01 9.83256092e-02 6.93036968e+01] [-7.38279806e-01 6.66333574e-01 -1.04606386e-01 -2.82739989e+01] [-1.43516867e-01 -3.65105754e-03 9.89641136e-01 -3.71621950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.33, Y:-28.30, Z:-3.72 [[ 6.56464304e-01 7.47799642e-01 9.92487408e-02 6.93267729e+01] [-7.40302583e-01 6.63911904e-01 -1.05702739e-01 -2.82972018e+01] [-1.44936891e-01 -4.08402418e-03 9.89432473e-01 -3.71909232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.35, Y:-28.32, Z:-3.72 [[ 6.54031988e-01 7.49800410e-01 1.00207308e-01 6.93503714e+01] [-7.42163377e-01 6.61648807e-01 -1.06838095e-01 -2.83206333e+01] [-1.46409293e-01 -4.49466280e-03 9.89213888e-01 -3.72267335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:-28.34, Z:-3.73 [[ 6.52054884e-01 7.51723128e-01 9.86750570e-02 6.93736578e+01] [-7.44324842e-01 6.59461545e-01 -1.05313815e-01 -2.83438774e+01] [-1.44239236e-01 -4.77590853e-03 9.89531320e-01 -3.72759320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:-28.37, Z:-3.74 [[ 6.50513049e-01 7.53458147e-01 9.55698412e-02 6.93970566e+01] [-7.46524093e-01 6.57477424e-01 -1.02103939e-01 -2.83655995e+01] [-1.39766058e-01 -4.92524416e-03 9.90172304e-01 -3.73608994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.42, Y:-28.39, Z:-3.74 [[ 6.49415753e-01 7.54525944e-01 9.46032693e-02 6.94219403e+01] [-7.47728763e-01 6.56250920e-01 -1.01175227e-01 -2.83873665e+01] [-1.38422816e-01 -5.03279920e-03 9.90360437e-01 -3.74015953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-28.41, Z:-3.74 [[ 6.47394809e-01 7.56261245e-01 9.45985737e-02 6.94480471e+01] [-7.49468324e-01 6.54248030e-01 -1.01275599e-01 -2.84083328e+01] [-1.38481741e-01 -5.33333755e-03 9.90350626e-01 -3.74199310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:-28.43, Z:-3.74 [[ 6.44759622e-01 7.58366130e-01 9.57384065e-02 6.94744964e+01] [-7.51415481e-01 6.51803151e-01 -1.02603251e-01 -2.84285690e+01] [-1.40213425e-01 -5.78488760e-03 9.90104404e-01 -3.74206146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:-28.45, Z:-3.74 [[ 6.41585642e-01 7.60915066e-01 9.68304019e-02 6.95027964e+01] [-7.53817211e-01 6.48820491e-01 -1.03882542e-01 -2.84469979e+01] [-1.41871340e-01 -6.34287609e-03 9.89864784e-01 -3.74344211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:-28.47, Z:-3.75 [[ 6.40203395e-01 7.62102900e-01 9.66373771e-02 6.95278589e+01] [-7.55031632e-01 6.47423062e-01 -1.03781567e-01 -2.84686292e+01] [-1.41657500e-01 -6.52296477e-03 9.89894239e-01 -3.74982941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.55, Y:-28.49, Z:-3.76 [[ 6.38867383e-01 7.63268165e-01 9.62817523e-02 6.95526652e+01] [-7.56247241e-01 6.46047203e-01 -1.03504214e-01 -2.84892198e+01] [-1.41204028e-01 -6.68734306e-03 9.89957929e-01 -3.75818834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:-28.51, Z:-3.76 [[ 6.37912815e-01 7.64151017e-01 9.56057699e-02 6.95780449e+01] [-7.57223882e-01 6.45001898e-01 -1.02881217e-01 -2.85095132e+01] [-1.40282689e-01 -6.76572562e-03 9.90088376e-01 -3.76473755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:-28.53, Z:-3.77 [[ 6.36601759e-01 7.65336283e-01 9.48608105e-02 6.96084871e+01] [-7.58515686e-01 6.43593590e-01 -1.02182408e-01 -2.85259039e+01] [-1.39255714e-01 -6.90391206e-03 9.90232388e-01 -3.77065883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:-28.55, Z:-3.77 [[ 6.36432440e-01 7.65483242e-01 9.48111574e-02 6.96311838e+01] [-7.58657433e-01 6.43419180e-01 -1.02228460e-01 -2.85501970e+01] [-1.39257490e-01 -6.86768122e-03 9.90232390e-01 -3.77499334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:-28.57, Z:-3.78 [[ 6.36047875e-01 7.65818551e-01 9.46839316e-02 6.96594182e+01] [-7.59007807e-01 6.43019710e-01 -1.02141088e-01 -2.85692505e+01] [-1.39105174e-01 -6.89922128e-03 9.90253579e-01 -3.77747277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:-28.59, Z:-3.78 [[ 6.35851869e-01 7.65952404e-01 9.49174129e-02 6.96886278e+01] [-7.59094624e-01 6.42860488e-01 -1.02497538e-01 -2.85872659e+01] [-1.39526890e-01 -6.87804677e-03 9.90194395e-01 -3.78055807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:-28.60, Z:-3.78 [[ 6.36579555e-01 7.65382903e-01 9.46334045e-02 6.97217211e+01] [-7.58545511e-01 6.43540663e-01 -1.02294294e-01 -2.86011813e+01] [-1.39194748e-01 -6.66528810e-03 9.90242595e-01 -3.78464584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.75, Y:-28.62, Z:-3.79 [[ 6.37832273e-01 7.64319435e-01 9.47934260e-02 6.97465098e+01] [-7.57432370e-01 6.44806290e-01 -1.02572188e-01 -2.86227951e+01] [-1.39521314e-01 -6.37575747e-03 9.90198542e-01 -3.78896273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:-28.65, Z:-3.79 [[ 6.40324708e-01 7.62179223e-01 9.52213218e-02 6.97703739e+01] [-7.55191645e-01 6.47339465e-01 -1.03136783e-01 -2.86454741e+01] [-1.40249233e-01 -5.86931626e-03 9.90098835e-01 -3.79318109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:-28.67, Z:-3.80 [[ 6.43008024e-01 7.59777239e-01 9.63287510e-02 6.97949702e+01] [-7.52590974e-01 6.50161271e-01 -1.04389401e-01 -2.86669456e+01] [-1.41941914e-01 -5.37292611e-03 9.89860407e-01 -3.79643518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:-28.68, Z:-3.80 [[ 6.48568032e-01 7.54777227e-01 9.83404607e-02 6.98256434e+01] [-7.47211968e-01 6.55967176e-01 -1.06683357e-01 -2.86829594e+01] [-1.45030283e-01 -4.28975414e-03 9.89417917e-01 -3.79899996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-28.70, Z:-3.80 [[ 6.51337857e-01 7.52313719e-01 9.89093739e-02 6.98514905e+01] [-7.44615043e-01 6.58794718e-01 -1.07414883e-01 -2.87035416e+01] [-1.45970663e-01 -3.68602827e-03 9.89282052e-01 -3.80394778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:-28.73, Z:-3.81 [[ 6.54636844e-01 7.49363690e-01 9.95221726e-02 6.98748471e+01] [-7.41517718e-01 6.62151981e-01 -1.08195324e-01 -2.87260531e+01] [-1.46976451e-01 -2.96880917e-03 9.89135536e-01 -3.80864086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:-28.75, Z:-3.81 [[ 6.58054912e-01 7.46474106e-01 9.86921514e-02 6.98970696e+01] [-7.38709982e-01 6.65410741e-01 -1.07406272e-01 -2.87505472e+01] [-1.45846819e-01 -2.22565234e-03 9.89304681e-01 -3.81298113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:-28.78, Z:-3.82 [[ 6.64914256e-01 7.40330751e-01 9.89919743e-02 6.99168747e+01] [-7.32433722e-01 6.72242327e-01 -1.07847562e-01 -2.87774910e+01] [-1.46389461e-01 -7.95679054e-04 9.89226714e-01 -3.81592515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:-28.80, Z:-3.82 [[ 6.67771021e-01 7.37816373e-01 9.85335657e-02 6.99373966e+01] [-7.29948519e-01 6.75001462e-01 -1.07462489e-01 -2.88027029e+01] [-1.45797885e-01 -1.64094427e-04 9.89314384e-01 -3.82067802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:-28.83, Z:-3.83 [[ 6.71850845e-01 7.34234771e-01 9.75486724e-02 6.99576419e+01] [-7.26470278e-01 6.78895302e-01 -1.06499316e-01 -2.88277793e+01] [-1.44420836e-01 6.85444296e-04 9.89516120e-01 -3.82642987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:-28.85, Z:-3.83 [[ 6.76079362e-01 7.30562428e-01 9.58917942e-02 6.99779982e+01] [-7.23008301e-01 6.82844216e-01 -1.04798728e-01 -2.88535366e+01] [-1.42041170e-01 1.52169383e-03 9.89859581e-01 -3.83250236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:-28.88, Z:-3.84 [[ 6.82221990e-01 7.24833830e-01 9.58596650e-02 6.99951555e+01] [-7.17212514e-01 6.88918073e-01 -1.04871816e-01 -2.88816006e+01] [-1.42054096e-01 2.79410785e-03 9.89854952e-01 -3.83812962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:-28.91, Z:-3.84 [[ 6.83391400e-01 7.23664364e-01 9.63643234e-02 7.00142866e+01] [-7.15935008e-01 6.90144983e-01 -1.05531829e-01 -2.89082664e+01] [-1.42874978e-01 3.12895150e-03 9.89735798e-01 -3.84233347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:-28.94, Z:-3.85 [[ 6.83906303e-01 7.23128860e-01 9.67306618e-02 7.00336023e+01] [-7.15319682e-01 6.90705134e-01 -1.06038529e-01 -2.89350789e+01] [-1.43491885e-01 3.32707188e-03 9.89645901e-01 -3.84539277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:-28.96, Z:-3.85 [[ 6.82512779e-01 7.24338039e-01 9.75228833e-02 7.00497377e+01] [-7.16396236e-01 6.89437694e-01 -1.07014481e-01 -2.89646715e+01] [-1.44750611e-01 3.17372414e-03 9.89463081e-01 -3.84993735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:-28.99, Z:-3.85 [[ 6.80063182e-01 7.26641499e-01 9.74997429e-02 7.00687565e+01] [-7.18711792e-01 6.87011309e-01 -1.07092582e-01 -2.89921232e+01] [-1.44801341e-01 2.75550750e-03 9.89456911e-01 -3.85435435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:-29.02, Z:-3.86 [[ 6.77457621e-01 7.29101351e-01 9.72748305e-02 7.00883756e+01] [-7.21222106e-01 6.84401947e-01 -1.06923566e-01 -2.90185781e+01] [-1.44533199e-01 2.27942617e-03 9.89497326e-01 -3.85872893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:-29.04, Z:-3.86 [[ 6.73654267e-01 7.32683453e-01 9.67723423e-02 7.01104888e+01] [-7.24906621e-01 6.80567750e-01 -1.06479709e-01 -2.90430572e+01] [-1.43876056e-01 1.57959832e-03 9.89594455e-01 -3.86240611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.13, Y:-29.07, Z:-3.87 [[ 6.69193019e-01 7.36730129e-01 9.70021685e-02 7.01347112e+01] [-7.28942160e-01 6.76186435e-01 -1.06842091e-01 -2.90660398e+01] [-1.44305338e-01 7.89011362e-04 9.89532893e-01 -3.86630196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:-29.09, Z:-3.87 [[ 6.60920486e-01 7.44135646e-01 9.71918263e-02 7.01577043e+01] [-7.36380349e-01 6.68028128e-01 -1.07155970e-01 -2.90892937e+01] [-1.44665450e-01 -7.48575400e-04 9.89480342e-01 -3.87061478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:-29.11, Z:-3.88 [[ 6.56857476e-01 7.47940932e-01 9.55124011e-02 7.01786302e+01] [-7.40484682e-01 6.63763552e-01 -1.05358354e-01 -2.91142240e+01] [-1.42199476e-01 -1.52004725e-03 9.89836854e-01 -3.87509659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:-29.15, Z:-3.88 [[ 6.57236036e-01 7.46957018e-01 1.00478880e-01 7.01768493e+01] [-7.45036812e-01 6.64033069e-01 -6.30890753e-02 -2.91549412e+01] [-1.13846127e-01 -3.33960506e-02 9.92936938e-01 -3.87940704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:-29.14, Z:-3.88 [[ 6.49426640e-01 7.57096193e-01 7.10661160e-02 7.02433858e+01] [-7.47305660e-01 6.52714181e-01 -1.24492765e-01 -2.91402665e+01] [-1.40638860e-01 2.77408074e-02 9.89672248e-01 -3.87841308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:-29.18, Z:-3.89 [[ 6.41791566e-01 7.60949492e-01 9.51811771e-02 7.02517509e+01] [-7.53646662e-01 6.48797643e-01 -1.05253636e-01 -2.91757336e+01] [-1.41846024e-01 -4.18208066e-03 9.89879900e-01 -3.88889177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.28, Y:-29.20, Z:-3.89 [[ 6.38843102e-01 7.63276641e-01 9.63756195e-02 7.02764816e+01] [-7.55798026e-01 6.46054825e-01 -1.06688833e-01 -2.91974421e+01] [-1.43697028e-01 -4.68307808e-03 9.89610647e-01 -3.89374944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:-29.24, Z:-3.90 [[ 6.40305037e-01 7.58707354e-01 1.19885827e-01 7.02663520e+01] [-7.57607246e-01 6.49536216e-01 -6.42959107e-02 -2.92431724e+01] [-1.26651967e-01 -4.96573757e-02 9.90703500e-01 -3.90051421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:-29.21, Z:-3.90 [[ 6.34665212e-01 7.70014428e-01 6.54052693e-02 7.03532864e+01] [-7.58158780e-01 6.36806992e-01 -1.40257335e-01 -2.92133689e+01] [-1.49650705e-01 3.94288723e-02 9.87952444e-01 -3.89576961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.35, Y:-29.26, Z:-3.91 [[ 6.34757589e-01 7.66408815e-01 9.84902668e-02 7.03484433e+01] [-7.58580930e-01 6.42331425e-01 -1.09386074e-01 -2.92611769e+01] [-1.47097845e-01 -5.27919776e-03 9.89107858e-01 -3.90669751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:-29.28, Z:-3.91 [[ 6.36107622e-01 7.65447519e-01 9.72480793e-02 7.03709999e+01] [-7.57789050e-01 6.43479534e-01 -1.08119588e-01 -2.92844690e+01] [-1.45337019e-01 -4.91783543e-03 9.89369984e-01 -3.91145262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:-29.31, Z:-3.92 [[ 6.38105574e-01 7.63941338e-01 9.59943153e-02 7.03936608e+01] [-7.56446784e-01 6.45270418e-01 -1.06837967e-01 -2.93081107e+01] [-1.43560232e-01 -4.44068863e-03 9.89631618e-01 -3.91607772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.42, Y:-29.33, Z:-3.92 [[ 6.41379569e-01 7.61240739e-01 9.56283789e-02 7.04198020e+01] [-7.53757140e-01 6.48458565e-01 -1.06544183e-01 -2.93284182e+01] [-1.43116814e-01 -3.74531118e-03 9.89698717e-01 -3.92023119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:-29.35, Z:-3.93 [[ 6.41825700e-01 7.60942614e-01 9.50058359e-02 7.04446647e+01] [-7.53537174e-01 6.48809308e-01 -1.05963247e-01 -2.93501373e+01] [-1.42272621e-01 -3.58049409e-03 9.89821035e-01 -3.92558879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.44, Y:-29.39, Z:-3.93 [[ 6.44215101e-01 7.55947628e-01 1.16318904e-01 7.04389505e+01] [-7.53863993e-01 6.53257869e-01 -7.03081592e-02 -2.93939475e+01] [-1.29135525e-01 -4.23950551e-02 9.90720281e-01 -3.93347768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:70.52, Y:-29.37, Z:-3.93 [[ 6.40672086e-01 7.64837197e-01 6.75525026e-02 7.05153666e+01] [-7.53860652e-01 6.43286529e-01 -1.33703249e-01 -2.93720159e+01] [-1.45716833e-01 3.47347656e-02 9.88716390e-01 -3.92796982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.51, Y:-29.42, Z:-3.94 [[ 6.40113981e-01 7.61858733e-01 9.91229618e-02 7.05132846e+01] [-7.53762557e-01 6.47732262e-01 -1.10837382e-01 -2.94176745e+01] [-1.48647568e-01 -3.76661942e-03 9.88883063e-01 -3.93634298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:-29.44, Z:-3.94 [[ 6.40522839e-01 7.61353053e-01 1.00359463e-01 7.05369852e+01] [-7.53027959e-01 6.48327424e-01 -1.12340749e-01 -2.94403004e+01] [-1.50596764e-01 -3.61666623e-03 9.88588658e-01 -3.93812090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-29.46, Z:-3.94 [[ 6.40949801e-01 7.60905770e-01 1.01023571e-01 7.05609360e+01] [-7.52445548e-01 6.48853190e-01 -1.13204395e-01 -2.94632819e+01] [-1.51687344e-01 -3.45640195e-03 9.88422482e-01 -3.94147761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.58, Y:-29.49, Z:-3.95 [[ 6.42951805e-01 7.59279871e-01 1.00533849e-01 7.05830178e+01] [-7.50863981e-01 6.50757409e-01 -1.12774451e-01 -2.94867439e+01] [-1.51050518e-01 -2.97870917e-03 9.88521557e-01 -3.94785635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.60, Y:-29.51, Z:-3.96 [[ 6.44430786e-01 7.58348797e-01 9.80615294e-02 7.06047179e+01] [-7.50316971e-01 6.51843726e-01 -1.10109949e-01 -2.95102137e+01] [-1.47422540e-01 -2.61898885e-03 9.89070137e-01 -3.95531510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:-29.53, Z:-3.96 [[ 6.48144007e-01 7.55585124e-01 9.48707875e-02 7.06307844e+01] [-7.48032925e-01 6.55047752e-01 -1.06579481e-01 -2.95298528e+01] [-1.42674766e-01 -1.88762074e-03 9.89767825e-01 -3.96352814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:-29.55, Z:-3.97 [[ 6.48996562e-01 7.54857602e-01 9.48338700e-02 7.06579711e+01] [-7.47286947e-01 6.55886634e-01 -1.06653374e-01 -2.95499281e+01] [-1.42708378e-01 -1.65044040e-03 9.89763404e-01 -3.96618739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-29.57, Z:-3.97 [[ 6.49784672e-01 7.54114438e-01 9.53482803e-02 7.06838077e+01] [-7.46436527e-01 6.56741500e-01 -1.07345763e-01 -2.95716082e+01] [-1.43570163e-01 -1.41980777e-03 9.89639122e-01 -3.96815983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:-29.60, Z:-3.97 [[ 6.53560263e-01 7.50784241e-01 9.58227784e-02 7.07033007e+01] [-7.42976803e-01 6.60547233e-01 -1.07994552e-01 -2.95979211e+01] [-1.44376079e-01 -6.13153869e-04 9.89522699e-01 -3.97184722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:-29.62, Z:-3.98 [[ 6.55794381e-01 7.48768540e-01 9.63296596e-02 7.07228965e+01] [-7.40839095e-01 6.62831551e-01 -1.08681964e-01 -2.96242880e+01] [-1.45227973e-01 -9.17567427e-05 9.89398215e-01 -3.97949872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:-29.65, Z:-3.99 [[ 6.58021642e-01 7.46841265e-01 9.61022515e-02 7.07438964e+01] [-7.38912187e-01 6.65002223e-01 -1.08539506e-01 -2.96490269e+01] [-1.44969993e-01 4.10219219e-04 9.89435967e-01 -3.98643187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:-29.67, Z:-3.99 [[ 6.59009322e-01 7.45882926e-01 9.67748684e-02 7.07676703e+01] [-7.37814507e-01 6.66076697e-01 -1.09414749e-01 -2.96715102e+01] [-1.46070078e-01 7.03437513e-04 9.89273995e-01 -3.99186793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.80, Y:-29.69, Z:-3.99 [[ 6.61954141e-01 7.43309024e-01 9.64801026e-02 7.07971991e+01] [-7.35246009e-01 6.68946848e-01 -1.09194417e-01 -2.96891335e+01] [-1.45705256e-01 1.34508617e-03 9.89327129e-01 -3.99329929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-29.71, Z:-4.00 [[ 6.62098858e-01 7.43283444e-01 9.56808445e-02 7.08216732e+01] [-7.35337612e-01 6.68975127e-01 -1.08401453e-01 -2.97114466e+01] [-1.44581110e-01 1.41475464e-03 9.89491941e-01 -3.99524577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:-29.74, Z:-4.00 [[ 6.62143293e-01 7.43254253e-01 9.56000776e-02 7.08447806e+01] [-7.35305203e-01 6.69007383e-01 -1.08422233e-01 -2.97353111e+01] [-1.44542444e-01 1.49582030e-03 9.89497471e-01 -3.99845914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-29.76, Z:-4.00 [[ 6.62878978e-01 7.42584157e-01 9.57090893e-02 7.08663920e+01] [-7.34593600e-01 6.69750560e-01 -1.08657398e-01 -2.97602178e+01] [-1.44788479e-01 1.71942050e-03 9.89461136e-01 -4.00351734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.89, Y:-29.79, Z:-4.01 [[ 6.63905276e-01 7.41614611e-01 9.61121925e-02 7.08878964e+01] [-7.33529458e-01 6.70823154e-01 -1.09228342e-01 -2.97851148e+01] [-1.45479618e-01 2.01614796e-03 9.89359195e-01 -4.00933405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-29.81, Z:-4.02 [[ 6.67210600e-01 7.38589033e-01 9.65207523e-02 7.09079693e+01] [-7.30386499e-01 6.74150276e-01 -1.09804224e-01 -2.98095667e+01] [-1.46169688e-01 2.76508810e-03 9.89255668e-01 -4.01894555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:-29.84, Z:-4.03 [[ 6.69339889e-01 7.36737278e-01 9.59286007e-02 7.09290137e+01] [-7.28600575e-01 6.76171415e-01 -1.09240194e-01 -2.98350282e+01] [-1.45345501e-01 3.22518568e-03 9.89375704e-01 -4.02503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-29.86, Z:-4.03 [[ 6.70978809e-01 7.35243884e-01 9.59367996e-02 7.09506861e+01] [-7.27074669e-01 6.77792963e-01 -1.09357785e-01 -2.98596993e+01] [-1.45429930e-01 3.62353943e-03 9.89361918e-01 -4.02859482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-29.88, Z:-4.03 [[ 6.73375775e-01 7.33238737e-01 9.44776149e-02 7.09753468e+01] [-7.25282519e-01 6.79959127e-01 -1.07800061e-01 -2.98821000e+01] [-1.43284097e-01 4.06698726e-03 9.89673243e-01 -4.02915758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.00, Y:-29.91, Z:-4.03 [[ 6.73777824e-01 7.32954738e-01 9.38125561e-02 7.09982932e+01] [-7.25092997e-01 6.80264630e-01 -1.07145599e-01 -2.99054440e+01] [-1.42350238e-01 4.16950111e-03 9.89807570e-01 -4.03329246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.02, Y:-29.93, Z:-4.04 [[ 6.73395158e-01 7.33336474e-01 9.35765853e-02 7.10199100e+01] [-7.25503070e-01 6.79853213e-01 -1.06980860e-01 -2.99301479e+01] [-1.42071309e-01 4.15029301e-03 9.89847725e-01 -4.03820149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:-29.96, Z:-4.04 [[ 6.72685702e-01 7.33826825e-01 9.48268798e-02 7.10395154e+01] [-7.25770748e-01 6.79323748e-01 -1.08517593e-01 -2.99563806e+01] [-1.44051272e-01 4.17565779e-03 9.89561415e-01 -4.04480353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.06, Y:-29.99, Z:-4.05 [[ 6.72602086e-01 7.33750371e-01 9.60043076e-02 7.10566772e+01] [-7.25474997e-01 6.79405424e-01 -1.09974079e-01 -2.99851684e+01] [-1.45919369e-01 4.32007031e-03 9.89287054e-01 -4.05107644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:-30.01, Z:-4.05 [[ 6.72843877e-01 7.33586616e-01 9.55604253e-02 7.10779015e+01] [-7.25370664e-01 6.79581667e-01 -1.09572612e-01 -3.00104692e+01] [-1.45322115e-01 4.40853176e-03 9.89374574e-01 -4.05485130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:-30.04, Z:-4.06 [[ 6.72689676e-01 7.33734650e-01 9.55094874e-02 7.10998442e+01] [-7.25513892e-01 6.79421597e-01 -1.09616996e-01 -3.00354396e+01] [-1.45320997e-01 4.44476144e-03 9.89374576e-01 -4.05933301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:-30.06, Z:-4.06 [[ 6.73329903e-01 7.33246451e-01 9.47443061e-02 7.11215360e+01] [-7.25145422e-01 6.79947762e-01 -1.08789515e-01 -3.00604747e+01] [-1.44190705e-01 4.54783389e-03 9.89539468e-01 -4.06285328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.14, Y:-30.09, Z:-4.07 [[ 6.73434636e-01 7.33254135e-01 9.39370202e-02 7.11426646e+01] [-7.25276273e-01 6.79939269e-01 -1.07967207e-01 -3.00857671e+01] [-1.43038870e-01 4.57856521e-03 9.89706481e-01 -4.06602219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-30.11, Z:-4.07 [[ 6.72587494e-01 7.33835996e-01 9.54504741e-02 7.11623935e+01] [-7.25587314e-01 6.79311079e-01 -1.09815792e-01 -3.01121222e+01] [-1.45427346e-01 4.60307548e-03 9.89358226e-01 -4.06826859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:-30.14, Z:-4.07 [[ 6.71208040e-01 7.34982998e-01 9.63315109e-02 7.11836781e+01] [-7.26576505e-01 6.78070813e-01 -1.10934915e-01 -3.01373019e+01] [-1.46854863e-01 4.46819454e-03 9.89147959e-01 -4.07394285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:-30.16, Z:-4.08 [[ 6.69555759e-01 7.36301497e-01 9.77506600e-02 7.12052813e+01] [-7.27645698e-01 6.76639959e-01 -1.12650359e-01 -3.01624094e+01] [-1.49086630e-01 4.29784921e-03 9.88814798e-01 -4.07971250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:-30.19, Z:-4.09 [[ 6.68492438e-01 7.37245126e-01 9.79156997e-02 7.12261920e+01] [-7.28552960e-01 6.75612480e-01 -1.12952917e-01 -3.01872558e+01] [-1.49427056e-01 4.17139815e-03 9.88763953e-01 -4.08564496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:-30.21, Z:-4.09 [[ 6.68079375e-01 7.37870248e-01 9.60075302e-02 7.12463942e+01] [-7.29506132e-01 6.74930593e-01 -1.10858006e-01 -3.02125806e+01] [-1.46597244e-01 4.02386540e-03 9.89188079e-01 -4.09184098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-30.24, Z:-4.10 [[ 6.68851418e-01 7.37287365e-01 9.51058425e-02 7.12664319e+01] [-7.29059749e-01 6.75566325e-01 -1.09918256e-01 -3.02382075e+01] [-1.45291646e-01 4.18113948e-03 9.89380036e-01 -4.09689424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:-30.26, Z:-4.10 [[ 6.68846298e-01 7.37299632e-01 9.50467361e-02 7.12863998e+01] [-7.29074842e-01 6.75552751e-01 -1.09901572e-01 -3.02639438e+01] [-1.45239472e-01 4.21107535e-03 9.89387569e-01 -4.10068836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:-30.29, Z:-4.11 [[ 6.69442831e-01 7.36887597e-01 9.40370406e-02 7.13060599e+01] [-7.28818173e-01 6.76001445e-01 -1.08839872e-01 -3.02903282e+01] [-1.43771927e-01 4.32616775e-03 9.89601393e-01 -4.10541628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:-30.35, Z:-4.12 [[ 6.74725661e-01 7.26797436e-01 1.28494239e-01 7.12730095e+01] [-7.28593246e-01 6.83698860e-01 -4.13249530e-02 -3.03540722e+01] [-1.17886234e-01 -6.57370282e-02 9.90848868e-01 -4.11552836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-30.30, Z:-4.10 [[ 6.70900302e-01 7.40269454e-01 4.35191932e-02 7.13908452e+01] [-7.27674388e-01 6.68512973e-01 -1.53559075e-01 -3.03014158e+01] [-1.42768238e-01 7.13550276e-02 9.87180678e-01 -4.10099905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:-30.36, Z:-4.12 [[ 6.69730959e-01 7.36456339e-01 9.53546212e-02 7.13658748e+01] [-7.28115666e-01 6.76469043e-01 -1.10621925e-01 -3.03646052e+01] [-1.45972668e-01 4.65773458e-03 9.89277659e-01 -4.11750221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.39, Y:-30.39, Z:-4.12 [[ 6.69743636e-01 7.36376321e-01 9.58820957e-02 7.13858855e+01] [-7.27925596e-01 6.76555321e-01 -1.11342819e-01 -3.03911728e+01] [-1.46859757e-01 4.77611252e-03 9.89145793e-01 -4.12245329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-30.42, Z:-4.13 [[ 6.68898322e-01 7.37053198e-01 9.65795955e-02 7.14000406e+01] [-7.28468764e-01 6.75818125e-01 -1.12263630e-01 -3.04216151e+01] [-1.48014509e-01 4.73773525e-03 9.88973841e-01 -4.12728579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.42, Y:-30.45, Z:-4.13 [[ 6.67855955e-01 7.37957983e-01 9.68836312e-02 7.14195332e+01] [-7.29311728e-01 6.74830789e-01 -1.12728923e-01 -3.04484981e+01] [-1.48569266e-01 4.62831389e-03 9.88891173e-01 -4.13078510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:-30.47, Z:-4.13 [[ 6.65798387e-01 7.39783547e-01 9.71226601e-02 7.14407161e+01] [-7.31096665e-01 6.72831138e-01 -1.13119076e-01 -3.04738093e+01] [-1.49030781e-01 4.30844544e-03 9.88823171e-01 -4.13436744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-30.50, Z:-4.14 [[ 6.63623895e-01 7.41784008e-01 9.67461257e-02 7.14615374e+01] [-7.33169904e-01 6.70627429e-01 -1.12786275e-01 -3.04986514e+01] [-1.48543661e-01 3.91631962e-03 9.88898095e-01 -4.13844560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:-30.53, Z:-4.14 [[ 6.60401494e-01 7.44606526e-01 9.71132768e-02 7.14795254e+01] [-7.35948352e-01 6.67495328e-01 -1.13269639e-01 -3.05261224e+01] [-1.49163971e-01 3.33308259e-03 9.88806857e-01 -4.14431690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:-30.55, Z:-4.15 [[ 6.59201269e-01 7.45572448e-01 9.78540319e-02 7.14992124e+01] [-7.36773828e-01 6.66416818e-01 -1.14249516e-01 -3.05527527e+01] [-1.50392864e-01 3.21713659e-03 9.88621078e-01 -4.14788208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-30.58, Z:-4.15 [[ 6.58200631e-01 7.46281716e-01 9.91742349e-02 7.15191926e+01] [-7.37232327e-01 6.65622645e-01 -1.15909410e-01 -3.05792163e+01] [-1.52513690e-01 3.17719469e-03 9.88296251e-01 -4.15197763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.54, Y:-30.61, Z:-4.16 [[ 6.57601605e-01 7.46783057e-01 9.93740169e-02 7.15384330e+01] [-7.37685622e-01 6.65060297e-01 -1.16252849e-01 -3.06057513e+01] [-1.52905371e-01 3.14127648e-03 9.88235842e-01 -4.15663222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:-30.63, Z:-4.16 [[ 6.54496680e-01 7.49381327e-01 1.00308138e-01 7.15545883e+01] [-7.40131651e-01 6.62133568e-01 -1.17406458e-01 -3.06349041e+01] [-1.54399593e-01 2.60090966e-03 9.88005061e-01 -4.16184331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-30.66, Z:-4.17 [[ 6.51814876e-01 7.51633672e-01 1.00916750e-01 7.15755053e+01] [-7.42278255e-01 6.59577248e-01 -1.18240628e-01 -3.06609597e+01] [-1.55436030e-01 2.16269148e-03 9.87843593e-01 -4.16532225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:-30.68, Z:-4.17 [[ 6.50361890e-01 7.53085880e-01 9.94538557e-02 7.15976258e+01] [-7.44000019e-01 6.57919578e-01 -1.16643906e-01 -3.06849604e+01] [-1.53275517e-01 1.86708062e-03 9.88181729e-01 -4.16971339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:-30.71, Z:-4.18 [[ 6.49139515e-01 7.54363594e-01 9.77417892e-02 7.16210463e+01] [-7.45586368e-01 6.56454842e-01 -1.14751946e-01 -3.07074868e+01] [-1.50727761e-01 1.61507689e-03 9.88573990e-01 -4.17524492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:-30.73, Z:-4.18 [[ 6.45474336e-01 7.57757424e-01 9.57421944e-02 7.16442323e+01] [-7.49358276e-01 6.52535756e-01 -1.12513387e-01 -3.07303219e+01] [-1.47733059e-01 8.79297855e-04 9.89026880e-01 -4.18037835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:-30.76, Z:-4.18 [[ 6.43772809e-01 7.59132454e-01 9.63041401e-02 7.16642087e+01] [-7.50640373e-01 6.50935903e-01 -1.13231975e-01 -3.07564475e+01] [-1.48645889e-01 6.05890658e-04 9.88890304e-01 -4.18433672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:-30.78, Z:-4.19 [[ 6.41841713e-01 7.60730726e-01 9.65814588e-02 7.16841251e+01] [-7.52189079e-01 6.49067533e-01 -1.13679055e-01 -3.07821664e+01] [-1.49167039e-01 3.16440746e-04 9.88811961e-01 -4.18790198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.71, Y:-30.81, Z:-4.19 [[ 6.40775534e-01 7.61595396e-01 9.68461083e-02 7.17062900e+01] [-7.52998112e-01 6.48052787e-01 -1.14111474e-01 -3.08059403e+01] [-1.49668164e-01 1.94904087e-04 9.88736266e-01 -4.19115557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:-30.86, Z:-4.20 [[ 6.42106553e-01 7.54975303e-01 1.33084433e-01 7.16837447e+01] [-7.56251109e-01 6.52257175e-01 -5.14279916e-02 -3.08638095e+01] [-1.25632140e-01 -6.76229996e-02 9.89769516e-01 -4.20056761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:-30.81, Z:-4.19 [[ 6.39129574e-01 7.67719025e-01 4.60530816e-02 7.18004670e+01] [-7.54352293e-01 6.37419622e-01 -1.56999501e-01 -3.08101734e+01] [-1.49886642e-01 6.56027765e-02 9.86524338e-01 -4.18941279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:-30.87, Z:-4.20 [[ 6.36920365e-01 7.64633371e-01 9.83272956e-02 7.17762755e+01] [-7.55766280e-01 6.44465421e-01 -1.16110511e-01 -3.08720730e+01] [-1.52150513e-01 -3.59305314e-04 9.88357269e-01 -4.20326844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.80, Y:-30.90, Z:-4.21 [[ 6.35462914e-01 7.65636532e-01 9.99379104e-02 7.17992646e+01] [-7.56467037e-01 6.43273212e-01 -1.18140585e-01 -3.08960377e+01] [-1.54740128e-01 -5.25774757e-04 9.87955068e-01 -4.20609882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:-30.92, Z:-4.21 [[ 6.34555831e-01 7.66225189e-01 1.01182292e-01 7.18235236e+01] [-7.56811439e-01 6.42571869e-01 -1.19740718e-01 -3.09183118e+01] [-1.56765249e-01 -5.93744645e-04 9.87635714e-01 -4.20845434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.85, Y:-30.94, Z:-4.21 [[ 6.32721874e-01 7.67851246e-01 1.00336902e-01 7.18494992e+01] [-7.58595458e-01 6.40627539e-01 -1.18866679e-01 -3.09397956e+01] [-1.55550510e-01 -9.05570631e-04 9.87827525e-01 -4.21368135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-30.96, Z:-4.22 [[ 6.31354102e-01 7.69122853e-01 9.92070314e-02 7.18713771e+01] [-7.60071953e-01 6.39099970e-01 -1.17651409e-01 -3.09640336e+01] [-1.53891598e-01 -1.12478224e-03 9.88087097e-01 -4.21902515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:-30.99, Z:-4.22 [[ 6.31308817e-01 7.69291561e-01 9.81818299e-02 7.18942264e+01] [-7.60411904e-01 6.38896964e-01 -1.16552159e-01 -3.09878379e+01] [-1.52390665e-01 -1.07822683e-03 9.88319747e-01 -4.22258771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-31.01, Z:-4.23 [[ 6.33633324e-01 7.67498714e-01 9.72344269e-02 7.19208736e+01] [-7.58760429e-01 6.41050203e-01 -1.15487012e-01 -3.10076334e+01] [-1.50968282e-01 -6.01216106e-04 9.88538424e-01 -4.22711678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:-31.03, Z:-4.23 [[ 6.34856539e-01 7.66480550e-01 9.72869032e-02 7.19422984e+01] [-7.57701819e-01 6.42267459e-01 -1.15673957e-01 -3.10326199e+01] [-1.51146050e-01 -2.78095694e-04 9.88511403e-01 -4.23274586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:-31.06, Z:-4.24 [[ 6.35703601e-01 7.65661773e-01 9.81986844e-02 7.19598996e+01] [-7.56687573e-01 6.43243383e-01 -1.16883990e-01 -3.10596630e+01] [-1.52659257e-01 -2.15104216e-06 9.88278883e-01 -4.23923488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.98, Y:-31.09, Z:-4.24 [[ 6.36303928e-01 7.64934489e-01 9.99626869e-02 7.19772822e+01] [-7.55603722e-01 6.44108035e-01 -1.19112781e-01 -3.10884130e+01] [-1.55500244e-01 2.59752290e-04 9.87835820e-01 -4.24415574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.00, Y:-31.12, Z:-4.25 [[ 6.36239113e-01 7.64810608e-01 1.01313988e-01 7.19968934e+01] [-7.55202057e-01 6.44255066e-01 -1.20852235e-01 -3.11150276e+01] [-1.57701121e-01 3.78386716e-04 9.87486817e-01 -4.24645678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:-31.14, Z:-4.25 [[ 6.35790348e-01 7.65181935e-01 1.01327384e-01 7.20233519e+01] [-7.55554974e-01 6.43814002e-01 -1.20996748e-01 -3.11365869e+01] [-1.57820514e-01 3.70156118e-04 9.87467745e-01 -4.24714717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:-31.16, Z:-4.25 [[ 6.35710340e-01 7.65540374e-01 9.90974229e-02 7.20451096e+01] [-7.56320119e-01 6.43387760e-01 -1.18457032e-01 -3.11605260e+01] [-1.54441709e-01 3.54985265e-04 9.88001838e-01 -4.25267432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.06, Y:-31.19, Z:-4.26 [[ 6.35465502e-01 7.66026965e-01 9.68828395e-02 7.20635198e+01] [-7.57203872e-01 6.42808364e-01 -1.15929737e-01 -3.11874147e+01] [-1.51082404e-01 3.09287341e-04 9.88521123e-01 -4.26173945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:-31.21, Z:-4.27 [[ 6.35064262e-01 7.66566017e-01 9.52361518e-02 7.20811103e+01] [-7.58030202e-01 6.42165459e-01 -1.14077763e-01 -3.12144697e+01] [-1.48605503e-01 2.54830795e-04 9.88896526e-01 -4.26873397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-31.24, Z:-4.27 [[ 6.35127401e-01 7.66443586e-01 9.57988212e-02 7.21011163e+01] [-7.57787000e-01 6.42311528e-01 -1.14868460e-01 -3.12411348e+01] [-1.49572881e-01 3.61004916e-04 9.88750637e-01 -4.27140635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:-31.27, Z:-4.27 [[ 6.35275340e-01 7.66131559e-01 9.73019912e-02 7.21226975e+01] [-7.57186350e-01 6.42683594e-01 -1.16733153e-01 -3.12665059e+01] [-1.51967346e-01 4.81953554e-04 9.88385397e-01 -4.27443028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:-31.29, Z:-4.28 [[ 6.37450142e-01 7.64338696e-01 9.71785671e-02 7.21413794e+01] [-7.55376239e-01 6.44814218e-01 -1.16710587e-01 -3.12936391e+01] [-1.51868540e-01 9.90799819e-04 9.88400205e-01 -4.27856444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-31.32, Z:-4.28 [[ 6.40025985e-01 7.62076129e-01 9.80138349e-02 7.21570921e+01] [-7.52912064e-01 6.47485393e-01 -1.17839252e-01 -3.13225621e+01] [-1.53265007e-01 1.62438428e-03 9.88183788e-01 -4.28345620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:-31.36, Z:-4.29 [[ 6.43957977e-01 7.58719376e-01 9.83007250e-02 7.21679373e+01] [-7.49442808e-01 6.51412760e-01 -1.18308467e-01 -3.13555918e+01] [-1.53797273e-01 2.51490977e-03 9.88099223e-01 -4.28809672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:-31.38, Z:-4.29 [[ 6.43998582e-01 7.58654123e-01 9.85380488e-02 7.21863442e+01] [-7.49312266e-01 6.51488345e-01 -1.18718428e-01 -3.13826622e+01] [-1.54262616e-01 2.61873104e-03 9.88026410e-01 -4.29372468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-31.41, Z:-4.30 [[ 6.43877679e-01 7.58932154e-01 9.71777788e-02 7.22059453e+01] [-7.49832876e-01 6.51164539e-01 -1.17198131e-01 -3.14090071e+01] [-1.52224154e-01 2.59416737e-03 9.88342591e-01 -4.30060435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-31.44, Z:-4.31 [[ 6.39864401e-01 7.62466758e-01 9.60103699e-02 7.22259669e+01] [-7.53607401e-01 6.47024854e-01 -1.15908253e-01 -3.14352434e+01] [-1.50497286e-01 1.81143970e-03 9.88608763e-01 -4.30683658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:-31.50, Z:-4.31 [[ 6.40378793e-01 7.55648835e-01 1.37513055e-01 7.21880140e+01] [-7.58342570e-01 6.50449816e-01 -4.27970015e-02 -3.15013309e+01] [-1.21784846e-01 -7.68757114e-02 9.89574947e-01 -4.31389910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-31.44, Z:-4.30 [[ 6.32394450e-01 7.73653739e-01 3.92065372e-02 7.23197595e+01] [-7.59303192e-01 6.29097685e-01 -1.66417440e-01 -3.14391145e+01] [-1.53414217e-01 7.54718167e-02 9.85275638e-01 -4.30291459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-31.51, Z:-4.32 [[ 6.27405646e-01 7.72442668e-01 9.84605519e-02 7.22874951e+01] [-7.63191221e-01 6.35084399e-01 -1.19192976e-01 -3.15063442e+01] [-1.54600501e-01 -3.61882633e-04 9.87977001e-01 -4.31735197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.31, Y:-31.53, Z:-4.32 [[ 6.20725103e-01 7.77431287e-01 1.01493551e-01 7.23073507e+01] [-7.67641131e-01 6.28965942e-01 -1.22999747e-01 -3.15330371e+01] [-1.59459838e-01 -1.56159350e-03 9.87203181e-01 -4.32001467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.33, Y:-31.56, Z:-4.32 [[ 6.18062868e-01 7.79350565e-01 1.03009651e-01 7.23280606e+01] [-7.69267976e-01 6.26584944e-01 -1.24972355e-01 -3.15591941e+01] [-1.61941572e-01 -2.00125361e-03 9.86798319e-01 -4.32375489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-31.62, Z:-4.33 [[ 6.20701006e-01 7.70338675e-01 1.45974611e-01 7.22870696e+01] [-7.72804940e-01 6.32519435e-01 -5.18814861e-02 -3.16224701e+01] [-1.32298094e-01 -8.06070095e-02 9.87926983e-01 -4.32961892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.42, Y:-31.56, Z:-4.32 [[ 6.15046158e-01 7.87245725e-01 4.42988856e-02 7.24226801e+01] [-7.70777386e-01 6.12121042e-01 -1.76663664e-01 -3.15596027e+01] [-1.66193994e-01 7.45117288e-02 9.83273898e-01 -4.32217772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.39, Y:-31.63, Z:-4.34 [[ 6.13699245e-01 7.82557168e-01 1.04773636e-01 7.23885973e+01] [-7.72095649e-01 6.22573247e-01 -1.27557284e-01 -3.16285286e+01] [-1.65050130e-01 -2.61345958e-03 9.86281717e-01 -4.33762191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:-31.65, Z:-4.34 [[ 6.12630134e-01 7.83556890e-01 1.03551529e-01 7.24109495e+01] [-7.73342524e-01 6.21313714e-01 -1.26137262e-01 -3.16514727e+01] [-1.63173706e-01 -2.80531301e-03 9.86593367e-01 -4.34490968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:-31.68, Z:-4.35 [[ 6.10424803e-01 7.85450581e-01 1.02220081e-01 7.24334714e+01] [-7.75503415e-01 6.18916190e-01 -1.24648318e-01 -3.16752510e+01] [-1.61170757e-01 -3.18359651e-03 9.86921401e-01 -4.35044781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-31.70, Z:-4.35 [[ 6.09157746e-01 7.86449461e-01 1.02098408e-01 7.24547739e+01] [-7.76517918e-01 6.17645500e-01 -1.24635306e-01 -3.17000937e+01] [-1.61079991e-01 -3.35868113e-03 9.86935639e-01 -4.35432560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:-31.72, Z:-4.36 [[ 6.07352976e-01 7.87910413e-01 1.01585155e-01 7.24772386e+01] [-7.78077418e-01 6.15779113e-01 -1.24143529e-01 -3.17242854e+01] [-1.60367996e-01 -3.64217353e-03 9.87050576e-01 -4.35679150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:-31.75, Z:-4.36 [[ 6.05997579e-01 7.88905629e-01 1.01955101e-01 7.25008862e+01] [-7.78992261e-01 6.14502398e-01 -1.24731148e-01 -3.17474920e+01] [-1.61052759e-01 -3.83546066e-03 9.86938346e-01 -4.36070583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-31.77, Z:-4.37 [[ 6.04132313e-01 7.90232318e-01 1.02747419e-01 7.25259544e+01] [-7.80159594e-01 6.12793418e-01 -1.25838131e-01 -3.17685695e+01] [-1.62404300e-01 -4.13650397e-03 9.86715629e-01 -4.36692856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-31.79, Z:-4.37 [[ 6.03255126e-01 7.90953740e-01 1.02349568e-01 7.25471615e+01] [-7.80947519e-01 6.11861333e-01 -1.25485783e-01 -3.17927191e+01] [-1.61877193e-01 -4.22969994e-03 9.86801846e-01 -4.37332779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-31.82, Z:-4.38 [[ 6.02066032e-01 7.91901547e-01 1.02021730e-01 7.25696335e+01] [-7.81951100e-01 6.10633035e-01 -1.25218900e-01 -3.18168029e+01] [-1.61458879e-01 -4.38595806e-03 9.86869694e-01 -4.37827769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.59, Y:-31.84, Z:-4.38 [[ 6.02040665e-01 7.92064394e-01 1.00901103e-01 7.25939972e+01] [-7.82313507e-01 6.10422415e-01 -1.23976011e-01 -3.18398949e+01] [-1.59789279e-01 -4.29769575e-03 9.87141791e-01 -4.38209511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:-31.86, Z:-4.38 [[ 6.04262004e-01 7.90060079e-01 1.03307804e-01 7.26209726e+01] [-7.79783038e-01 6.13017816e-01 -1.27073096e-01 -3.18602408e+01] [-1.63724905e-01 -3.77222970e-03 9.86498822e-01 -4.38381874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:-31.89, Z:-4.39 [[ 6.06712239e-01 7.88038031e-01 1.04385440e-01 7.26422016e+01] [-7.77490693e-01 6.15618385e-01 -1.28538814e-01 -3.18859163e+01] [-1.65555070e-01 -3.17263645e-03 9.86195444e-01 -4.38780699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:-31.91, Z:-4.39 [[ 6.09823258e-01 7.85550973e-01 1.05001255e-01 7.26624748e+01] [-7.74817423e-01 6.18792211e-01 -1.29437862e-01 -3.19119544e+01] [-1.66653997e-01 -2.42258313e-03 9.86012463e-01 -4.39199517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.68, Y:-31.94, Z:-4.40 [[ 6.12524907e-01 7.83413584e-01 1.05244451e-01 7.26832704e+01] [-7.72574688e-01 6.21498249e-01 -1.29877935e-01 -3.19367695e+01] [-1.67157381e-01 -1.75572888e-03 9.85928662e-01 -4.39627876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.71, Y:-31.96, Z:-4.40 [[ 6.16879501e-01 7.80153716e-01 1.04018561e-01 7.27081241e+01] [-7.69498228e-01 6.25587391e-01 -1.28502505e-01 -3.19586005e+01] [-1.65324407e-01 -7.71536981e-04 9.86238939e-01 -4.40163864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.73, Y:-31.98, Z:-4.41 [[ 6.18609025e-01 7.78990516e-01 1.02453161e-01 7.27296143e+01] [-7.68617195e-01 6.27035598e-01 -1.26704246e-01 -3.19827197e+01] [-1.62943185e-01 -3.66871400e-04 9.86635386e-01 -4.40789470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:-32.01, Z:-4.41 [[ 6.19424748e-01 7.78415902e-01 1.01890458e-01 7.27499698e+01] [-7.68127290e-01 6.27748889e-01 -1.26141977e-01 -3.20083526e+01] [-1.62152542e-01 -1.29379051e-04 9.86765695e-01 -4.41433954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:-32.03, Z:-4.42 [[ 6.19630640e-01 7.78216761e-01 1.02159401e-01 7.27694286e+01] [-7.67848185e-01 6.27995759e-01 -1.26611580e-01 -3.20344254e+01] [-1.62686924e-01 9.50380628e-06 9.86677741e-01 -4.41935350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:-32.06, Z:-4.42 [[ 6.20455337e-01 7.77653605e-01 1.01439864e-01 7.27880825e+01] [-7.67402078e-01 6.28692940e-01 -1.25854035e-01 -3.20621610e+01] [-1.61645370e-01 2.41644828e-04 9.86848882e-01 -4.42245761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-32.09, Z:-4.43 [[ 6.20373258e-01 7.77862826e-01 1.00331674e-01 7.28078163e+01] [-7.67816714e-01 6.28434047e-01 -1.24611967e-01 -3.20880393e+01] [-1.59982857e-01 2.69595602e-04 9.87119756e-01 -4.42668413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:-32.11, Z:-4.43 [[ 6.21478223e-01 7.77111082e-01 9.93135708e-02 7.28276464e+01] [-7.67238728e-01 6.29363229e-01 -1.23477366e-01 -3.21141170e+01] [-1.58459939e-01 5.41276039e-04 9.87365259e-01 -4.43156693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.85, Y:-32.14, Z:-4.44 [[ 6.23416009e-01 7.75644020e-01 9.86348511e-02 7.28473782e+01] [-7.65868110e-01 6.31169844e-01 -1.22762643e-01 -3.21405024e+01] [-1.57475454e-01 9.90910184e-04 9.87522405e-01 -4.43654452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:-32.17, Z:-4.44 [[ 6.28039253e-01 7.71899636e-01 9.86795315e-02 7.28647883e+01] [-7.62047591e-01 6.35741203e-01 -1.22949549e-01 -3.21682216e+01] [-1.57639356e-01 2.01864352e-03 9.87494688e-01 -4.44419997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:-32.20, Z:-4.45 [[ 6.30841905e-01 7.69659109e-01 9.83023247e-02 7.28827955e+01] [-7.59835154e-01 6.38449543e-01 -1.22607992e-01 -3.21960282e+01] [-1.57127432e-01 2.65269722e-03 9.87574774e-01 -4.44932177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:-32.22, Z:-4.45 [[ 6.32426360e-01 7.68275096e-01 9.89458245e-02 7.29003226e+01] [-7.58283633e-01 6.40112303e-01 -1.23540160e-01 -3.22241523e+01] [-1.58249268e-01 3.10105423e-03 9.87394325e-01 -4.45378504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:-32.25, Z:-4.46 [[ 6.34873507e-01 7.66382754e-01 9.79443997e-02 7.29184993e+01] [-7.56551379e-01 6.42374020e-01 -1.22415809e-01 -3.22521577e+01] [-1.56734303e-01 3.61858353e-03 9.87634175e-01 -4.45762405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:-32.28, Z:-4.46 [[ 6.36950558e-01 7.64925561e-01 9.58273041e-02 7.29350318e+01] [-7.55482174e-01 6.44106467e-01 -1.19889715e-01 -3.22803728e+01] [-1.53429694e-01 3.96800095e-03 9.88151600e-01 -4.46409687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.95, Y:-32.31, Z:-4.47 [[ 6.36040398e-01 7.65619591e-01 9.63288828e-02 7.29525313e+01] [-7.56065038e-01 6.43281757e-01 -1.20640953e-01 -3.23086866e+01] [-1.54331690e-01 3.90161939e-03 9.88011390e-01 -4.46969193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:-32.34, Z:-4.47 [[ 6.35145224e-01 7.66330552e-01 9.65817266e-02 7.29688547e+01] [-7.56714137e-01 6.42435128e-01 -1.21081878e-01 -3.23376205e+01] [-1.54836236e-01 3.81981857e-03 9.87932765e-01 -4.47373219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-32.37, Z:-4.48 [[ 6.33857984e-01 7.67250970e-01 9.77241287e-02 7.29870282e+01] [-7.57394970e-01 6.41336185e-01 -1.22640765e-01 -3.23659853e+01] [-1.56770266e-01 3.72106476e-03 9.87628087e-01 -4.47639283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:-32.39, Z:-4.48 [[ 6.32890115e-01 7.68099157e-01 9.73333844e-02 7.30063650e+01] [-7.58312558e-01 6.40320925e-01 -1.22275010e-01 -3.23921026e+01] [-1.56243935e-01 3.57751726e-03 9.87712020e-01 -4.48047830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:-32.42, Z:-4.49 [[ 6.31720729e-01 7.69181084e-01 9.63814349e-02 7.30265391e+01] [-7.59579383e-01 6.39022060e-01 -1.21202175e-01 -3.24179164e+01] [-1.54816283e-01 3.35657517e-03 9.87937575e-01 -4.48599208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.04, Y:-32.45, Z:-4.49 [[ 6.30725246e-01 7.69818990e-01 9.77976799e-02 7.30425621e+01] [-7.59918263e-01 6.38253572e-01 -1.23112191e-01 -3.24461755e+01] [-1.57193821e-01 3.33172405e-03 9.87562151e-01 -4.49209681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:-32.47, Z:-4.50 [[ 6.30372274e-01 7.69869759e-01 9.96561559e-02 7.30599850e+01] [-7.59565716e-01 6.38191599e-01 -1.25584258e-01 -3.24739197e+01] [-1.60283244e-01 3.46943462e-03 9.87064965e-01 -4.49528926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-32.50, Z:-4.50 [[ 6.30328901e-01 7.69814407e-01 1.00355648e-01 7.30772777e+01] [-7.59341893e-01 6.38257677e-01 -1.26597900e-01 -3.25019583e+01] [-1.61509650e-01 3.59406737e-03 9.86864588e-01 -4.49844699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-32.53, Z:-4.50 [[ 6.29420573e-01 7.70576838e-01 1.00205183e-01 7.30942694e+01] [-7.60124320e-01 6.37337624e-01 -1.26537630e-01 -3.25294956e+01] [-1.61371500e-01 3.47699112e-03 9.86887607e-01 -4.50377025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:-32.56, Z:-4.51 [[ 6.27409678e-01 7.72771922e-01 9.58157239e-02 7.31069091e+01] [-7.63227923e-01 6.34677396e-01 -1.21110450e-01 -3.25600295e+01] [-1.54402829e-01 2.85663273e-03 9.88003849e-01 -4.51356597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:-32.59, Z:-4.52 [[ 6.25742035e-01 7.74103872e-01 9.59692716e-02 7.31239939e+01] [-7.64535161e-01 6.33053383e-01 -1.21364751e-01 -3.25883190e+01] [-1.54702595e-01 2.57114353e-03 9.87957740e-01 -4.51929217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.10, Y:-32.65, Z:-4.52 [[ 6.26277699e-01 7.69030658e-01 1.27937840e-01 7.30992186e+01] [-7.67759642e-01 6.36896887e-01 -7.00534682e-02 -3.26455945e+01] [-1.35356477e-01 -5.43525852e-02 9.89305019e-01 -4.52216950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:-32.61, Z:-4.52 [[ 6.23202588e-01 7.80041670e-01 5.61562821e-02 7.32002562e+01] [-7.65273203e-01 6.23048997e-01 -1.61761776e-01 -3.26104228e+01] [-1.61169041e-01 5.78354597e-02 9.85230734e-01 -4.51816028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:-32.67, Z:-4.53 [[ 6.21694243e-01 7.76842155e-01 1.00062655e-01 7.31778565e+01] [-7.66411378e-01 6.29691532e-01 -1.26894341e-01 -3.26696678e+01] [-1.61585480e-01 2.20032407e-03 9.86856267e-01 -4.52518523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:-32.70, Z:-4.53 [[ 6.20754325e-01 7.77648764e-01 9.96316630e-02 7.31958603e+01] [-7.67296853e-01 6.28695578e-01 -1.26480864e-01 -3.26967083e+01] [-1.60995674e-01 2.06648197e-03 9.86952949e-01 -4.53177199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.21, Y:-32.72, Z:-4.54 [[ 6.19960951e-01 7.78344398e-01 9.91383747e-02 7.32140185e+01] [-7.68082648e-01 6.27834495e-01 -1.25987669e-01 -3.27232667e+01] [-1.60304288e-01 1.96096970e-03 9.87065697e-01 -4.53906135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.23, Y:-32.75, Z:-4.55 [[ 6.19220859e-01 7.78838910e-01 9.98773252e-02 7.32322684e+01] [-7.68406782e-01 6.27221026e-01 -1.27062198e-01 -3.27501988e+01] [-1.61606142e-01 1.93314962e-03 9.86853443e-01 -4.54581025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-32.78, Z:-4.55 [[ 6.18006604e-01 7.79685034e-01 1.00792286e-01 7.32454673e+01] [-7.69047985e-01 6.26169268e-01 -1.28363718e-01 -3.27816860e+01] [-1.63196302e-01 1.81552101e-03 9.86591948e-01 -4.55102970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:-32.81, Z:-4.55 [[ 6.17131131e-01 7.80435956e-01 1.00343833e-01 7.32609355e+01] [-7.69881338e-01 6.25233429e-01 -1.27929219e-01 -3.28114506e+01] [-1.62578881e-01 1.69625940e-03 9.86694091e-01 -4.55447878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.28, Y:-32.84, Z:-4.56 [[ 6.16502244e-01 7.81036949e-01 9.95302396e-02 7.32774830e+01] [-7.70639747e-01 6.24482740e-01 -1.27026327e-01 -3.28401701e+01] [-1.61367171e-01 1.61005682e-03 9.86893127e-01 -4.55696789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.30, Y:-32.87, Z:-4.56 [[ 6.15395337e-01 7.81941869e-01 9.92748343e-02 7.32961545e+01] [-7.71587840e-01 6.23349658e-01 -1.26836153e-01 -3.28671344e+01] [-1.61061432e-01 1.45512205e-03 9.86943310e-01 -4.55981612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-32.89, Z:-4.57 [[ 6.12567450e-01 7.84133432e-01 9.94780361e-02 7.33150010e+01] [-7.73742660e-01 6.20591509e-01 -1.27233938e-01 -3.28936742e+01] [-1.61503609e-01 9.68968453e-04 9.86871646e-01 -4.56600694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:-32.92, Z:-4.57 [[ 6.09954965e-01 7.85954969e-01 1.01142110e-01 7.33321002e+01] [-7.75211987e-01 6.18283464e-01 -1.29506498e-01 -3.29214154e+01] [-1.64320770e-01 5.86554995e-04 9.86406783e-01 -4.57254580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-32.95, Z:-4.58 [[ 6.08464605e-01 7.86993110e-01 1.02042484e-01 7.33481203e+01] [-7.76046817e-01 6.16961656e-01 -1.30803874e-01 -3.29508103e+01] [-1.65898048e-01 3.99782534e-04 9.86142828e-01 -4.57765336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.36, Y:-32.98, Z:-4.58 [[ 6.06998162e-01 7.87994401e-01 1.03043949e-01 7.33646671e+01] [-7.76819994e-01 6.15682366e-01 -1.32234341e-01 -3.29792797e+01] [-1.67642262e-01 2.19401852e-04 9.85847870e-01 -4.58187117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-33.01, Z:-4.59 [[ 6.05428221e-01 7.89132744e-01 1.03567279e-01 7.33837553e+01] [-7.77835020e-01 6.14222690e-01 -1.33053255e-01 -3.30066499e+01] [-1.68610053e-01 -4.06148392e-06 9.85682834e-01 -4.58503977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-33.05, Z:-4.59 [[ 6.06182916e-01 7.88343702e-01 1.05149798e-01 7.33799134e+01] [-7.84193160e-01 6.14494438e-01 -8.62419504e-02 -3.30499086e+01] [-1.32602264e-01 -3.01793552e-02 9.90709769e-01 -4.58677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:-33.04, Z:-4.60 [[ 6.03201586e-01 7.93933650e-01 7.62706154e-02 7.34391842e+01] [-7.80746669e-01 6.07306048e-01 -1.47017018e-01 -3.30423399e+01] [-1.63041363e-01 2.91328694e-02 9.86189023e-01 -4.59512125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.44, Y:-33.09, Z:-4.60 [[ 6.01080019e-01 7.92928487e-01 9.98359939e-02 7.34358874e+01] [-7.82444275e-01 6.09314095e-01 -1.28519611e-01 -3.30859763e+01] [-1.62738339e-01 -8.65531786e-04 9.86668883e-01 -4.60134881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.46, Y:-33.11, Z:-4.61 [[ 5.98710478e-01 7.94551570e-01 1.01161089e-01 7.34553621e+01] [-7.83783634e-01 6.07195423e-01 -1.30372286e-01 -3.31123266e+01] [-1.65012055e-01 -1.23315261e-03 9.86290779e-01 -4.60617226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:-33.19, Z:-4.60 [[ 5.99931794e-01 7.83756922e-01 1.60645355e-01 7.34049580e+01] [-7.87816327e-01 6.13707175e-01 -5.20474703e-02 -3.31876327e+01] [-1.39381772e-01 -9.53341012e-02 9.85638945e-01 -4.60184802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.56, Y:-33.11, Z:-4.61 [[ 5.90902677e-01 8.06152052e-01 3.08690045e-02 7.35629246e+01] [-7.87557724e-01 5.84723063e-01 -1.94555314e-01 -3.31096396e+01] [-1.74890985e-01 9.06521333e-02 9.80405699e-01 -4.60753279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:-33.19, Z:-4.61 [[ 5.86032609e-01 8.03295655e-01 1.06216156e-01 7.35154544e+01] [-7.91480782e-01 5.95569599e-01 -1.37313601e-01 -3.31878660e+01] [-1.73562532e-01 -3.59779828e-03 9.84816279e-01 -4.61384310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-33.21, Z:-4.62 [[ 5.82180037e-01 8.06114073e-01 1.06049539e-01 7.35373549e+01] [-7.94355952e-01 5.91744276e-01 -1.37249168e-01 -3.32123839e+01] [-1.73392694e-01 -4.33735658e-03 9.84843217e-01 -4.61856707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:-33.23, Z:-4.63 [[ 5.76906512e-01 8.09968711e-01 1.05496744e-01 7.35660409e+01] [-7.98370820e-01 5.86448485e-01 -1.36682874e-01 -3.32315064e+01] [-1.72577257e-01 -5.37228227e-03 9.84981334e-01 -4.62547199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:-33.25, Z:-4.63 [[ 5.74254322e-01 8.11953517e-01 1.04706536e-01 7.35902059e+01] [-8.00537412e-01 5.83692921e-01 -1.35802897e-01 -3.32537174e+01] [-1.71382104e-01 -5.83609898e-03 9.85187350e-01 -4.63192913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:-33.28, Z:-4.64 [[ 5.73875451e-01 8.12230226e-01 1.04637599e-01 7.36106824e+01] [-8.00809016e-01 5.83307867e-01 -1.35855997e-01 -3.32797687e+01] [-1.71382282e-01 -5.83031071e-03 9.85187353e-01 -4.63700402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:-33.30, Z:-4.64 [[ 5.72209790e-01 8.13412121e-01 1.04578573e-01 7.36321967e+01] [-8.01999958e-01 5.81655828e-01 -1.35913813e-01 -3.33042222e+01] [-1.71382679e-01 -6.10079638e-03 9.85185646e-01 -4.64352320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:-33.33, Z:-4.65 [[ 5.70289785e-01 8.14625872e-01 1.05613679e-01 7.36517506e+01] [-8.02979527e-01 5.79951003e-01 -1.37407110e-01 -3.33309230e+01] [-1.73186146e-01 -6.44375054e-03 9.84868030e-01 -4.64794283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:-33.36, Z:-4.65 [[ 5.70419357e-01 8.14549101e-01 1.05506016e-01 7.36707160e+01] [-8.02900807e-01 5.80060062e-01 -1.37406761e-01 -3.33583955e+01] [-1.73124380e-01 -6.33138886e-03 9.84879618e-01 -4.65088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:-33.38, Z:-4.65 [[ 5.71041827e-01 8.14075521e-01 1.05793565e-01 7.36906368e+01] [-8.02336296e-01 5.80726546e-01 -1.37888171e-01 -3.33843467e+01] [-1.73688516e-01 -6.14210464e-03 9.84781485e-01 -4.65491893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:-33.41, Z:-4.66 [[ 5.75929394e-01 8.10670126e-01 1.05447997e-01 7.37131644e+01] [-7.98925381e-01 5.85481753e-01 -1.37583985e-01 -3.34082842e+01] [-1.73273104e-01 -5.00642001e-03 9.84861090e-01 -4.66039860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:-33.43, Z:-4.67 [[ 5.78311865e-01 8.09035234e-01 1.04963693e-01 7.37344466e+01] [-7.97346879e-01 5.87743617e-01 -1.37096300e-01 -3.34331728e+01] [-1.72607478e-01 -4.40805612e-03 9.84980826e-01 -4.66729889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:-33.46, Z:-4.67 [[ 5.80412144e-01 8.07651669e-01 1.04021749e-01 7.37546854e+01] [-7.96126399e-01 5.89647173e-01 -1.36010913e-01 -3.34590201e+01] [-1.71185571e-01 -3.87207499e-03 9.85231195e-01 -4.67355348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-33.48, Z:-4.68 [[ 5.81912935e-01 8.06819433e-01 1.02077125e-01 7.37737968e+01] [-7.95686982e-01 5.90787907e-01 -1.33610909e-01 -3.34848387e+01] [-1.68105809e-01 -3.47152402e-03 9.85762844e-01 -4.67936066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:-33.51, Z:-4.68 [[ 5.82393913e-01 8.06526015e-01 1.01651941e-01 7.37952306e+01] [-7.95457507e-01 5.91189477e-01 -1.33200440e-01 -3.35106843e+01] [-1.67525178e-01 -3.28467368e-03 9.85862326e-01 -4.68123047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.82, Y:-33.54, Z:-4.69 [[ 5.81839973e-01 8.06804684e-01 1.02608220e-01 7.38174683e+01] [-7.95503982e-01 5.90808990e-01 -1.34603684e-01 -3.35352331e+01] [-1.69220741e-01 -3.30744375e-03 9.85572626e-01 -4.68552862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-33.61, Z:-4.68 [[ 5.84841846e-01 7.95452088e-01 1.58795438e-01 7.37719771e+01] [-7.98753563e-01 5.98853417e-01 -5.80287001e-02 -3.36082587e+01] [-1.41254242e-01 -9.29008102e-02 9.85604727e-01 -4.68407263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.92, Y:-33.54, Z:-4.69 [[ 5.81830011e-01 8.12590060e-01 3.42232743e-02 7.39203876e+01] [-7.94242129e-01 5.76743906e-01 -1.91169840e-01 -3.35376046e+01] [-1.75080777e-01 8.40467839e-02 9.80960172e-01 -4.68843555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.87, Y:-33.61, Z:-4.70 [[ 5.80975892e-01 8.07155454e-01 1.04723860e-01 7.38736785e+01] [-7.95322989e-01 5.90329911e-01 -1.37738664e-01 -3.36129454e+01] [-1.72998141e-01 -3.26645040e-03 9.84916734e-01 -4.69867137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.89, Y:-33.64, Z:-4.70 [[ 5.82231643e-01 8.06285444e-01 1.04451409e-01 7.38903943e+01] [-7.94474352e-01 5.91519505e-01 -1.37532467e-01 -3.36409535e+01] [-1.72675472e-01 -2.90821146e-03 9.84974479e-01 -4.70456269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.91, Y:-33.67, Z:-4.71 [[ 5.84119096e-01 8.04876199e-01 1.04781615e-01 7.39092244e+01] [-7.92940154e-01 5.93437877e-01 -1.38120958e-01 -3.36674439e+01] [-1.73351650e-01 -2.40646066e-03 9.84857053e-01 -4.70790707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:-33.69, Z:-4.71 [[ 5.85758545e-01 8.03654483e-01 1.05006659e-01 7.39305278e+01] [-7.91619779e-01 5.95092976e-01 -1.38573000e-01 -3.36919173e+01] [-1.73853538e-01 -1.95502925e-03 9.84769580e-01 -4.71229846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-33.72, Z:-4.72 [[ 5.86425963e-01 8.03045751e-01 1.05934467e-01 7.39516891e+01] [-7.90757556e-01 5.95914969e-01 -1.39956553e-01 -3.37169662e+01] [-1.75519450e-01 -1.69432426e-03 9.84474505e-01 -4.71719113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:-33.74, Z:-4.72 [[ 5.89603750e-01 8.00825879e-01 1.05096767e-01 7.39705390e+01] [-7.88670142e-01 5.98896526e-01 -1.39004882e-01 -3.37438558e+01] [-1.74260796e-01 -9.28882734e-04 9.84699097e-01 -4.72246040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:-33.77, Z:-4.73 [[ 5.90446678e-01 8.00324526e-01 1.04179525e-01 7.39892823e+01] [-7.88346774e-01 5.99566669e-01 -1.37946266e-01 -3.37701341e+01] [-1.72864351e-01 -6.79677708e-04 9.84945407e-01 -4.72818689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.01, Y:-33.80, Z:-4.73 [[ 5.90475054e-01 8.00489623e-01 1.02740328e-01 7.40079858e+01] [-7.88819314e-01 5.99346287e-01 -1.36191477e-01 -3.37963457e+01] [-1.70596899e-01 -6.25885090e-04 9.85340706e-01 -4.73456526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:-33.87, Z:-4.73 [[ 5.99321775e-01 7.86071664e-01 1.51343150e-01 7.39527159e+01] [-7.91090145e-01 6.10504918e-01 -3.82116206e-02 -3.38711966e+01] [-1.22432810e-01 -9.68250184e-02 9.87742438e-01 -4.73064515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.11, Y:-33.80, Z:-4.74 [[ 5.89071442e-01 8.07503535e-01 3.05430357e-02 7.41126170e+01] [-7.88896112e-01 5.82862336e-01 -1.94716260e-01 -3.37959690e+01] [-1.75036453e-01 9.06065059e-02 9.80383956e-01 -4.73804526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.98, Y:-33.93, Z:-4.74 [[ 5.97007578e-01 7.85504663e-01 1.62985815e-01 7.39829294e+01] [-7.92356319e-01 6.09143936e-01 -3.33935471e-02 -3.39251926e+01] [-1.25512608e-01 -1.09206640e-01 9.86063129e-01 -4.73623948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:-33.84, Z:-4.74 [[ 5.86424554e-01 8.09684691e-01 2.27363951e-02 7.41596163e+01] [-7.90249083e-01 5.78058491e-01 -2.03358717e-01 -3.38388021e+01] [-1.77799406e-01 1.01287129e-01 9.78840277e-01 -4.74407737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:-33.92, Z:-4.76 [[ 5.84857327e-01 8.04270020e-01 1.05316867e-01 7.41019237e+01] [-7.91885112e-01 5.94262885e-01 -1.40604380e-01 -3.39216345e+01] [-1.75669793e-01 -1.16535714e-03 9.84448458e-01 -4.75585113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-33.95, Z:-4.76 [[ 5.84844753e-01 8.04424200e-01 1.04203272e-01 7.41196027e+01] [-7.92276775e-01 5.94054279e-01 -1.39273204e-01 -3.39489426e+01] [-1.73937135e-01 -1.10462960e-03 9.84756139e-01 -4.76217030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:-33.97, Z:-4.77 [[ 5.86306114e-01 8.03387476e-01 1.03988959e-01 7.41392453e+01] [-7.91246268e-01 5.95456190e-01 -1.39144778e-01 -3.39749938e+01] [-1.73708041e-01 -6.99441568e-04 9.84796947e-01 -4.76742413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:-34.00, Z:-4.77 [[ 5.86715826e-01 8.03073341e-01 1.04104508e-01 7.41604951e+01] [-7.90871807e-01 5.95879978e-01 -1.39459085e-01 -3.40004943e+01] [-1.74029665e-01 -5.10467831e-04 9.84740278e-01 -4.77237357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-34.03, Z:-4.78 [[ 5.86956780e-01 8.03050592e-01 1.02914936e-01 7.41806817e+01] [-7.91100954e-01 5.95910717e-01 -1.38020640e-01 -3.40260972e+01] [-1.72165670e-01 -4.03953909e-04 9.85067926e-01 -4.77788523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.13, Y:-34.10, Z:-4.77 [[ 5.96739757e-01 7.89304322e-01 1.44569534e-01 7.41321989e+01] [-7.92586980e-01 6.07910645e-01 -4.74397131e-02 -3.40953939e+01] [-1.25329729e-01 -8.62747673e-02 9.88356779e-01 -4.77440170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:-34.04, Z:-4.78 [[ 5.85802547e-01 8.09640379e-01 3.63019729e-02 7.42737241e+01] [-7.91995137e-01 5.81391211e-01 -1.86354401e-01 -3.40356781e+01] [-1.71985696e-01 8.04158964e-02 9.81811695e-01 -4.78237276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:-34.11, Z:-4.79 [[ 5.84533189e-01 8.04800624e-01 1.03038368e-01 7.42317605e+01] [-7.92742522e-01 5.93544984e-01 -1.38793536e-01 -3.41062519e+01] [-1.72859031e-01 -5.53467356e-04 9.84946419e-01 -4.79027178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:-34.13, Z:-4.80 [[ 5.84123935e-01 8.04998639e-01 1.03809534e-01 7.42496992e+01] [-7.92732646e-01 5.93276429e-01 -1.39992969e-01 -3.41330809e+01] [-1.74281900e-01 -5.19962561e-04 9.84695663e-01 -4.79613708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:-34.16, Z:-4.80 [[ 5.82897031e-01 8.05798819e-01 1.04495525e-01 7.42681038e+01] [-7.93352457e-01 5.92189007e-01 -1.41081744e-01 -3.41594505e+01] [-1.75564604e-01 -6.65651761e-04 9.84467687e-01 -4.80154665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.29, Y:-34.19, Z:-4.81 [[ 5.81156924e-01 8.06959737e-01 1.05226481e-01 7.42875634e+01] [-7.94326486e-01 5.90605730e-01 -1.42233278e-01 -3.41855404e+01] [-1.76923891e-01 -9.24326592e-04 9.84224102e-01 -4.80749183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-34.21, Z:-4.81 [[ 5.79390426e-01 8.08254316e-01 1.05031876e-01 7.43089607e+01] [-7.95659998e-01 5.88832296e-01 -1.42132666e-01 -3.42107666e+01] [-1.76725502e-01 -1.21935592e-03 9.84259422e-01 -4.81245115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:-34.23, Z:-4.82 [[ 5.76443206e-01 8.10321081e-01 1.05323195e-01 7.43343760e+01] [-7.97660689e-01 5.85983491e-01 -1.42691182e-01 -3.42327782e+01] [-1.77343326e-01 -1.75880975e-03 9.84147474e-01 -4.81558949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-34.29, Z:-4.82 [[ 5.76948333e-01 8.05169279e-01 1.37233569e-01 7.43139909e+01] [-8.01944114e-01 5.90294165e-01 -9.18609601e-02 -3.42873144e+01] [-1.54971798e-01 -5.70546253e-02 9.86269999e-01 -4.81516557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:-34.25, Z:-4.82 [[ 5.74167347e-01 8.16431678e-01 6.14098762e-02 7.44142400e+01] [-7.98257552e-01 5.74899270e-01 -1.79654420e-01 -3.42532047e+01] [-1.81980052e-01 5.41308041e-02 9.81811141e-01 -4.81978577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.39, Y:-34.31, Z:-4.83 [[ 5.71575053e-01 8.13625433e-01 1.06374872e-01 7.43919553e+01] [-8.00714723e-01 5.81383402e-01 -1.44392768e-01 -3.43093393e+01] [-1.79326213e-01 -2.64462225e-03 9.83786113e-01 -4.82624333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.42, Y:-34.33, Z:-4.84 [[ 5.69171664e-01 8.15678282e-01 1.03501491e-01 7.44164073e+01] [-8.03466819e-01 5.78497438e-01 -1.40647736e-01 -3.43312214e+01] [-1.74598651e-01 -3.10730733e-03 9.84634783e-01 -4.83686817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:-34.35, Z:-4.85 [[ 5.67865302e-01 8.16763249e-01 1.02111671e-01 7.44397119e+01] [-8.04869870e-01 5.76963514e-01 -1.38915788e-01 -3.43531594e+01] [-1.72376019e-01 -3.30115173e-03 9.85025690e-01 -4.84602639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.46, Y:-34.38, Z:-4.85 [[ 5.67404445e-01 8.17123907e-01 1.01787604e-01 7.44627207e+01] [-8.05284927e-01 5.76452580e-01 -1.38631200e-01 -3.43764650e+01] [-1.71954595e-01 -3.30806425e-03 9.85099322e-01 -4.85271264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.48, Y:-34.40, Z:-4.86 [[ 5.67563119e-01 8.17037354e-01 1.01597576e-01 7.44847487e+01] [-8.05214010e-01 5.76575952e-01 -1.38530034e-01 -3.44013461e+01] [-1.71762931e-01 -3.18325341e-03 9.85133170e-01 -4.85767213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-34.43, Z:-4.86 [[ 5.66955837e-01 8.17204119e-01 1.03626763e-01 7.45058350e+01] [-8.04873694e-01 5.76339448e-01 -1.41460871e-01 -3.44262616e+01] [-1.75326598e-01 -3.20438861e-03 9.84505112e-01 -4.86139109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.53, Y:-34.45, Z:-4.86 [[ 5.67338420e-01 8.16655818e-01 1.05831905e-01 7.45303576e+01] [-8.03750713e-01 5.77117195e-01 -1.44639323e-01 -3.44501165e+01] [-1.79197957e-01 -3.00302435e-03 9.83808454e-01 -4.86120143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.55, Y:-34.48, Z:-4.87 [[ 5.68599405e-01 8.15625921e-01 1.07000343e-01 7.45513211e+01] [-8.02382759e-01 5.78573718e-01 -1.46404788e-01 -3.44757915e+01] [-1.81319126e-01 -2.60955482e-03 9.83420848e-01 -4.86544323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:-34.50, Z:-4.87 [[ 5.70149638e-01 8.14438044e-01 1.07796398e-01 7.45705691e+01] [-8.00942969e-01 5.80246547e-01 -1.47662812e-01 -3.45019023e+01] [-1.82810700e-01 -2.14886789e-03 9.83145783e-01 -4.87087530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.59, Y:-34.53, Z:-4.88 [[ 5.72850680e-01 8.12630863e-01 1.07112925e-01 7.45898387e+01] [-7.99245602e-01 5.82776924e-01 -1.46892903e-01 -3.45276860e+01] [-1.81792647e-01 -1.46183486e-03 9.83335800e-01 -4.87760719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.61, Y:-34.55, Z:-4.89 [[ 5.77899817e-01 8.09393781e-01 1.04467735e-01 7.46119226e+01] [-7.96584585e-01 5.87266206e-01 -1.43427339e-01 -3.45507033e+01] [-1.77439567e-01 -3.30754120e-04 9.84131643e-01 -4.88838217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.56, Y:-34.62, Z:-4.89 [[ 5.81443313e-01 7.97540687e-01 1.60787208e-01 7.45642269e+01] [-8.00220942e-01 5.96287271e-01 -6.39369540e-02 -3.46242098e+01] [-1.46867688e-01 -9.14895766e-02 9.84916006e-01 -4.89096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.72, Y:-34.55, Z:-4.89 [[ 5.81623868e-01 8.12853762e-01 3.13438525e-02 7.47180017e+01] [-7.93577318e-01 5.75454479e-01 -1.97704788e-01 -3.45542070e+01] [-1.78742041e-01 9.01160533e-02 9.79760368e-01 -4.89065985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-34.63, Z:-4.90 [[ 5.82686477e-01 8.05836676e-01 1.05374196e-01 7.46689654e+01] [-7.92686717e-01 5.92137097e-01 -1.44987679e-01 -3.46285781e+01] [-1.79232360e-01 9.53634834e-04 9.83806308e-01 -4.90171047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.69, Y:-34.66, Z:-4.91 [[ 5.84993548e-01 8.04213188e-01 1.04993792e-01 7.46877309e+01] [-7.91103340e-01 5.94338929e-01 -1.44626216e-01 -3.46558680e+01] [-1.78712208e-01 1.54446346e-03 9.83900179e-01 -4.90641759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.71, Y:-34.68, Z:-4.91 [[ 5.89446077e-01 8.00799221e-01 1.06178767e-01 7.47068338e+01] [-7.87303579e-01 5.98926743e-01 -1.46423466e-01 -3.46822671e+01] [-1.80849101e-01 2.71381486e-03 9.83507111e-01 -4.90973719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:-34.71, Z:-4.91 [[ 5.90462717e-01 7.99781507e-01 1.08181889e-01 7.47258298e+01] [-7.85718844e-01 6.00282752e-01 -1.49353660e-01 -3.47097200e+01] [-1.84390017e-01 3.18721938e-03 9.82847986e-01 -4.91329499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:-34.74, Z:-4.92 [[ 5.91216923e-01 7.98921121e-01 1.10397434e-01 7.47435854e+01] [-7.84223844e-01 6.01424848e-01 -1.52581501e-01 -3.47366359e+01] [-1.88296344e-01 3.63246591e-03 9.82105540e-01 -4.91809196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:-34.76, Z:-4.92 [[ 5.91159469e-01 7.98888113e-01 1.10942619e-01 7.47610683e+01] [-7.84011283e-01 6.01467886e-01 -1.53501436e-01 -3.47634407e+01] [-1.89358895e-01 3.76356255e-03 9.81900730e-01 -4.92450023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.78, Y:-34.79, Z:-4.94 [[ 5.93015783e-01 7.98136072e-01 1.06353617e-01 7.47774492e+01] [-7.84435022e-01 6.02464438e-01 -1.47303419e-01 -3.47902909e+01] [-1.81642444e-01 3.92575058e-03 9.83356808e-01 -4.93731296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:-34.82, Z:-4.95 [[ 5.94457780e-01 7.97428665e-01 1.03573514e-01 7.47942299e+01] [-7.84404906e-01 6.03399196e-01 -1.43590925e-01 -3.48175688e+01] [-1.76999694e-01 4.11517027e-03 9.84202303e-01 -4.94568612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-34.85, Z:-4.95 [[ 5.95922684e-01 7.96348639e-01 1.03464972e-01 7.48099409e+01] [-7.83308242e-01 6.04820923e-01 -1.43596130e-01 -3.48464778e+01] [-1.76930363e-01 4.52722556e-03 9.84212960e-01 -4.95166572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.82, Y:-34.88, Z:-4.96 [[ 5.96684875e-01 7.95624380e-01 1.04637501e-01 7.48248989e+01] [-7.82244454e-01 6.05770491e-01 -1.45381312e-01 -3.48765385e+01] [-1.79055226e-01 4.89472520e-03 9.83826848e-01 -4.95532895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.84, Y:-34.90, Z:-4.96 [[ 5.96322786e-01 7.95905528e-01 1.04563502e-01 7.48444625e+01] [-7.82520574e-01 6.05400985e-01 -1.45434517e-01 -3.49031583e+01] [-1.79054983e-01 4.90282417e-03 9.83826852e-01 -4.96101351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-34.93, Z:-4.96 [[ 5.96427708e-01 7.95750480e-01 1.05143539e-01 7.48586729e+01] [-7.82186471e-01 6.05603420e-01 -1.46385865e-01 -3.49333368e+01] [-1.80161909e-01 5.06673175e-03 9.83623919e-01 -4.96475365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:-34.96, Z:-4.97 [[ 5.95638546e-01 7.96352781e-01 1.05056991e-01 7.48739847e+01] [-7.82791790e-01 6.04811935e-01 -1.46422460e-01 -3.49630790e+01] [-1.80143655e-01 4.97711107e-03 9.83627720e-01 -4.96872339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-34.99, Z:-4.97 [[ 5.92114408e-01 7.98837802e-01 1.06106994e-01 7.48888537e+01] [-7.85011461e-01 6.01530638e-01 -1.48046942e-01 -3.49924263e+01] [-1.82092102e-01 4.36552067e-03 9.83271788e-01 -4.97286171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:-35.02, Z:-4.98 [[ 5.89435839e-01 8.00761382e-01 1.06520421e-01 7.49061952e+01] [-7.86826839e-01 5.98970867e-01 -1.48786509e-01 -3.50202761e+01] [-1.82945120e-01 3.88697445e-03 9.83115443e-01 -4.97766063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-35.05, Z:-4.98 [[ 5.86730616e-01 8.02609810e-01 1.07539192e-01 7.49228582e+01] [-7.88404104e-01 5.96494438e-01 -1.50377377e-01 -3.50488035e+01] [-1.84840887e-01 3.44667093e-03 9.82762416e-01 -4.98460042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:-35.08, Z:-4.99 [[ 5.80452680e-01 8.07194630e-01 1.07291735e-01 7.49339698e+01] [-7.93096609e-01 5.90281639e-01 -1.50217696e-01 -3.50809116e+01] [-1.84587259e-01 2.10155309e-03 9.82813882e-01 -4.99311339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.95, Y:-35.11, Z:-5.00 [[ 5.75397889e-01 8.10841785e-01 1.07018078e-01 7.49506838e+01] [-7.96843227e-01 5.85264476e-01 -1.50021215e-01 -3.51102003e+01] [-1.84277349e-01 1.04525967e-03 9.82873728e-01 -4.99891358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.97, Y:-35.14, Z:-5.00 [[ 5.69780404e-01 8.14785491e-01 1.07120940e-01 7.49702014e+01] [-8.00791938e-01 5.79762531e-01 -1.50358507e-01 -3.51387003e+01] [-1.84614637e-01 -1.10254169e-04 9.82810981e-01 -5.00341761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-35.16, Z:-5.01 [[ 5.63077349e-01 8.19203974e-01 1.08851958e-01 7.49915325e+01] [-8.04788868e-01 5.73500442e-01 -1.53010200e-01 -3.51644773e+01] [-1.87773210e-01 -1.44626670e-03 9.82211347e-01 -5.00737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.01, Y:-35.19, Z:-5.01 [[ 5.56102614e-01 8.23760586e-01 1.10310379e-01 7.50144674e+01] [-8.09001089e-01 5.66930417e-01 -1.55264741e-01 -3.51892590e+01] [-1.90439283e-01 -2.89808850e-03 9.81694698e-01 -5.01125744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:-35.21, Z:-5.02 [[ 5.43349751e-01 8.32137195e-01 1.10989810e-01 7.50401384e+01] [-8.17324293e-01 5.54540264e-01 -1.56416421e-01 -3.52104377e+01] [-1.91708240e-01 -5.72584461e-03 9.81435258e-01 -5.01713738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-35.24, Z:-5.02 [[ 5.37079317e-01 8.36260455e-01 1.10518140e-01 7.50617409e+01] [-8.21630713e-01 5.48286785e-01 -1.55899242e-01 -3.52355554e+01] [-1.90968007e-01 -7.07483983e-03 9.81570765e-01 -5.02390417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:-35.26, Z:-5.03 [[ 5.31103930e-01 8.40210328e-01 1.09431352e-01 7.50835355e+01] [-8.25914930e-01 5.42197163e-01 -1.54553433e-01 -3.52614870e+01] [-1.89190759e-01 -8.29705180e-03 9.81905299e-01 -5.03021268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.11, Y:-35.29, Z:-5.04 [[ 5.25391678e-01 8.43858413e-01 1.08933760e-01 7.51056607e+01] [-8.29734369e-01 5.36482576e-01 -1.54036753e-01 -3.52863764e+01] [-1.88426274e-01 -9.45645613e-03 9.82041809e-01 -5.03623765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.13, Y:-35.31, Z:-5.04 [[ 5.20581010e-01 8.46948918e-01 1.08041394e-01 7.51294586e+01] [-8.33087637e-01 5.31572888e-01 -1.52955069e-01 -3.53104063e+01] [-1.86977006e-01 -1.03824456e-02 9.82309424e-01 -5.04255973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:-35.33, Z:-5.05 [[ 5.14098516e-01 8.50567820e-01 1.10621422e-01 7.51621973e+01] [-8.36075760e-01 5.25731139e-01 -1.56793152e-01 -3.53272801e+01] [-1.91520335e-01 -1.18807625e-02 9.81416735e-01 -5.04892164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.19, Y:-35.35, Z:-5.05 [[ 5.12865779e-01 8.51181065e-01 1.11622069e-01 7.51890424e+01] [-8.36405155e-01 5.24731853e-01 -1.58375816e-01 -3.53487903e+01] [-1.93378151e-01 -1.21357375e-02 9.81049242e-01 -5.05296856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.21, Y:-35.37, Z:-5.06 [[ 5.13424940e-01 8.50770379e-01 1.12181075e-01 7.52144823e+01] [-8.35802769e-01 5.25401580e-01 -1.59332704e-01 -3.53712191e+01] [-1.94495659e-01 -1.19558693e-02 9.80830513e-01 -5.05666876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.24, Y:-35.39, Z:-5.06 [[ 5.17790557e-01 8.48477962e-01 1.09444447e-01 7.52412203e+01] [-8.34158196e-01 5.29121970e-01 -1.55595778e-01 -3.53925721e+01] [-1.89929050e-01 -1.07279582e-02 9.81739205e-01 -5.06058584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.26, Y:-35.42, Z:-5.07 [[ 5.19212109e-01 8.47684833e-01 1.08854071e-01 7.52634266e+01] [-8.33481073e-01 5.30399844e-01 -1.54871905e-01 -3.54172671e+01] [-1.89018747e-01 -1.03164400e-02 9.81919286e-01 -5.06610501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:-35.44, Z:-5.07 [[ 5.19763406e-01 8.47294721e-01 1.09259590e-01 7.52864648e+01] [-8.32943936e-01 5.31026490e-01 -1.55612552e-01 -3.54405181e+01] [-1.89869430e-01 -1.01254028e-02 9.81757137e-01 -5.07150873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:-35.46, Z:-5.08 [[ 5.19851445e-01 8.47216452e-01 1.09447514e-01 7.53124480e+01] [-8.32782420e-01 5.31153231e-01 -1.56043857e-01 -3.54621994e+01] [-1.90336324e-01 -1.00263410e-02 9.81667742e-01 -5.07700523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.34, Y:-35.48, Z:-5.08 [[ 5.21242690e-01 8.46355372e-01 1.09492660e-01 7.53398913e+01] [-8.31858575e-01 5.32531618e-01 -1.56273435e-01 -3.54829307e+01] [-1.90571164e-01 -9.62602243e-03 9.81626187e-01 -5.08431533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:-35.50, Z:-5.09 [[ 5.24816084e-01 8.44374946e-01 1.07698791e-01 7.53743270e+01] [-8.30280886e-01 5.35682640e-01 -1.53875794e-01 -3.54985729e+01] [-1.87621238e-01 -8.66375566e-03 9.82203243e-01 -5.09241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.40, Y:-35.52, Z:-5.10 [[ 5.27003373e-01 8.43139353e-01 1.06693379e-01 7.53973933e+01] [-8.29253523e-01 5.37634788e-01 -1.52602191e-01 -3.55220241e+01] [-1.86026985e-01 -8.05399063e-03 9.82511625e-01 -5.09712265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.42, Y:-35.55, Z:-5.10 [[ 5.29952528e-01 8.41311035e-01 1.06517888e-01 7.54186197e+01] [-8.27403332e-01 5.40501948e-01 -1.52516789e-01 -3.55474257e+01] [-1.85887183e-01 -7.30659738e-03 9.82543927e-01 -5.10133522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.44, Y:-35.57, Z:-5.11 [[ 5.33367935e-01 8.39213911e-01 1.06012537e-01 7.54389518e+01] [-8.25366397e-01 5.43763210e-01 -1.51960131e-01 -3.55732848e+01] [-1.85172773e-01 -6.44852403e-03 9.82684823e-01 -5.10681131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:-35.64, Z:-5.11 [[ 5.43649428e-01 8.22229612e-01 1.68474820e-01 7.53841968e+01] [-8.25205890e-01 5.60280382e-01 -7.15620958e-02 -3.56444254e+01] [-1.53233611e-01 -1.00121721e-01 9.83104827e-01 -5.11252135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-35.57, Z:-5.10 [[ 5.47050282e-01 8.36349212e-01 3.54398644e-02 7.55491639e+01] [-8.13822456e-01 5.41275991e-01 -2.11455224e-01 -3.55733692e+01] [-1.96033157e-01 8.68348822e-02 9.76744954e-01 -5.10214740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.50, Y:-35.64, Z:-5.12 [[ 5.49325621e-01 8.28235522e-01 1.10757758e-01 7.55020237e+01] [-8.12778327e-01 5.60374481e-01 -1.59285379e-01 -3.56427416e+01] [-1.93991630e-01 -2.52196566e-03 9.80999943e-01 -5.12166889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.52, Y:-35.67, Z:-5.13 [[ 5.53190862e-01 8.25878957e-01 1.09104627e-01 7.55226633e+01] [-8.10803548e-01 5.63845284e-01 -1.57086291e-01 -3.56673561e+01] [-1.91252391e-01 -1.56371779e-03 9.81539647e-01 -5.12912013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:-35.69, Z:-5.14 [[ 5.59837443e-01 8.22079719e-01 1.03764029e-01 7.55402937e+01] [-8.08360784e-01 5.69372386e-01 -1.49559114e-01 -3.56940527e+01] [-1.82029887e-01 -1.49979573e-04 9.83292987e-01 -5.13889842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.56, Y:-35.72, Z:-5.14 [[ 5.62195095e-01 8.20407811e-01 1.04248256e-01 7.55558636e+01] [-8.06498875e-01 5.71778611e-01 -1.50428671e-01 -3.57228711e+01] [-1.83019780e-01 4.94160040e-04 9.83109107e-01 -5.14374896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.57, Y:-35.75, Z:-5.15 [[ 5.64321453e-01 8.18740031e-01 1.05858677e-01 7.55715564e+01] [-8.04331519e-01 5.74163240e-01 -1.52929333e-01 -3.57528652e+01] [-1.85989528e-01 1.15583327e-03 9.82551047e-01 -5.14651539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.53, Y:-35.82, Z:-5.15 [[ 5.69824574e-01 8.06944886e-01 1.55370223e-01 7.55303900e+01] [-8.04726499e-01 5.86247345e-01 -9.34307892e-02 -3.58159056e+01] [-1.66478878e-01 -7.17913763e-02 9.83428076e-01 -5.15077341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-35.77, Z:-5.14 [[ 5.69983792e-01 8.20150521e-01 4.97151828e-02 7.56595840e+01] [-7.98882076e-01 5.67316932e-01 -1.99847261e-01 -3.57697490e+01] [-1.92109100e-01 7.41931309e-02 9.78565007e-01 -5.14127066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.62, Y:-35.83, Z:-5.16 [[ 5.71993948e-01 8.12919679e-01 1.09473829e-01 7.56236620e+01] [-7.97326238e-01 5.82366059e-01 -1.58494931e-01 -3.58313169e+01] [-1.92597490e-01 3.37178515e-03 9.81272051e-01 -5.15819633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:-35.86, Z:-5.17 [[ 5.72042072e-01 8.13017127e-01 1.08494328e-01 7.56400656e+01] [-7.97672595e-01 5.82229788e-01 -1.57247907e-01 -3.58593346e+01] [-1.91013871e-01 3.40946590e-03 9.81581416e-01 -5.16739507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.66, Y:-35.89, Z:-5.18 [[ 5.71433906e-01 8.13606497e-01 1.07274224e-01 7.56551375e+01] [-7.98586287e-01 5.81406695e-01 -1.55647668e-01 -3.58875654e+01] [-1.89005906e-01 3.27463037e-03 9.81970491e-01 -5.17519465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.67, Y:-35.92, Z:-5.18 [[ 5.70419964e-01 8.14485409e-01 1.05993316e-01 7.56710474e+01] [-7.99808180e-01 5.80176045e-01 -1.53956595e-01 -3.59160820e+01] [-1.86890183e-01 3.04559396e-03 9.82376091e-01 -5.18168647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.69, Y:-35.94, Z:-5.19 [[ 5.68991844e-01 8.15693818e-01 1.04364157e-01 7.56884149e+01] [-8.01457647e-01 5.78477560e-01 -1.51754253e-01 -3.59434939e+01] [-1.84157329e-01 2.70348059e-03 9.82893061e-01 -5.18608623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-35.97, Z:-5.19 [[ 5.68750910e-01 8.15807577e-01 1.04787402e-01 7.57071081e+01] [-8.01425042e-01 5.78316772e-01 -1.52537250e-01 -3.59701519e+01] [-1.85041356e-01 2.77645187e-03 9.82726812e-01 -5.19181795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:-36.00, Z:-5.20 [[ 5.68799077e-01 8.15697588e-01 1.05380529e-01 7.57248186e+01] [-8.01116013e-01 5.78471144e-01 -1.53571706e-01 -3.59974850e+01] [-1.86227665e-01 2.92941556e-03 9.82502252e-01 -5.19681637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-36.03, Z:-5.20 [[ 5.67906946e-01 8.16183958e-01 1.06421089e-01 7.57412116e+01] [-8.01285699e-01 5.77784854e-01 -1.55260718e-01 -3.60260006e+01] [-1.88209801e-01 2.89994361e-03 9.82124565e-01 -5.20224247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.76, Y:-36.05, Z:-5.21 [[ 5.67329553e-01 8.16559777e-01 1.06617583e-01 7.57567675e+01] [-8.01579382e-01 5.77253692e-01 -1.55719845e-01 -3.60544487e+01] [-1.88699955e-01 2.88201383e-03 9.82030560e-01 -5.20752054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-36.08, Z:-5.21 [[ 5.65507834e-01 8.17804507e-01 1.06755220e-01 7.57736339e+01] [-8.02773848e-01 5.75490378e-01 -1.56092838e-01 -3.60823913e+01] [-1.89090029e-01 2.57142367e-03 9.81956388e-01 -5.21218332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.79, Y:-36.11, Z:-5.22 [[ 5.62509994e-01 8.19881181e-01 1.06664689e-01 7.57924302e+01] [-8.04879882e-01 5.72530307e-01 -1.56132708e-01 -3.61096089e+01] [-1.89079036e-01 1.97394634e-03 9.81959888e-01 -5.21703647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:-36.13, Z:-5.23 [[ 5.56008738e-01 8.24433403e-01 1.05659110e-01 7.58131358e+01] [-8.09764376e-01 5.65958731e-01 -1.54830132e-01 -3.61339108e+01] [-1.87445828e-01 5.27922961e-04 9.82274800e-01 -5.22567729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:-36.16, Z:-5.23 [[ 5.52918085e-01 8.26728429e-01 1.03931207e-01 7.58321922e+01] [-8.12547740e-01 5.62601176e-01 -1.52466677e-01 -3.61593720e+01] [-1.84520356e-01 -1.47483757e-04 9.82828681e-01 -5.23474856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.85, Y:-36.19, Z:-5.24 [[ 5.49871800e-01 8.28843843e-01 1.03241887e-01 7.58500051e+01] [-8.14857492e-01 5.59479504e-01 -1.51624380e-01 -3.61864864e+01] [-1.83434654e-01 -7.53454818e-04 9.83031617e-01 -5.24227951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-36.22, Z:-5.24 [[ 5.42918557e-01 8.33312928e-01 1.04062507e-01 7.58657238e+01] [-8.19161757e-01 5.52797133e-01 -1.52935759e-01 -3.62162671e+01] [-1.84968800e-01 -2.21236508e-03 9.82741903e-01 -5.24479787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.88, Y:-36.24, Z:-5.25 [[ 5.39998254e-01 8.35216765e-01 1.03994427e-01 7.58832612e+01] [-8.21085724e-01 5.49913928e-01 -1.53012762e-01 -3.62440541e+01] [-1.84986808e-01 -2.76171504e-03 9.82737123e-01 -5.24878388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.86, Y:-36.29, Z:-5.25 [[ 5.42152510e-01 8.30894269e-01 1.25241247e-01 7.58648120e+01] [-8.26175003e-01 5.54292396e-01 -1.00969319e-01 -3.62915398e+01] [-1.53315099e-01 -4.87304180e-02 9.86975089e-01 -5.25294944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.95, Y:-36.27, Z:-5.25 [[ 5.36123601e-01 8.41480527e-01 6.69477885e-02 7.59534961e+01] [-8.23028007e-01 5.38695047e-01 -1.80090381e-01 -3.62707428e+01] [-1.87606991e-01 4.14507987e-02 9.81369170e-01 -5.25468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:-36.34, Z:-5.26 [[ 5.38694395e-01 8.33386149e-01 1.23595612e-01 7.59053680e+01] [-8.28218421e-01 5.50730644e-01 -1.03682232e-01 -3.63376094e+01] [-1.54475227e-01 -4.65111249e-02 9.86901271e-01 -5.26316248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:-36.32, Z:-5.26 [[ 5.32749619e-01 8.43334965e-01 7.04555261e-02 7.59931267e+01] [-8.24162246e-01 5.35935668e-01 -1.83110762e-01 -3.63176321e+01] [-1.92183337e-01 3.94854039e-02 9.80564362e-01 -5.26330683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.98, Y:-36.37, Z:-5.27 [[ 5.30327461e-01 8.41041752e-01 1.06778061e-01 7.59788975e+01] [-8.26130066e-01 5.40950993e-01 -1.57737559e-01 -3.63652604e+01] [-1.90425571e-01 -4.56000734e-03 9.81691045e-01 -5.27283783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-36.39, Z:-5.28 [[ 5.27832492e-01 8.42485006e-01 1.07758410e-01 7.59990622e+01] [-8.27288886e-01 5.38696349e-01 -1.59371716e-01 -3.63909053e+01] [-1.92317343e-01 -5.02576457e-03 9.81319918e-01 -5.27857847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.02, Y:-36.42, Z:-5.29 [[ 5.24926161e-01 8.44204328e-01 1.08496898e-01 7.60197522e+01] [-8.28796340e-01 5.35992336e-01 -1.60651307e-01 -3.64156891e+01] [-1.93776034e-01 -5.59175838e-03 9.81029857e-01 -5.28522410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.04, Y:-36.44, Z:-5.29 [[ 5.21831206e-01 8.46041801e-01 1.09112160e-01 7.60410080e+01] [-8.30458853e-01 5.33080435e-01 -1.61750868e-01 -3.64407048e+01] [-1.95013553e-01 -6.20650852e-03 9.80780910e-01 -5.29186223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-36.47, Z:-5.30 [[ 5.19845353e-01 8.47350336e-01 1.08435311e-01 7.60623199e+01] [-8.31953374e-01 5.30993843e-01 -1.60932042e-01 -3.64654426e+01] [-1.93944302e-01 -6.55334854e-03 9.80990653e-01 -5.29944119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.08, Y:-36.49, Z:-5.30 [[ 5.20142467e-01 8.47250819e-01 1.07786193e-01 7.60811584e+01] [-8.32001567e-01 5.31154759e-01 -1.60149975e-01 -3.64922369e+01] [-1.92938347e-01 -6.37747834e-03 9.81190156e-01 -5.30497477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:-36.52, Z:-5.31 [[ 5.20954222e-01 8.46858035e-01 1.06949371e-01 7.61013457e+01] [-8.31803317e-01 5.31784222e-01 -1.59087345e-01 -3.65180208e+01] [-1.91598384e-01 -6.08361715e-03 9.81454558e-01 -5.30993710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:-36.55, Z:-5.32 [[ 5.20759484e-01 8.46988026e-01 1.06868346e-01 7.61198615e+01] [-8.31924877e-01 5.31577747e-01 -1.59141758e-01 -3.65453192e+01] [-1.91599998e-01 -6.03185605e-03 9.81454562e-01 -5.31594986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.14, Y:-36.57, Z:-5.32 [[ 5.22283232e-01 8.46225671e-01 1.05462506e-01 7.61430265e+01] [-8.31528146e-01 5.32794937e-01 -1.57132102e-01 -3.65683715e+01] [-1.89159108e-01 -5.62758026e-03 9.81930325e-01 -5.32274074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-36.59, Z:-5.33 [[ 5.22525289e-01 8.45984154e-01 1.06198560e-01 7.61627531e+01] [-8.31038250e-01 5.33179874e-01 -1.58412906e-01 -3.65946816e+01] [-1.90637743e-01 -5.48031587e-03 9.81645158e-01 -5.32874293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.18, Y:-36.62, Z:-5.33 [[ 5.22851197e-01 8.45595802e-01 1.07677135e-01 7.61814343e+01] [-8.30181634e-01 5.33797254e-01 -1.60807172e-01 -3.66220344e+01] [-1.93455628e-01 -5.31335802e-03 9.81094638e-01 -5.33324988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.20, Y:-36.65, Z:-5.34 [[ 5.22754722e-01 8.45591510e-01 1.08178090e-01 7.62008152e+01] [-8.29994794e-01 5.33804827e-01 -1.61743775e-01 -3.66489921e+01] [-1.94515150e-01 -5.23492956e-03 9.80885545e-01 -5.33817280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.972320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:76.22, Y:-36.68, Z:-5.34 [[ 5.22458983e-01 8.45735759e-01 1.08478741e-01 7.62212185e+01] [-8.30016916e-01 5.33576587e-01 -1.62382096e-01 -3.66752691e+01] [-1.95214061e-01 -5.20120516e-03 9.80746867e-01 -5.34285982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.24, Y:-36.70, Z:-5.35 [[ 5.21669733e-01 8.46152064e-01 1.09029237e-01 7.62418060e+01] [-8.30242541e-01 5.32915369e-01 -1.63396859e-01 -3.67007400e+01] [-1.96361945e-01 -5.28151480e-03 9.80517257e-01 -5.35113326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-36.73, Z:-5.36 [[ 5.20505463e-01 8.46819552e-01 1.09410738e-01 7.62591338e+01] [-8.30773670e-01 5.31852371e-01 -1.64158960e-01 -3.67274362e+01] [-1.97203377e-01 -5.44992532e-03 9.80347452e-01 -5.35842823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:-36.75, Z:-5.36 [[ 5.19902481e-01 8.47253715e-01 1.08915346e-01 7.62774621e+01] [-8.31325885e-01 5.31160094e-01 -1.63603875e-01 -3.67548798e+01] [-1.96465476e-01 -5.48608605e-03 9.80495395e-01 -5.36433933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.30, Y:-36.78, Z:-5.37 [[ 5.20357267e-01 8.47091903e-01 1.07998251e-01 7.62971078e+01] [-8.31393275e-01 5.31420234e-01 -1.62412306e-01 -3.67811371e+01] [-1.94970605e-01 -5.27659627e-03 9.80794892e-01 -5.37008481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-36.81, Z:-5.38 [[ 5.20105724e-01 8.47350891e-01 1.07175104e-01 7.63186909e+01] [-8.31861715e-01 5.31007633e-01 -1.61359788e-01 -3.68060510e+01] [-1.93639159e-01 -5.23071624e-03 9.81058875e-01 -5.37623209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:-36.83, Z:-5.38 [[ 5.19929836e-01 8.47400828e-01 1.07632714e-01 7.63377194e+01] [-8.31741271e-01 5.30928534e-01 -1.62238558e-01 -3.68329071e+01] [-1.94626367e-01 -5.16990399e-03 9.80863828e-01 -5.38226158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.36, Y:-36.86, Z:-5.39 [[ 5.20566371e-01 8.46905977e-01 1.08447774e-01 7.63563140e+01] [-8.30957329e-01 5.31719900e-01 -1.63657770e-01 -3.68595381e+01] [-1.96266583e-01 -4.92074127e-03 9.80538227e-01 -5.38822090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:-36.89, Z:-5.39 [[ 5.21541876e-01 8.46094778e-01 1.10080419e-01 7.63751996e+01] [-8.29599744e-01 5.33012797e-01 -1.66317836e-01 -3.68861630e+01] [-1.99394924e-01 -4.58097112e-03 9.79908505e-01 -5.39333322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-36.91, Z:-5.40 [[ 5.23999948e-01 8.44500712e-01 1.10646290e-01 7.63934216e+01] [-8.27758450e-01 5.35540325e-01 -1.67369378e-01 -3.69131506e+01] [-2.00599109e-01 -3.88685659e-03 9.79665703e-01 -5.39811324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.41, Y:-36.94, Z:-5.41 [[ 5.23911167e-01 8.44583981e-01 1.10430915e-01 7.64107252e+01] [-8.27869433e-01 5.35409588e-01 -1.67238677e-01 -3.69400244e+01] [-2.00372878e-01 -3.80416849e-03 9.79712324e-01 -5.40507532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.43, Y:-36.97, Z:-5.41 [[ 5.24144730e-01 8.44534899e-01 1.09695515e-01 7.64295766e+01] [-8.28004705e-01 5.35488043e-01 -1.66315255e-01 -3.69662982e+01] [-1.99199673e-01 -3.65513855e-03 9.79952106e-01 -5.41166394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-36.99, Z:-5.42 [[ 5.24326623e-01 8.44481195e-01 1.09238749e-01 7.64502528e+01] [-8.28050136e-01 5.35573669e-01 -1.65812596e-01 -3.69920078e+01] [-1.98531017e-01 -3.51520189e-03 9.80088301e-01 -5.41681288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:-37.01, Z:-5.42 [[ 5.23534664e-01 8.45155288e-01 1.07814629e-01 7.64753219e+01] [-8.29130724e-01 5.34508607e-01 -1.63837700e-01 -3.70145925e+01] [-1.96096146e-01 -3.61770617e-03 9.80578000e-01 -5.42254931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:-37.07, Z:-5.43 [[ 5.27133847e-01 8.36444298e-01 1.49969476e-01 7.64425818e+01] [-8.32051434e-01 5.43896747e-01 -1.08934561e-01 -3.70683899e+01] [-1.72685603e-01 -6.73592231e-02 9.82671063e-01 -5.43372957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:-37.03, Z:-5.43 [[ 5.24587332e-01 8.49689674e-01 5.32502551e-02 7.65611096e+01] [-8.28410778e-01 5.23872785e-01 -1.98224335e-01 -3.70328530e+01] [-1.96325530e-01 5.98728897e-02 9.78709111e-01 -5.42589238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.53, Y:-37.09, Z:-5.44 [[ 5.24904036e-01 8.44309046e-01 1.07786769e-01 7.65301609e+01] [-8.28191401e-01 5.35847740e-01 -1.64213895e-01 -3.70893118e+01] [-1.96404574e-01 -3.07153898e-03 9.80518133e-01 -5.44206891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-37.12, Z:-5.45 [[ 5.25915533e-01 8.43435010e-01 1.09682438e-01 7.65483391e+01] [-8.26680420e-01 5.37224503e-01 -1.67300080e-01 -3.71165905e+01] [-2.00030838e-01 -2.68661326e-03 9.79785918e-01 -5.44611823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.56, Y:-37.15, Z:-5.45 [[ 5.29660492e-01 8.40756166e-01 1.12199969e-01 7.65649003e+01] [-8.23112937e-01 5.41411592e-01 -1.71343460e-01 -3.71454650e+01] [-2.04804434e-01 -1.59938494e-03 9.78801607e-01 -5.44913837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-37.17, Z:-5.46 [[ 5.32631580e-01 8.38997015e-01 1.11299638e-01 7.65843474e+01] [-8.21560019e-01 5.44135426e-01 -1.70163962e-01 -3.71719071e+01] [-2.03329133e-01 -8.04632707e-04 9.79110115e-01 -5.45640880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:-37.20, Z:-5.46 [[ 5.34382647e-01 8.38081659e-01 1.09792167e-01 7.66057745e+01] [-8.21060085e-01 5.45544697e-01 -1.68051538e-01 -3.71959887e+01] [-2.00737447e-01 -3.42140147e-04 9.79645018e-01 -5.46422736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:-37.22, Z:-5.47 [[ 5.35719978e-01 8.37340067e-01 1.08929878e-01 7.66273248e+01] [-8.20533622e-01 5.46682368e-01 -1.66922029e-01 -3.72206827e+01] [-1.99320546e-01 4.28379525e-05 9.79934344e-01 -5.47183302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-37.25, Z:-5.48 [[ 5.36233273e-01 8.36846730e-01 1.10188150e-01 7.66440085e+01] [-8.19594673e-01 5.47437152e-01 -1.69047731e-01 -3.72487877e+01] [-2.01788128e-01 3.39397356e-04 9.79429138e-01 -5.47878573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.66, Y:-37.28, Z:-5.48 [[ 5.35978995e-01 8.37058467e-01 1.09816388e-01 7.66577018e+01] [-8.19888800e-01 5.47113323e-01 -1.68669403e-01 -3.72786822e+01] [-2.01268160e-01 3.66030504e-04 9.79536111e-01 -5.48478380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-37.31, Z:-5.49 [[ 5.35399295e-01 8.37636041e-01 1.08228730e-01 7.66731614e+01] [-8.20938000e-01 5.46228706e-01 -1.66418147e-01 -3.73075022e+01] [-1.98515477e-01 2.51081203e-04 9.80097721e-01 -5.49107525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:-37.33, Z:-5.50 [[ 5.34162699e-01 8.38511016e-01 1.07561549e-01 7.66923274e+01] [-8.22000088e-01 5.44884644e-01 -1.65579530e-01 -3.73337660e+01] [-1.97448896e-01 3.08060981e-05 9.80313181e-01 -5.49733297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:-37.38, Z:-5.51 [[ 5.34114256e-01 8.33066740e-01 1.43950577e-01 7.66706449e+01] [-8.25506105e-01 5.50654198e-01 -1.23772470e-01 -3.73811615e+01] [-1.82377718e-01 -5.27234396e-02 9.81813937e-01 -5.50643002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-37.36, Z:-5.50 [[ 5.31384239e-01 8.44548188e-01 6.60995414e-02 7.67728834e+01] [-8.22313049e-01 5.32992443e-01 -1.99299535e-01 -3.73567000e+01] [-2.03548617e-01 5.15501162e-02 9.77706779e-01 -5.49680919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:-37.41, Z:-5.51 [[ 5.28621815e-01 8.41574066e-01 1.10959761e-01 7.67491327e+01] [-8.23966807e-01 5.40140982e-01 -1.71249587e-01 -3.74092960e+01] [-2.04053125e-01 -9.00892977e-04 9.78959402e-01 -5.51097680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-37.44, Z:-5.52 [[ 5.27559341e-01 8.42294815e-01 1.10546764e-01 7.67666156e+01] [-8.24794772e-01 5.39016054e-01 -1.70807722e-01 -3.74360974e+01] [-2.03456939e-01 -1.06718353e-03 9.79083314e-01 -5.51934016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:-37.46, Z:-5.53 [[ 5.26075367e-01 8.43389653e-01 1.09263905e-01 7.67856940e+01] [-8.26281260e-01 5.37300685e-01 -1.69018497e-01 -3.74619447e+01] [-2.01256023e-01 -1.36624922e-03 9.79537721e-01 -5.52743382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:-37.49, Z:-5.53 [[ 5.24539749e-01 8.44362698e-01 1.09131508e-01 7.68054213e+01] [-8.27277110e-01 5.35769517e-01 -1.69007716e-01 -3.74882658e+01] [-2.01173146e-01 -1.63073361e-03 9.79554341e-01 -5.53454981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:76.79, Y:-37.53, Z:-5.54 [[ 5.28343684e-01 8.39550731e-01 1.26520836e-01 7.67912916e+01] [-8.32278990e-01 5.41592053e-01 -1.18278194e-01 -3.75324497e+01] [-1.67823224e-01 -4.28090965e-02 9.84887175e-01 -5.53859886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-37.52, Z:-5.53 [[ 5.24769014e-01 8.47874522e-01 7.56721653e-02 7.68736389e+01] [-8.26556782e-01 5.28786209e-01 -1.92844579e-01 -3.75200511e+01] [-2.03522403e-01 3.86515182e-02 9.78307054e-01 -5.53224448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.86, Y:-37.57, Z:-5.54 [[ 5.25513877e-01 8.43707750e-01 1.09509805e-01 7.68598548e+01] [-8.26407973e-01 5.36801509e-01 -1.69982357e-01 -3.75659319e+01] [-2.02200461e-01 -1.17168830e-03 9.79343454e-01 -5.54363315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.88, Y:-37.59, Z:-5.55 [[ 5.26342235e-01 8.43254066e-01 1.09024917e-01 7.68770585e+01] [-8.26058676e-01 5.37514463e-01 -1.69426286e-01 -3.75935666e+01] [-2.01471874e-01 -8.84768760e-04 9.79493901e-01 -5.55051068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.89, Y:-37.62, Z:-5.56 [[ 5.26773915e-01 8.43022120e-01 1.08733383e-01 7.68937347e+01] [-8.25874235e-01 5.37878458e-01 -1.69170071e-01 -3.76211171e+01] [-2.01099456e-01 -6.85719041e-04 9.79570589e-01 -5.55911489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.91, Y:-37.65, Z:-5.57 [[ 5.27228270e-01 8.42635031e-01 1.09528794e-01 7.69137971e+01] [-8.25183005e-01 5.38484929e-01 -1.70607707e-01 -3.76463696e+01] [-2.02739635e-01 -4.32093337e-04 9.79232584e-01 -5.56571344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-37.67, Z:-5.57 [[ 5.26889533e-01 8.42825459e-01 1.09693504e-01 7.69348104e+01] [-8.25283104e-01 5.38186852e-01 -1.71063470e-01 -3.76717714e+01] [-2.03212249e-01 -3.96643679e-04 9.79134630e-01 -5.57110071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.95, Y:-37.70, Z:-5.58 [[ 5.27574424e-01 8.42460907e-01 1.09200947e-01 7.69547292e+01] [-8.25029295e-01 5.38757458e-01 -1.70490655e-01 -3.76979327e+01] [-2.02464537e-01 -1.47471547e-04 9.79289584e-01 -5.57719893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.97, Y:-37.73, Z:-5.58 [[ 5.28680063e-01 8.42030260e-01 1.07156111e-01 7.69716176e+01] [-8.25204354e-01 5.39430279e-01 -1.67489548e-01 -3.77258084e+01] [-1.98834519e-01 1.22695293e-04 9.80033070e-01 -5.58428355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-37.75, Z:-5.59 [[ 5.28538510e-01 8.42067581e-01 1.07560368e-01 7.69883649e+01] [-8.25073593e-01 5.39371988e-01 -1.68319412e-01 -3.77538975e+01] [-1.99751369e-01 2.18072097e-04 9.79846592e-01 -5.59019579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.01, Y:-37.78, Z:-5.60 [[ 5.28088834e-01 8.42363531e-01 1.07451687e-01 7.70059373e+01] [-8.25370418e-01 5.38909673e-01 -1.68344993e-01 -3.77809632e+01] [-1.99714437e-01 2.13666907e-04 9.79854121e-01 -5.59576917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-37.81, Z:-5.60 [[ 5.27450616e-01 8.42667674e-01 1.08199073e-01 7.70245688e+01] [-8.25400721e-01 5.38433978e-01 -1.69712999e-01 -3.78082607e+01] [-2.01269715e-01 2.07632968e-04 9.79535838e-01 -5.60128503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:-37.83, Z:-5.61 [[ 5.26707172e-01 8.43028322e-01 1.09008274e-01 7.70441924e+01] [-8.25465403e-01 5.37869144e-01 -1.71183096e-01 -3.78346675e+01] [-2.02944385e-01 1.80805482e-04 9.79190249e-01 -5.60666877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.07, Y:-37.86, Z:-5.61 [[ 5.22785792e-01 8.45356631e-01 1.09850728e-01 7.70673978e+01] [-8.27526795e-01 5.34202010e-01 -1.72706737e-01 -3.78585608e+01] [-2.04681265e-01 -6.15792521e-04 9.78828484e-01 -5.61211202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.09, Y:-37.88, Z:-5.62 [[ 5.20076893e-01 8.47125807e-01 1.09077461e-01 7.70871300e+01] [-8.29546360e-01 5.31391043e-01 -1.71686912e-01 -3.78840899e+01] [-2.03403200e-01 -1.19441494e-03 9.79094332e-01 -5.61818074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-37.91, Z:-5.62 [[ 5.17407736e-01 8.48750886e-01 1.09138300e-01 7.71067713e+01] [-8.31146206e-01 5.28790085e-01 -1.71979739e-01 -3.79102806e+01] [-2.03679207e-01 -1.72623644e-03 9.79036159e-01 -5.62424550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:-37.94, Z:-5.63 [[ 5.15039262e-01 8.50250975e-01 1.08663873e-01 7.71252613e+01] [-8.32792753e-01 5.26372901e-01 -1.71428704e-01 -3.79366938e+01] [-2.02955140e-01 -2.20197299e-03 9.79185561e-01 -5.63132019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-37.96, Z:-5.64 [[ 5.13762015e-01 8.51139219e-01 1.07752595e-01 7.71431732e+01] [-8.33954608e-01 5.24934423e-01 -1.70186851e-01 -3.79634042e+01] [-2.01415750e-01 -2.42523309e-03 9.79502840e-01 -5.63824556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.16, Y:-37.99, Z:-5.64 [[ 5.13110224e-01 8.51548225e-01 1.07626753e-01 7.71627383e+01] [-8.34372571e-01 5.24270430e-01 -1.70184988e-01 -3.79896287e+01] [-2.01346248e-01 -2.47715365e-03 9.79516999e-01 -5.64433218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.18, Y:-38.02, Z:-5.65 [[ 5.13217627e-01 8.51375810e-01 1.08475329e-01 7.71830728e+01] [-8.33880067e-01 5.24551082e-01 -1.71727100e-01 -3.80160423e+01] [-2.03105150e-01 -2.32204020e-03 9.79154179e-01 -5.64779879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:-38.04, Z:-5.65 [[ 5.13176839e-01 8.51216876e-01 1.09906149e-01 7.72026276e+01] [-8.33204690e-01 5.24809563e-01 -1.74197783e-01 -3.80422444e+01] [-2.05959891e-01 -2.18005093e-03 9.78558006e-01 -5.65214858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:77.20, Y:-38.08, Z:-5.66 [[ 5.16951539e-01 8.47432177e-01 1.20912413e-01 7.71964365e+01] [-8.37430626e-01 5.29930851e-01 -1.33728234e-01 -3.80830602e+01] [-1.77400826e-01 -3.21247414e-02 9.83614227e-01 -5.66130958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:-38.11, Z:-5.67 [[ 5.18850816e-01 8.46275011e-01 1.20881913e-01 7.72106380e+01] [-8.35081787e-01 5.31995594e-01 -1.40068186e-01 -3.81055631e+01] [-1.82844851e-01 -2.82717911e-02 9.82735196e-01 -5.67114571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.29, Y:-38.09, Z:-5.67 [[ 5.18734938e-01 8.53040423e-01 5.68867459e-02 7.72935868e+01] [-8.30699270e-01 5.18643695e-01 -2.02354739e-01 -3.80939493e+01] [-2.02120724e-01 5.77126945e-02 9.77658661e-01 -5.66638472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.26, Y:-38.15, Z:-5.68 [[ 5.18340159e-01 8.48584319e-01 1.05962888e-01 7.72624245e+01] [-8.31684253e-01 5.29059587e-01 -1.68514855e-01 -3.81495216e+01] [-1.99059745e-01 -7.79648906e-04 9.79987046e-01 -5.68482221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-38.18, Z:-5.69 [[ 5.17491507e-01 8.49027136e-01 1.06562012e-01 7.72794514e+01] [-8.31902351e-01 5.28348561e-01 -1.69665187e-01 -3.81778552e+01] [-2.00352233e-01 -8.48894696e-04 9.79723564e-01 -5.68915428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:-38.21, Z:-5.70 [[ 5.17299199e-01 8.49155258e-01 1.06474817e-01 7.72971025e+01] [-8.32021899e-01 5.28142707e-01 -1.69719891e-01 -3.82056615e+01] [-2.00352436e-01 -7.93415257e-04 9.79723569e-01 -5.69550885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-38.25, Z:-5.70 [[ 5.17910103e-01 8.44779894e-01 1.34595902e-01 7.72834666e+01] [-8.34109810e-01 5.33622071e-01 -1.39672151e-01 -3.82473357e+01] [-1.89815569e-01 -3.99301435e-02 9.81007458e-01 -5.69692959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-38.24, Z:-5.69 [[ 5.14481659e-01 8.53823849e-01 7.93313184e-02 7.73657677e+01] [-8.30598250e-01 5.19195099e-01 -2.01352913e-01 -3.82388264e+01] [-2.13108351e-01 3.76999263e-02 9.76300951e-01 -5.68956824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.35, Y:-38.28, Z:-5.70 [[ 5.13010008e-01 8.50962734e-01 1.12619526e-01 7.73538818e+01] [-8.31723135e-01 5.25224309e-01 -1.79933463e-01 -3.82829289e+01] [-2.12267185e-01 -1.36059804e-03 9.77210720e-01 -5.70389066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.37, Y:-38.31, Z:-5.71 [[ 5.12415990e-01 8.51304736e-01 1.12739079e-01 7.73717544e+01] [-8.31986626e-01 5.24669714e-01 -1.80332873e-01 -3.83090492e+01] [-2.12669009e-01 -1.39195838e-03 9.77123306e-01 -5.71335758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.39, Y:-38.34, Z:-5.73 [[ 5.11259780e-01 8.52151660e-01 1.11583987e-01 7.73868378e+01] [-8.33207441e-01 5.23292404e-01 -1.78690850e-01 -3.83362071e+01] [-2.10662757e-01 -1.61516344e-03 9.77557463e-01 -5.72534584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-38.36, Z:-5.73 [[ 5.10613866e-01 8.52577843e-01 1.11285680e-01 7.74037276e+01] [-8.33701556e-01 5.22597565e-01 -1.78419450e-01 -3.83644262e+01] [-2.10274095e-01 -1.67559976e-03 9.77641037e-01 -5.73110338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.42, Y:-38.39, Z:-5.74 [[ 5.10125066e-01 8.52937317e-01 1.10771612e-01 7.74227313e+01] [-8.34201538e-01 5.22010559e-01 -1.77799804e-01 -3.83916078e+01] [-2.09476039e-01 -1.70571230e-03 9.77812293e-01 -5.73610617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.44, Y:-38.42, Z:-5.74 [[ 5.10221728e-01 8.52933041e-01 1.10358581e-01 7.74440993e+01] [-8.34294439e-01 5.22017918e-01 -1.77341711e-01 -3.84170120e+01] [-2.08869762e-01 -1.58795597e-03 9.77942177e-01 -5.73911295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:-38.44, Z:-5.74 [[ 5.10229200e-01 8.53000331e-01 1.09802547e-01 7.74670132e+01] [-8.34509045e-01 5.21908223e-01 -1.76653506e-01 -3.84415965e+01] [-2.07992351e-01 -1.49744122e-03 9.78129306e-01 -5.74364428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:-38.47, Z:-5.75 [[ 5.09514368e-01 8.53416306e-01 1.09889565e-01 7.74895844e+01] [-8.34861029e-01 5.21227569e-01 -1.76999671e-01 -3.84658636e+01] [-2.08331876e-01 -1.55863979e-03 9.78056951e-01 -5.74984213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:-38.49, Z:-5.76 [[ 5.08848558e-01 8.53646184e-01 1.11181549e-01 7.75052237e+01] [-8.34606749e-01 5.20850994e-01 -1.79292546e-01 -3.84939049e+01] [-2.10961419e-01 -1.56011764e-03 9.77493144e-01 -5.75713353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.52, Y:-38.52, Z:-5.76 [[ 5.08832239e-01 8.53652333e-01 1.11209021e-01 7.75211380e+01] [-8.34558239e-01 5.20841231e-01 -1.79546533e-01 -3.85226131e+01] [-2.11192560e-01 -1.45134077e-03 9.77443398e-01 -5.76414359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.54, Y:-38.55, Z:-5.77 [[ 5.11005788e-01 8.52255926e-01 1.11950529e-01 7.75431385e+01] [-8.32823864e-01 5.23124508e-01 -1.80956240e-01 -3.85466974e+01] [-2.12785094e-01 -7.65386199e-04 9.77098725e-01 -5.77103648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:-38.57, Z:-5.78 [[ 5.13118413e-01 8.51060273e-01 1.11381798e-01 7.75642307e+01] [-8.31754274e-01 5.25067983e-01 -1.80245501e-01 -3.85718703e+01] [-2.11882801e-01 -1.55000693e-04 9.77295070e-01 -5.77894651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:-38.60, Z:-5.79 [[ 5.15018455e-01 8.50003541e-01 1.10679586e-01 7.75825973e+01] [-8.30873832e-01 5.26776829e-01 -1.79317730e-01 -3.85981433e+01] [-2.10724146e-01 3.91168368e-04 9.77545488e-01 -5.78538885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-38.63, Z:-5.79 [[ 5.17035415e-01 8.48906267e-01 1.09692887e-01 7.75990832e+01] [-8.30052004e-01 5.28542584e-01 -1.77922476e-01 -3.86263948e+01] [-2.09016867e-01 9.41420366e-04 9.77911582e-01 -5.79133460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-38.65, Z:-5.80 [[ 5.17545051e-01 8.48659167e-01 1.09200450e-01 7.76163571e+01] [-8.29927027e-01 5.28938848e-01 -1.77326889e-01 -3.86544211e+01] [-2.08250450e-01 1.14624896e-03 9.78074862e-01 -5.79661948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:-38.68, Z:-5.80 [[ 5.17675782e-01 8.48624976e-01 1.08845919e-01 7.76354881e+01] [-8.29972008e-01 5.28993430e-01 -1.76953151e-01 -3.86811415e+01] [-2.07745639e-01 1.26529515e-03 9.78182063e-01 -5.80132547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-38.71, Z:-5.81 [[ 5.18135227e-01 8.48274181e-01 1.09392872e-01 7.76517300e+01] [-8.29379698e-01 5.29555087e-01 -1.78046976e-01 -3.87093930e+01] [-2.08962205e-01 1.52418333e-03 9.77922530e-01 -5.80795751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:-38.74, Z:-5.82 [[ 5.19085505e-01 8.47500365e-01 1.10875468e-01 7.76658313e+01] [-8.28021310e-01 5.30791134e-01 -1.80669542e-01 -3.87388298e+01] [-2.11969218e-01 1.97569017e-03 9.77274346e-01 -5.81530096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.61, Y:-38.80, Z:-5.83 [[ 0.52694348 0.83283555 0.1694565 77.60566619] [ -0.8302845 0.54703513 -0.1066781 -38.80313485] [ -0.18154397 -0.08448378 0.97974705 -5.83111699] [ 0. 0. 0. 1. ]] SLAMing on 83.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-38.79, Z:-5.83 [[ 5.30252807e-01 8.41687504e-01 1.01951490e-01 7.76820820e+01] [-8.28363550e-01 5.39938887e-01 -1.49264290e-01 -3.87936811e+01] [-1.80681462e-01 -5.30508886e-03 9.83527359e-01 -5.82518033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.78, Y:-38.78, Z:-5.81 [[ 5.28330179e-01 8.48351774e-01 3.41539098e-02 7.77776896e+01] [-8.21759013e-01 5.21055883e-01 -2.30679194e-01 -3.87798432e+01] [-2.13493199e-01 9.38084965e-02 9.72430265e-01 -5.81207611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.72, Y:-38.85, Z:-5.84 [[ 5.29985523e-01 8.40568816e-01 1.12068780e-01 7.77198766e+01] [-8.20339180e-01 5.41679309e-01 -1.83377087e-01 -3.88482927e+01] [-2.14846401e-01 5.25279002e-03 9.76633725e-01 -5.83716585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:-38.88, Z:-5.84 [[ 5.31920099e-01 8.39424207e-01 1.11480979e-01 7.77327395e+01] [-8.19339780e-01 5.43445855e-01 -1.82616888e-01 -3.88782807e+01] [-2.13876912e-01 5.79679232e-03 9.76843418e-01 -5.84324742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-38.91, Z:-5.85 [[ 5.34097690e-01 8.38008066e-01 1.11723490e-01 7.77419956e+01] [-8.17760124e-01 5.45619220e-01 -1.83215847e-01 -3.89110777e+01] [-2.14494841e-01 6.49214511e-03 9.76703545e-01 -5.84997468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-38.94, Z:-5.86 [[ 5.33986975e-01 8.38017387e-01 1.12181858e-01 7.77550590e+01] [-8.17556244e-01 5.45603248e-01 -1.84170800e-01 -3.89413990e+01] [-2.15545118e-01 6.62982964e-03 9.76471376e-01 -5.85728615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.70, Y:-39.00, Z:-5.87 [[ 5.38346727e-01 8.26130338e-01 1.66407529e-01 7.77003004e+01] [-8.20980153e-01 5.58696225e-01 -1.17686516e-01 -3.90044523e+01] [-1.90195659e-01 -7.32611282e-02 9.79008896e-01 -5.86925044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:-38.97, Z:-5.86 [[ 5.34972722e-01 8.43575975e-01 4.67307271e-02 7.78372223e+01] [-8.17271115e-01 5.30726888e-01 -2.24492528e-01 -3.89664255e+01] [-2.14177756e-01 8.19057052e-02 9.73354686e-01 -5.85645016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-39.03, Z:-5.88 [[ 5.33087032e-01 8.38599222e-01 1.12114054e-01 7.77889130e+01] [-8.18065334e-01 5.44708050e-01 -1.84559610e-01 -3.90306256e+01] [-2.15840973e-01 6.66971404e-03 9.76405750e-01 -5.87558980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.80, Y:-39.06, Z:-5.88 [[ 5.32629114e-01 8.38965106e-01 1.11551682e-01 7.78019415e+01] [-8.18603013e-01 5.44145204e-01 -1.83834448e-01 -3.90604613e+01] [-2.14931000e-01 6.59903559e-03 9.76606941e-01 -5.88160819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:-39.09, Z:-5.89 [[ 5.29655629e-01 8.40777128e-01 1.12065764e-01 7.78124362e+01] [-8.20219192e-01 5.41348070e-01 -1.84885760e-01 -3.90923326e+01] [-2.16114303e-01 6.00729281e-03 9.76349589e-01 -5.88673294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:-39.12, Z:-5.89 [[ 5.26465256e-01 8.42675075e-01 1.12840830e-01 7.78254293e+01] [-8.21824585e-01 5.38395524e-01 -1.86372238e-01 -3.91219233e+01] [-2.17804237e-01 5.38313955e-03 9.75977631e-01 -5.89332221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73232058800001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.84, Y:-39.15, Z:-5.90 [[ 5.23442833e-01 8.44556642e-01 1.12834747e-01 7.78381343e+01] [-8.23705707e-01 5.35445473e-01 -1.86566485e-01 -3.91520172e+01] [-2.17982818e-01 4.71426434e-03 9.75941221e-01 -5.90027310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-39.18, Z:-5.91 [[ 5.19812570e-01 8.47069548e-01 1.10761335e-01 7.78470622e+01] [-8.27011491e-01 5.31469381e-01 -1.83282000e-01 -3.91831707e+01] [-2.14118859e-01 3.67139115e-03 9.76800714e-01 -5.91056994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.86, Y:-39.21, Z:-5.92 [[ 5.17168492e-01 8.48776127e-01 1.10071964e-01 7.78607572e+01] [-8.28965858e-01 5.28743580e-01 -1.82334395e-01 -3.92124041e+01] [-2.12960926e-01 3.05170452e-03 9.77055951e-01 -5.91826524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:-39.24, Z:-5.92 [[ 5.14539183e-01 8.50401506e-01 1.09848567e-01 7.78741929e+01] [-8.30662343e-01 5.26128382e-01 -1.82178476e-01 -3.92420234e+01] [-2.12719299e-01 2.49089629e-03 9.77110176e-01 -5.92489112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:-39.27, Z:-5.93 [[ 5.11238867e-01 8.52216766e-01 1.11181855e-01 7.78882403e+01] [-8.31983571e-01 5.23185492e-01 -1.84608447e-01 -3.92714657e+01] [-2.15495147e-01 1.87753689e-03 9.76503106e-01 -5.93010538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.90, Y:-39.30, Z:-5.93 [[ 5.08172228e-01 8.53951205e-01 1.11930006e-01 7.79030853e+01] [-8.33433722e-01 5.20351541e-01 -1.86071234e-01 -3.93003937e+01] [-2.17138706e-01 1.26999152e-03 9.76139933e-01 -5.93454993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.92, Y:-39.33, Z:-5.94 [[ 5.00828728e-01 8.58374452e-01 1.11193004e-01 7.79205739e+01] [-8.38187419e-01 5.13023425e-01 -1.85064359e-01 -3.93277962e+01] [-2.15899134e-01 -5.15029922e-04 9.76415536e-01 -5.94012409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.94, Y:-39.35, Z:-5.95 [[ 4.96363917e-01 8.61047599e-01 1.10543628e-01 7.79387840e+01] [-8.41114964e-01 5.08522011e-01 -1.84203640e-01 -3.93544371e+01] [-2.14821970e-01 -1.54785917e-03 9.76651998e-01 -5.94692405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-39.38, Z:-5.95 [[ 4.91784945e-01 8.63635811e-01 1.10818564e-01 7.79561405e+01] [-8.43617985e-01 5.04109715e-01 -1.84883990e-01 -3.93820034e+01] [-2.15537150e-01 -2.56537041e-03 9.76492271e-01 -5.95377581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-39.41, Z:-5.96 [[ 4.87086646e-01 8.66310883e-01 1.10688997e-01 7.79718899e+01] [-8.46362455e-01 4.99491995e-01 -1.84873855e-01 -3.94098567e+01] [-2.15446500e-01 -3.63342520e-03 9.76508886e-01 -5.96037155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:-39.44, Z:-5.97 [[ 4.79721620e-01 8.70268989e-01 1.11799168e-01 7.79883270e+01] [-8.49966521e-01 4.92547864e-01 -1.86958591e-01 -3.94378134e+01] [-2.17770705e-01 -5.33747182e-03 9.75985364e-01 -5.96562819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-39.46, Z:-5.97 [[ 4.78188458e-01 8.71166464e-01 1.11376793e-01 7.80075398e+01] [-8.50992794e-01 4.90955725e-01 -1.86477187e-01 -3.94640763e+01] [-2.17133746e-01 -5.60960943e-03 9.76125744e-01 -5.97191279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:-39.49, Z:-5.98 [[ 4.77554873e-01 8.71627261e-01 1.10486473e-01 7.80268197e+01] [-8.51741313e-01 4.90136620e-01 -1.85210229e-01 -3.94905551e+01] [-2.15587751e-01 -5.65784563e-03 9.76468079e-01 -5.97962203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.04, Y:-39.52, Z:-5.99 [[ 4.78080073e-01 8.71478872e-01 1.09380160e-01 7.80432799e+01] [-8.51941356e-01 4.90403092e-01 -1.83577597e-01 -3.95177558e+01] [-2.13624366e-01 -5.42069117e-03 9.76900838e-01 -5.98750994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.06, Y:-39.55, Z:-5.99 [[ 4.80926744e-01 8.69966311e-01 1.08940743e-01 7.80558501e+01] [-8.50500071e-01 4.93089576e-01 -1.83063650e-01 -3.95472180e+01] [-2.12976753e-01 -4.61390459e-03 9.77046373e-01 -5.99498064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-39.58, Z:-6.00 [[ 4.81959515e-01 8.69300210e-01 1.09691254e-01 7.80730402e+01] [-8.49494542e-01 4.94266335e-01 -1.84553009e-01 -3.95754933e+01] [-2.14648663e-01 -4.23504257e-03 9.76682147e-01 -6.00033612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:-39.60, Z:-6.00 [[ 4.82541890e-01 8.68983767e-01 1.09638211e-01 7.80917640e+01] [-8.49139678e-01 4.94824608e-01 -1.84690050e-01 -3.96023579e+01] [-2.14744340e-01 -3.97746981e-03 9.76662198e-01 -6.00476298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:-39.68, Z:-6.01 [[ 0.4892931 0.84893429 0.19975695 78.0097669 ] [ -0.85355822 0.5131524 -0.09007205 -39.682908 ] [ -0.17897101 -0.12643256 0.97569677 -6.00935754] [ 0. 0. 0. 1. ]] SLAMing on 84.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:-39.60, Z:-6.00 [[ 4.83153445e-01 8.75503294e-01 7.53196190e-03 7.82204241e+01] [-8.46912379e-01 4.69522425e-01 -2.49575871e-01 -3.96029271e+01] [-2.22040922e-01 1.14204530e-01 9.68325954e-01 -5.99602957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.14, Y:-39.68, Z:-6.02 [[ 4.81321860e-01 8.69389106e-01 1.11766943e-01 7.81409153e+01] [-8.48624211e-01 4.94112568e-01 -1.88917227e-01 -3.96832447e+01] [-2.19468030e-01 -3.91814306e-03 9.75611824e-01 -6.02056569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:-39.71, Z:-6.03 [[ 4.82145301e-01 8.69171200e-01 1.09896925e-01 7.81558867e+01] [-8.49048175e-01 4.94497919e-01 -1.85981195e-01 -3.97111219e+01] [-2.15993299e-01 -3.63782398e-03 9.76388069e-01 -6.03127065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:-39.74, Z:-6.04 [[ 4.82263036e-01 8.69132974e-01 1.09682442e-01 7.81742374e+01] [-8.49038038e-01 4.94566112e-01 -1.85846094e-01 -3.97380237e+01] [-2.15770187e-01 -3.49786376e-03 9.76437910e-01 -6.03941403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:-39.77, Z:-6.05 [[ 4.82821207e-01 8.68833742e-01 1.09597496e-01 7.81928879e+01] [-8.48712308e-01 4.95093319e-01 -1.85930159e-01 -3.97650071e+01] [-2.15803383e-01 -3.24571995e-03 9.76431444e-01 -6.04665454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:-39.79, Z:-6.05 [[ 4.83085938e-01 8.68680346e-01 1.09646854e-01 7.82101913e+01] [-8.48486122e-01 4.95363579e-01 -1.86242386e-01 -3.97929085e+01] [-2.16100158e-01 -3.06275659e-03 9.76366397e-01 -6.05250883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:-39.82, Z:-6.05 [[ 4.83832287e-01 8.68055592e-01 1.11291545e-01 7.82281351e+01] [-8.47173625e-01 4.96459631e-01 -1.89274095e-01 -3.98216733e+01] [-2.19552196e-01 -2.70634328e-03 9.75597001e-01 -6.05278699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:-39.85, Z:-6.06 [[ 4.83190790e-01 8.68256500e-01 1.12504717e-01 7.82476856e+01] [-8.46862048e-01 4.96108170e-01 -1.91575979e-01 -3.98486641e+01] [-2.22151598e-01 -2.70822669e-03 9.75008376e-01 -6.05740925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-39.87, Z:-6.07 [[ 4.82166430e-01 8.68803162e-01 1.12679185e-01 7.82684072e+01] [-8.47301688e-01 4.95149452e-01 -1.92111608e-01 -3.98730342e+01] [-2.22700209e-01 -2.84349598e-03 9.74882830e-01 -6.06695805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:-39.90, Z:-6.08 [[ 4.81624568e-01 8.69142834e-01 1.12376645e-01 7.82860313e+01] [-8.47713903e-01 4.94552807e-01 -1.91829768e-01 -3.98997728e+01] [-2.22303653e-01 -2.87331485e-03 9.74973246e-01 -6.07645852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-39.93, Z:-6.08 [[ 4.81647814e-01 8.69123602e-01 1.12425742e-01 7.83044100e+01] [-8.47621333e-01 4.94587327e-01 -1.92149557e-01 -3.99258581e+01] [-2.22606062e-01 -2.74604329e-03 9.74904611e-01 -6.08419403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:-39.95, Z:-6.09 [[ 4.82287733e-01 8.68886442e-01 1.11511858e-01 7.83242067e+01] [-8.47677921e-01 4.95005172e-01 -1.90819345e-01 -3.99517740e+01] [-2.20999288e-01 -2.49631096e-03 9.75270774e-01 -6.09050551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.34, Y:-39.98, Z:-6.10 [[ 4.81873470e-01 8.69129267e-01 1.11410395e-01 7.83410913e+01] [-8.47913462e-01 4.94578742e-01 -1.90878571e-01 -3.99799683e+01] [-2.20999365e-01 -2.48705489e-03 9.75270780e-01 -6.09735105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-40.01, Z:-6.10 [[ 4.83013820e-01 8.68607046e-01 1.10541621e-01 7.83602838e+01] [-8.47663509e-01 4.95497023e-01 -1.89602939e-01 -4.00060774e+01] [-2.19463493e-01 -2.12125855e-03 9.75618407e-01 -6.10357723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.38, Y:-40.03, Z:-6.11 [[ 4.85492435e-01 8.67361533e-01 1.09458056e-01 7.83772906e+01] [-8.46749081e-01 4.97676545e-01 -1.87973538e-01 -4.00332183e+01] [-2.17515723e-01 -1.42377758e-03 9.76055779e-01 -6.11042108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:-40.06, Z:-6.12 [[ 4.90082936e-01 8.64918241e-01 1.08328909e-01 7.83892038e+01] [-8.44624657e-01 5.01912732e-01 -1.86260027e-01 -4.00635721e+01] [-2.15471354e-01 -2.14406776e-04 9.76510138e-01 -6.11768875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:-40.09, Z:-6.12 [[ 4.91414923e-01 8.64127159e-01 1.08607675e-01 7.84050934e+01] [-8.43657404e-01 5.03273474e-01 -1.86970573e-01 -4.00912355e+01] [-2.16225712e-01 2.52460789e-04 9.76343371e-01 -6.12431845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:-40.12, Z:-6.13 [[ 4.93051719e-01 8.63070924e-01 1.09583677e-01 7.84235926e+01] [-8.42149098e-01 5.05082041e-01 -1.88883636e-01 -4.01180029e+01] [-2.18368721e-01 8.43606640e-04 9.75865969e-01 -6.13029560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:-40.14, Z:-6.14 [[ 4.94661336e-01 8.62045896e-01 1.10394910e-01 7.84435984e+01] [-8.40731320e-01 5.06828209e-01 -1.90515129e-01 -4.01443294e+01] [-2.20184039e-01 1.42800930e-03 9.75457303e-01 -6.13696697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:-40.17, Z:-6.14 [[ 4.95337396e-01 8.61646074e-01 1.10484872e-01 7.84630987e+01] [-8.40234520e-01 5.07506710e-01 -1.90900210e-01 -4.01712695e+01] [-2.20560231e-01 1.72680916e-03 9.75371828e-01 -6.14271982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:-40.20, Z:-6.15 [[ 4.97305498e-01 8.60708828e-01 1.08938305e-01 7.84793947e+01] [-8.39827553e-01 5.09092667e-01 -1.88452480e-01 -4.01991771e+01] [-2.17662405e-01 2.22906439e-03 9.76021572e-01 -6.15007887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-40.23, Z:-6.16 [[ 4.98059145e-01 8.60368281e-01 1.08182756e-01 7.84930061e+01] [-8.39721801e-01 5.09666836e-01 -1.87368654e-01 -4.02279340e+01] [-2.16343210e-01 2.47725275e-03 9.76314231e-01 -6.15794386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.51, Y:-40.26, Z:-6.17 [[ 5.00257290e-01 8.59217645e-01 1.07180604e-01 7.85063937e+01] [-8.38882129e-01 5.11601076e-01 -1.85852394e-01 -4.02574406e+01] [-2.14521369e-01 3.06212146e-03 9.76714495e-01 -6.16657542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:-40.29, Z:-6.17 [[ 5.07823469e-01 8.54698980e-01 1.07726406e-01 7.85156812e+01] [-8.34001861e-01 5.19098575e-01 -1.87022901e-01 -4.02894198e+01] [-2.15768906e-01 5.13059560e-03 9.76430979e-01 -6.17382319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.49, Y:-40.34, Z:-6.18 [[ 5.11108385e-01 8.48016081e-01 1.40131885e-01 7.84911443e+01] [-8.35887346e-01 5.28372317e-01 -1.48711264e-01 -4.03405176e+01] [-2.00151352e-01 -4.11268952e-02 9.78901433e-01 -6.18036964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:-40.33, Z:-6.18 [[ 5.13464975e-01 8.55375625e-01 6.84562626e-02 7.85795619e+01] [-8.29787920e-01 5.15261862e-01 -2.14376355e-01 -4.03289243e+01] [-2.18645210e-01 5.32705699e-02 9.74349280e-01 -6.17738264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-40.38, Z:-6.19 [[ 5.13247494e-01 8.51107344e-01 1.10423276e-01 7.85567587e+01] [-8.29132216e-01 5.24943211e-01 -1.92287267e-01 -4.03777542e+01] [-2.21623055e-01 7.13546218e-03 9.75106305e-01 -6.18827379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.57, Y:-40.41, Z:-6.19 [[ 5.13040205e-01 8.51257208e-01 1.10231181e-01 7.85727505e+01] [-8.29313034e-01 5.24699600e-01 -1.92172374e-01 -4.04060113e+01] [-2.21426376e-01 7.17599899e-03 9.75150688e-01 -6.19462078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.55, Y:-40.45, Z:-6.20 [[ 5.10181428e-01 8.48925069e-01 1.37989628e-01 7.85541330e+01] [-8.34518416e-01 5.27428244e-01 -1.59368946e-01 -4.04521033e+01] [-2.08071921e-01 -3.38478093e-02 9.77527699e-01 -6.20411542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.63, Y:-40.45, Z:-6.20 [[ 5.08661149e-01 8.57631895e-01 7.57057926e-02 7.86307507e+01] [-8.31863663e-01 5.12232309e-01 -2.13590514e-01 -4.04465741e+01] [-2.21960990e-01 4.56682983e-02 9.73985485e-01 -6.20485981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:-40.49, Z:-6.22 [[ 5.06718253e-01 8.54915313e-01 1.11159439e-01 7.86115044e+01] [-8.32578067e-01 5.18734317e-01 -1.94238180e-01 -4.04943810e+01] [-2.23719410e-01 5.87512023e-03 9.74635885e-01 -6.21525804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-40.54, Z:-6.22 [[ 5.05828529e-01 8.51009736e-01 1.41137979e-01 7.85897664e+01] [-8.36799756e-01 5.23809021e-01 -1.59343271e-01 -4.05411674e+01] [-2.09532022e-01 -3.75038540e-02 9.77082286e-01 -6.22127684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:-40.53, Z:-6.22 [[ 5.01741896e-01 8.61824502e-01 7.42536050e-02 7.86735446e+01] [-8.35295360e-01 5.05022232e-01 -2.17334318e-01 -4.05334249e+01] [-2.24803761e-01 4.70220408e-02 9.73268820e-01 -6.22172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:-40.58, Z:-6.23 [[ 4.98252011e-01 8.59751787e-01 1.12124026e-01 7.86562674e+01] [-8.36987310e-01 5.10695673e-01 -1.96576123e-01 -4.05793213e+01] [-2.26267928e-01 4.09806157e-03 9.74056482e-01 -6.23309032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:-40.62, Z:-6.24 [[ 4.98010104e-01 8.56829869e-01 1.33523452e-01 7.86406122e+01] [-8.44087544e-01 5.14262973e-01 -1.51821649e-01 -4.06240161e+01] [-1.98751491e-01 -3.70967676e-02 9.79347576e-01 -6.24243027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:-40.62, Z:-6.25 [[ 4.94831686e-01 8.65635724e-01 7.62653044e-02 7.87211520e+01] [-8.39281708e-01 4.98822691e-01 -2.16291789e-01 -4.06157468e+01] [-2.25272763e-01 4.30199555e-02 9.73345502e-01 -6.24519949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:-40.66, Z:-6.25 [[ 4.91593147e-01 8.63662286e-01 1.11461356e-01 7.87038377e+01] [-8.41124022e-01 5.04064092e-01 -1.96035125e-01 -4.06615983e+01] [-2.25491812e-01 2.61669953e-03 9.74241549e-01 -6.25471436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.69, Y:-40.71, Z:-6.26 [[ 4.87361496e-01 8.63762491e-01 1.28035669e-01 7.86866463e+01] [-8.50090464e-01 5.02845505e-01 -1.56501121e-01 -4.07087958e+01] [-1.99561959e-01 -3.25692813e-02 9.79343794e-01 -6.25671257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-40.71, Z:-6.26 [[ 4.83617596e-01 8.71315140e-01 8.32102672e-02 7.87528835e+01] [-8.45008129e-01 4.89562810e-01 -2.15149987e-01 -4.07083566e+01] [-2.28200093e-01 3.37369670e-02 9.73029565e-01 -6.26096795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:-40.75, Z:-6.27 [[ 4.82062152e-01 8.68982778e-01 1.11736353e-01 7.87419290e+01] [-8.46339168e-01 4.94842135e-01 -1.97081896e-01 -4.07514954e+01] [-2.26552629e-01 4.38870604e-04 9.73998826e-01 -6.27283452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:-40.78, Z:-6.28 [[ 4.81590614e-01 8.69416805e-01 1.10385229e-01 7.87594105e+01] [-8.47273742e-01 4.94079227e-01 -1.94969034e-01 -4.07794872e+01] [-2.24048404e-01 3.68750574e-04 9.74577948e-01 -6.28262650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-40.81, Z:-6.29 [[ 4.79154673e-01 8.70701784e-01 1.10856679e-01 7.87771400e+01] [-8.48336651e-01 4.91811341e-01 -1.96077871e-01 -4.08066733e+01] [-2.25245925e-01 -9.21557329e-05 9.74301937e-01 -6.29133680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.77, Y:-40.85, Z:-6.30 [[ 4.78950310e-01 8.69552111e-01 1.20356669e-01 7.87720998e+01] [-8.54744485e-01 4.93188418e-01 -1.61793232e-01 -4.08467787e+01] [-2.00046162e-01 -2.53832806e-02 9.79457616e-01 -6.29583233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-40.86, Z:-6.30 [[ 4.72990083e-01 8.76366971e-01 9.08917628e-02 7.88260565e+01] [-8.50573087e-01 4.81089050e-01 -2.12317568e-01 -4.08553812e+01] [-2.29795136e-01 2.31140167e-02 9.72964510e-01 -6.29703035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:-40.90, Z:-6.30 [[ 4.70284737e-01 8.75269892e-01 1.12848933e-01 7.88203932e+01] [-8.52019506e-01 4.83631063e-01 -2.00408972e-01 -4.08969842e+01] [-2.29989188e-01 -1.90021107e-03 9.73191329e-01 -6.30379516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-40.93, Z:-6.31 [[ 4.67808160e-01 8.76821146e-01 1.11086468e-01 7.88346479e+01] [-8.54279678e-01 4.80810275e-01 -1.97554324e-01 -4.09264111e+01] [-2.26631324e-01 -2.48138727e-03 9.73977456e-01 -6.31363182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.85, Y:-40.95, Z:-6.32 [[ 4.65382037e-01 8.78167670e-01 1.10639521e-01 7.88520321e+01] [-8.55782117e-01 4.78343636e-01 -1.97038914e-01 -4.09544937e+01] [-2.25956915e-01 -2.98495229e-03 9.74132723e-01 -6.32317003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-41.00, Z:-6.33 [[ 4.70471975e-01 8.71751387e-01 1.36768563e-01 7.88281221e+01] [-8.61803804e-01 4.87233897e-01 -1.41057908e-01 -4.10012280e+01] [-1.89605707e-01 -5.15038752e-02 9.80508555e-01 -6.32767821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-40.99, Z:-6.33 [[ 4.62162894e-01 8.83898967e-01 7.16105787e-02 7.89231453e+01] [-8.55240873e-01 4.65611969e-01 -2.27527017e-01 -4.09874896e+01] [-2.34453638e-01 4.39102506e-02 9.71135100e-01 -6.33242124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-41.04, Z:-6.34 [[ 4.60834734e-01 8.80058026e-01 1.14582802e-01 7.89002635e+01] [-8.55883748e-01 4.74852127e-01 -2.04886477e-01 -4.10380806e+01] [-2.34721876e-01 -3.65075254e-03 9.72055715e-01 -6.34178829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.89, Y:-41.08, Z:-6.35 [[ 4.66936320e-01 8.75748650e-01 1.22616376e-01 7.88907821e+01] [-8.61326999e-01 4.81811740e-01 -1.61162178e-01 -4.10778321e+01] [-2.00215569e-01 -3.03603208e-02 9.79281357e-01 -6.34570463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.91, Y:-41.10, Z:-6.36 [[ 4.67382415e-01 8.76775329e-01 1.13219702e-01 7.89143575e+01] [-8.60994056e-01 4.80502896e-01 -1.66751920e-01 -4.11035854e+01] [-2.00606364e-01 -1.95445749e-02 9.79476950e-01 -6.35515072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-41.11, Z:-6.36 [[ 4.64188751e-01 8.82453848e-01 7.61840472e-02 7.89779601e+01] [-8.54270781e-01 4.68761534e-01 -2.24686576e-01 -4.11058816e+01] [-2.33987685e-01 3.92151758e-02 9.71448369e-01 -6.36026499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:-41.15, Z:-6.37 [[ 4.62733568e-01 8.79029193e-01 1.14827361e-01 7.89595304e+01] [-8.54467898e-01 4.76760710e-01 -2.06358514e-01 -4.11535230e+01] [-2.36140333e-01 -2.62728252e-03 9.71715411e-01 -6.36862004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:-41.20, Z:-6.37 [[ 4.64613811e-01 8.75829568e-01 1.30600820e-01 7.89448111e+01] [-8.61024968e-01 4.81269631e-01 -1.64364066e-01 -4.11991489e+01] [-2.06809118e-01 -3.60847516e-02 9.77715643e-01 -6.37207613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:-41.22, Z:-6.38 [[ 4.62931917e-01 8.79920320e-01 1.06931148e-01 7.89797997e+01] [-8.62363843e-01 4.74991917e-01 -1.75246343e-01 -4.12164622e+01] [-2.04994249e-01 -1.10864305e-02 9.78700388e-01 -6.37923415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:-41.24, Z:-6.39 [[ 4.61842366e-01 8.81620843e-01 9.71921674e-02 7.90046784e+01] [-8.62970523e-01 4.71958015e-01 -1.80381562e-01 -4.12396094e+01] [-2.04898767e-01 -5.66128016e-04 9.78783007e-01 -6.38685611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:-41.25, Z:-6.39 [[ 4.58510526e-01 8.85222665e-01 7.84151252e-02 7.90521787e+01] [-8.56395990e-01 4.63696013e-01 -2.27094510e-01 -4.12504180e+01] [-2.37389988e-01 3.69708244e-02 9.70710643e-01 -6.39491069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-41.30, Z:-6.41 [[ 4.56203983e-01 8.82456096e-01 1.14669808e-01 7.90354623e+01] [-8.57747711e-01 4.70379865e-01 -2.07392495e-01 -4.12966081e+01] [-2.36953140e-01 -3.74448301e-03 9.71513864e-01 -6.40504286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:-41.33, Z:-6.41 [[ 4.55615247e-01 8.82772988e-01 1.14571365e-01 7.90480483e+01] [-8.58039445e-01 4.69784825e-01 -2.07534402e-01 -4.13278804e+01] [-2.37029653e-01 -3.75091295e-03 9.71495175e-01 -6.41223087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.03, Y:-41.38, Z:-6.42 [[ 4.59016856e-01 8.77923955e-01 1.36209603e-01 7.90301698e+01] [-8.64436775e-01 4.76729785e-01 -1.59617586e-01 -4.13762269e+01] [-2.05067277e-01 -4.44774273e-02 9.77736759e-01 -6.41635299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.11, Y:-41.37, Z:-6.42 [[ 4.55618355e-01 8.86766902e-01 7.78227208e-02 7.91134019e+01] [-8.57596693e-01 4.60697979e-01 -2.28659755e-01 -4.13682582e+01] [-2.38620673e-01 3.74410737e-02 9.70390818e-01 -6.42033734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-41.42, Z:-6.43 [[ 4.54199129e-01 8.83556302e-01 1.14155212e-01 7.90984652e+01] [-8.58833925e-01 4.68309883e-01 -2.07581652e-01 -4.14151554e+01] [-2.36870091e-01 -3.75696336e-03 9.71534068e-01 -6.42978063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:-41.44, Z:-6.44 [[ 4.53286173e-01 8.84144606e-01 1.13225272e-01 7.91158811e+01] [-8.59766320e-01 4.67197336e-01 -2.06224452e-01 -4.14442451e+01] [-2.35230782e-01 -3.86858244e-03 9.71931846e-01 -6.43865776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-41.47, Z:-6.45 [[ 4.52623995e-01 8.84620380e-01 1.12153030e-01 7.91318975e+01] [-8.60643194e-01 4.66295450e-01 -2.04601674e-01 -4.14727683e+01] [-2.33291258e-01 -3.91611537e-03 9.72399019e-01 -6.45159397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-41.50, Z:-6.46 [[ 4.52853666e-01 8.84438846e-01 1.12656489e-01 7.91490697e+01] [-8.60155818e-01 4.66641614e-01 -2.05858139e-01 -4.15014644e+01] [-2.34639141e-01 -3.67852135e-03 9.72075585e-01 -6.45997734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-41.55, Z:-6.46 [[ 4.57284560e-01 8.78619685e-01 1.37543741e-01 7.91308550e+01] [-8.65366916e-01 4.75267740e-01 -1.58936078e-01 -4.15486717e+01] [-2.05014469e-01 -4.63467885e-02 9.77661006e-01 -6.46461942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:-41.54, Z:-6.47 [[ 4.54647371e-01 8.87436146e-01 7.58475734e-02 7.92170364e+01] [-8.57813446e-01 4.59201269e-01 -2.30846890e-01 -4.15400454e+01] [-2.39691176e-01 3.98908634e-02 9.70029308e-01 -6.46761386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:-41.61, Z:-6.47 [[ 4.60719075e-01 8.76573593e-01 1.39128252e-01 7.91599381e+01] [-8.63100131e-01 4.79027783e-01 -1.59970460e-01 -4.16087560e+01] [-2.06872179e-01 -4.63801703e-02 9.77268019e-01 -6.47254053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:-41.60, Z:-6.48 [[ 4.57544302e-01 8.86033633e-01 7.48171944e-02 7.92487806e+01] [-8.56524935e-01 4.61770235e-01 -2.30506585e-01 -4.15980112e+01] [-2.38784940e-01 4.13841818e-02 9.70190240e-01 -6.47962237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.23, Y:-41.64, Z:-6.49 [[ 4.57199327e-01 8.82034109e-01 1.13950014e-01 7.92336685e+01] [-8.56772324e-01 4.71182104e-01 -2.09591532e-01 -4.16437515e+01] [-2.38558088e-01 -1.80411062e-03 9.71126554e-01 -6.49071654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:-41.69, Z:-6.50 [[ 4.59949612e-01 8.74458140e-01 1.54173003e-01 7.92054755e+01] [-8.60370108e-01 4.81831004e-01 -1.66138984e-01 -4.16913462e+01] [-2.19566920e-01 -5.62302821e-02 9.73975628e-01 -6.49935579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.28, Y:-41.69, Z:-6.51 [[ 4.58603776e-01 8.84359120e-01 8.71293492e-02 7.92797523e+01] [-8.63171409e-01 4.66619194e-01 -1.92877284e-01 -4.16927228e+01] [-2.11229012e-01 1.32466876e-02 9.77346832e-01 -6.50555613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:-41.71, Z:-6.51 [[ 4.54421256e-01 8.87260372e-01 7.91855744e-02 7.93093806e+01] [-8.58080332e-01 4.59870351e-01 -2.28511278e-01 -4.17146281e+01] [-2.39164100e-01 3.58927982e-02 9.70315537e-01 -6.51458547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:-41.76, Z:-6.52 [[ 4.53508699e-01 8.84056317e-01 1.13023393e-01 7.92943966e+01] [-8.58963567e-01 4.67375053e-01 -2.09146243e-01 -4.17606354e+01] [-2.37721372e-01 -2.23333636e-03 9.71330820e-01 -6.52340344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.31, Y:-41.79, Z:-6.53 [[ 4.52880450e-01 8.84396785e-01 1.12878801e-01 7.93111314e+01] [-8.59295009e-01 4.66730432e-01 -2.09224259e-01 -4.17906016e+01] [-2.37721234e-01 -2.24261392e-03 9.71330832e-01 -6.53132460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:-41.82, Z:-6.54 [[ 4.52209151e-01 8.84730319e-01 1.12956393e-01 7.93295802e+01] [-8.59513898e-01 4.66097875e-01 -2.09734668e-01 -4.18191360e+01] [-2.38207354e-01 -2.24365320e-03 9.71211729e-01 -6.53689943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:-41.87, Z:-6.54 [[ 4.53797987e-01 8.78029689e-01 1.52089619e-01 7.93037895e+01] [-8.63397856e-01 4.75465935e-01 -1.68749182e-01 -4.18693474e+01] [-2.20480225e-01 -5.47358116e-02 9.73854435e-01 -6.54171042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:-41.86, Z:-6.54 [[ 4.48546894e-01 8.91139329e-01 6.83840587e-02 7.94062474e+01] [-8.59144068e-01 4.50998320e-01 -2.41809815e-01 -4.18553864e+01] [-2.46327332e-01 4.97112834e-02 9.67910964e-01 -6.54457855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-41.91, Z:-6.56 [[ 4.45452730e-01 8.87785120e-01 1.15799162e-01 7.93800642e+01] [-8.61108722e-01 4.60244956e-01 -2.16023956e-01 -4.19069276e+01] [-2.45078834e-01 -3.48720710e-03 9.69496882e-01 -6.55670305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:-41.94, Z:-6.57 [[ 4.42828509e-01 8.89213298e-01 1.14902664e-01 7.93986137e+01] [-8.62913637e-01 4.57474705e-01 -2.14702000e-01 -4.19350485e+01] [-2.43480936e-01 -4.07490899e-03 9.69897123e-01 -6.56571959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:-41.96, Z:-6.58 [[ 4.39569037e-01 8.91063372e-01 1.13071343e-01 7.94182509e+01] [-8.65583484e-01 4.53852983e-01 -2.11619236e-01 -4.19627783e+01] [-2.39883916e-01 -4.85142317e-03 9.70789457e-01 -6.57623100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:-41.99, Z:-6.59 [[ 4.37496139e-01 8.92179493e-01 1.12307080e-01 7.94342847e+01] [-8.66999302e-01 4.51650369e-01 -2.10533025e-01 -4.19926438e+01] [-2.38556782e-01 -5.26277438e-03 9.71114290e-01 -6.58510780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:-42.02, Z:-6.59 [[ 4.35992706e-01 8.92841451e-01 1.12891554e-01 7.94506606e+01] [-8.67329662e-01 4.50337621e-01 -2.11979442e-01 -4.20222462e+01] [-2.40103347e-01 -5.49270252e-03 9.70731793e-01 -6.59137167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-42.05, Z:-6.60 [[ 4.34618774e-01 8.93448003e-01 1.13389540e-01 7.94680998e+01] [-8.67639272e-01 4.49130590e-01 -2.13269331e-01 -4.20523891e+01] [-2.41471769e-01 -5.69036259e-03 9.70391161e-01 -6.59719637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:-42.08, Z:-6.60 [[ 4.34342309e-01 8.93424405e-01 1.14628053e-01 7.94888223e+01] [-8.66949652e-01 4.49178934e-01 -2.15955056e-01 -4.20793522e+01] [-2.44428024e-01 -5.57833325e-03 9.69651393e-01 -6.60192403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:-42.11, Z:-6.61 [[ 4.34081793e-01 8.93567052e-01 1.14502930e-01 7.95067904e+01] [-8.67074271e-01 4.48896034e-01 -2.16042955e-01 -4.21076999e+01] [-2.44448778e-01 -5.50223179e-03 9.69646596e-01 -6.61113072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:-42.15, Z:-6.62 [[ 4.37238644e-01 8.88913415e-01 1.36584439e-01 7.94923285e+01] [-8.72885450e-01 4.56020050e-01 -1.73541654e-01 -4.21530830e+01] [-2.16548747e-01 -4.33434522e-02 9.75309174e-01 -6.61991638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:-42.15, Z:-6.63 [[ 4.34756152e-01 8.97064591e-01 7.91341112e-02 7.95721953e+01] [-8.66044722e-01 4.40572319e-01 -2.36352642e-01 -4.21477614e+01] [-2.46887885e-01 3.42220858e-02 9.68439581e-01 -6.62517966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.56, Y:-42.19, Z:-6.64 [[ 4.35950512e-01 8.92633240e-01 1.14686747e-01 7.95587239e+01] [-8.65794991e-01 4.50760499e-01 -2.17287841e-01 -4.21915373e+01] [-2.45654605e-01 -4.56846549e-03 9.69346658e-01 -6.63613217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-42.22, Z:-6.64 [[ 4.37293627e-01 8.92006298e-01 1.14451073e-01 7.95763856e+01] [-8.65176667e-01 4.52004779e-01 -2.17165871e-01 -4.22198156e+01] [-2.45445757e-01 -4.05514655e-03 9.69401845e-01 -6.64423852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:-42.27, Z:-6.65 [[ 4.43087271e-01 8.84137395e-01 1.48238784e-01 7.95489409e+01] [-8.70585599e-01 4.63820861e-01 -1.64167366e-01 -4.22696944e+01] [-2.13902748e-01 -5.63140805e-02 9.75230403e-01 -6.65120930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:-42.25, Z:-6.65 [[ 4.43819557e-01 8.93562356e-01 6.76056028e-02 7.96511876e+01] [-8.61196448e-01 4.46164499e-01 -2.43470570e-01 -4.22546721e+01] [-2.47719356e-01 4.98352957e-02 9.67549257e-01 -6.65236283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.62, Y:-42.31, Z:-6.66 [[ 4.45159174e-01 8.87941123e-01 1.15731899e-01 7.96228304e+01] [-8.60130449e-01 4.59955030e-01 -2.20492586e-01 -4.23059938e+01] [-2.49015903e-01 -1.39023316e-03 9.68498398e-01 -6.66402327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.60, Y:-42.35, Z:-6.67 [[ 4.50655318e-01 8.81892131e-01 1.38477629e-01 7.96045598e+01] [-8.65622738e-01 4.69612002e-01 -1.73671652e-01 -4.23521101e+01] [-2.18190420e-01 -4.16033315e-02 9.75019027e-01 -6.67092051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:-42.35, Z:-6.67 [[ 4.48520013e-01 8.90245194e-01 7.93302752e-02 7.96887024e+01] [-8.58106332e-01 4.53745706e-01 -2.40350487e-01 -4.23465469e+01] [-2.49966638e-01 3.97281922e-02 9.67439068e-01 -6.67463487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.68, Y:-42.39, Z:-6.69 [[ 4.48172159e-01 8.86606559e-01 1.14326399e-01 7.96766055e+01] [-8.59185660e-01 4.62524357e-01 -2.18794927e-01 -4.23885898e+01] [-2.46863762e-01 -1.69807558e-04 9.69050182e-01 -6.68924280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:-42.42, Z:-6.70 [[ 4.48300045e-01 8.86677699e-01 1.13268391e-01 7.96932975e+01] [-8.59691662e-01 4.62387992e-01 -2.17088901e-01 -4.24178371e+01] [-2.44861831e-01 -5.49274621e-05 9.69557982e-01 -6.69880099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:-42.45, Z:-6.71 [[ 4.47892049e-01 8.86874910e-01 1.13338461e-01 7.97086241e+01] [-8.59769641e-01 4.62009626e-01 -2.17585086e-01 -4.24481573e+01] [-2.45334213e-01 9.66161455e-06 9.69438561e-01 -6.70727330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-42.48, Z:-6.71 [[ 4.47472326e-01 8.87112033e-01 1.13140439e-01 7.97240844e+01] [-8.60015589e-01 4.61554155e-01 -2.17579754e-01 -4.24787857e+01] [-2.45238058e-01 5.83776102e-05 9.69462888e-01 -6.71496303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:-42.51, Z:-6.72 [[ 4.48006090e-01 8.86854164e-01 1.13049701e-01 7.97404869e+01] [-8.59701623e-01 4.62049297e-01 -2.17769527e-01 -4.25088201e+01] [-2.45364346e-01 3.73062427e-04 9.69430863e-01 -6.72174233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.76, Y:-42.54, Z:-6.73 [[ 4.48961892e-01 8.86211621e-01 1.14289909e-01 7.97579621e+01] [-8.58335475e-01 4.63279761e-01 -2.20526814e-01 -4.25372497e+01] [-2.48381627e-01 9.09052602e-04 9.68661830e-01 -6.72700943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:-42.57, Z:-6.73 [[ 4.49327675e-01 8.85929268e-01 1.15039002e-01 7.97730739e+01] [-8.57584448e-01 4.63818725e-01 -2.22308581e-01 -4.25674413e+01] [-2.50306922e-01 1.23373858e-03 9.68165752e-01 -6.73493966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:-42.60, Z:-6.74 [[ 4.50166849e-01 8.85571647e-01 1.14510546e-01 7.97865484e+01] [-8.57386013e-01 4.64500051e-01 -2.21650461e-01 -4.25978855e+01] [-2.49477519e-01 1.59994888e-03 9.68379269e-01 -6.74365580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-42.63, Z:-6.75 [[ 4.51027332e-01 8.85230915e-01 1.13756639e-01 7.98003403e+01] [-8.57318532e-01 4.65147751e-01 -2.20550457e-01 -4.26286779e+01] [-2.48151727e-01 1.94860937e-03 9.68719218e-01 -6.75406501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:-42.66, Z:-6.76 [[ 4.50953546e-01 8.85417649e-01 1.12589905e-01 7.98168625e+01] [-8.57999610e-01 4.64791999e-01 -2.18643698e-01 -4.26572028e+01] [-2.45921876e-01 1.99605624e-03 9.69287597e-01 -6.76370007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.81, Y:-42.70, Z:-6.77 [[ 4.51522652e-01 8.83108540e-01 1.27462159e-01 7.98096741e+01] [-8.64888644e-01 4.68294324e-01 -1.80743075e-01 -4.26973597e+01] [-2.19305558e-01 -2.86309818e-02 9.75236043e-01 -6.77041590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.88, Y:-42.70, Z:-6.77 [[ 4.47390217e-01 8.90231157e-01 8.56182212e-02 7.98760257e+01] [-8.59664035e-01 4.54467856e-01 -2.33316770e-01 -4.27016584e+01] [-2.46616588e-01 3.07807349e-02 9.68624182e-01 -6.77386037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-42.74, Z:-6.78 [[ 4.41534943e-01 8.90024594e-01 1.13591884e-01 7.98655407e+01] [-8.62000320e-01 4.55912509e-01 -2.21583465e-01 -4.27437826e+01] [-2.49002695e-01 -7.93973955e-05 9.68502789e-01 -6.78073285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:-42.78, Z:-6.79 [[ 4.42965510e-01 8.87088501e-01 1.29828923e-01 7.98551963e+01] [-8.68179419e-01 4.60566378e-01 -1.84778539e-01 -4.27847329e+01] [-2.23709754e-01 -3.08642791e-02 9.74166999e-01 -6.78770919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:-42.79, Z:-6.79 [[ 4.38765591e-01 8.94294557e-01 8.78749203e-02 7.99210256e+01] [-8.62401460e-01 4.46548428e-01 -2.38449626e-01 -4.27888635e+01] [-2.52484610e-01 2.88400314e-02 9.67171016e-01 -6.79267099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:-42.83, Z:-6.81 [[ 4.37690298e-01 8.91776990e-01 1.14721416e-01 7.99115097e+01] [-8.62965763e-01 4.52474813e-01 -2.24848029e-01 -4.28300129e+01] [-2.52422850e-01 -5.86853308e-04 9.67616846e-01 -6.80536199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:-42.86, Z:-6.82 [[ 4.38804766e-01 8.91289494e-01 1.14251540e-01 7.99242416e+01] [-8.62604557e-01 4.53434693e-01 -2.24299704e-01 -4.28605976e+01] [-2.51721582e-01 -1.30119770e-04 9.67799684e-01 -6.81551770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.94, Y:-42.89, Z:-6.82 [[ 4.41862715e-01 8.89964038e-01 1.12788975e-01 7.99356478e+01] [-8.61883461e-01 4.56030025e-01 -2.21796115e-01 -4.28928083e+01] [-2.48825725e-01 7.92481481e-04 9.68547950e-01 -6.82448828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:-42.92, Z:-6.83 [[ 4.43125856e-01 8.89451110e-01 1.11875816e-01 7.99525966e+01] [-8.61720527e-01 4.57028633e-01 -2.20369152e-01 -4.29220114e+01] [-2.47138038e-01 1.24558238e-03 9.68979483e-01 -6.83219900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.91, Y:-42.98, Z:-6.84 [[ 4.45170582e-01 8.81224906e-01 1.58952252e-01 7.99149005e+01] [-8.67071603e-01 4.68550400e-01 -1.69255307e-01 -4.29767467e+01] [-2.23629133e-01 -6.24755008e-02 9.72669945e-01 -6.84105787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:-42.96, Z:-6.84 [[ 4.41702580e-01 8.95508866e-01 5.44307108e-02 8.00321503e+01] [-8.61880730e-01 4.40397506e-01 -2.51419261e-01 -4.29564253e+01] [-2.49119326e-01 6.41397553e-02 9.66346549e-01 -6.84129062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.99, Y:-43.01, Z:-6.85 [[ 4.38357510e-01 8.91585005e-01 1.13661220e-01 7.99916277e+01] [-8.62756206e-01 4.52853076e-01 -2.24890685e-01 -4.30137849e+01] [-2.51980996e-01 5.20598071e-04 9.67732043e-01 -6.85470916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:-43.05, Z:-6.86 [[ 4.35817033e-01 8.92830151e-01 1.13656654e-01 8.00065446e+01] [-8.63945445e-01 4.50393518e-01 -2.25264171e-01 -4.30455019e+01] [-2.52312864e-01 -1.91854294e-05 9.67645709e-01 -6.86256128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.02, Y:-43.08, Z:-6.87 [[ 4.32848510e-01 8.94293175e-01 1.13498389e-01 8.00235030e+01] [-8.65429570e-01 4.47481021e-01 -2.25371682e-01 -4.30756850e+01] [-2.52336732e-01 -6.73065211e-04 9.67639251e-01 -6.87159366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.04, Y:-43.11, Z:-6.88 [[ 4.27149635e-01 8.97232078e-01 1.11882916e-01 8.00388900e+01] [-8.69185159e-01 4.41553963e-01 -2.22592133e-01 -4.31050695e+01] [-2.49119147e-01 -2.16682199e-03 9.68470420e-01 -6.88108175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.05, Y:-43.14, Z:-6.89 [[ 4.24169205e-01 8.98660095e-01 1.11760987e-01 8.00540908e+01] [-8.70625371e-01 4.38636577e-01 -2.22731716e-01 -4.31357517e+01] [-2.49182562e-01 -2.82601594e-03 9.68452407e-01 -6.88860608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.07, Y:-43.17, Z:-6.89 [[ 4.20690649e-01 9.00232682e-01 1.12251933e-01 8.00708041e+01] [-8.71902108e-01 4.35394272e-01 -2.24094941e-01 -4.31656057e+01] [-2.50611438e-01 -3.59805075e-03 9.68081072e-01 -6.89413485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-43.20, Z:-6.90 [[ 4.18892931e-01 9.01048321e-01 1.12430576e-01 8.00877647e+01] [-8.72554882e-01 4.33701003e-01 -2.24836425e-01 -4.31950119e+01] [-2.51349737e-01 -3.91945881e-03 9.67888396e-01 -6.90150109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:-43.22, Z:-6.91 [[ 4.17698327e-01 9.01627034e-01 1.12235466e-01 8.01012621e+01] [-8.73154976e-01 4.32495064e-01 -2.24829729e-01 -4.32247222e+01] [-2.51253847e-01 -4.08795401e-03 9.67912596e-01 -6.91296352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.11, Y:-43.26, Z:-6.92 [[ 4.18514150e-01 9.01241312e-01 1.12294278e-01 8.01138298e+01] [-8.72625030e-01 4.33301874e-01 -2.25333181e-01 -4.32555615e+01] [-2.51736893e-01 -3.68567279e-03 9.67788692e-01 -6.92331180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.13, Y:-43.29, Z:-6.93 [[ 4.19222054e-01 9.00907237e-01 1.12334413e-01 8.01279622e+01] [-8.72156669e-01 4.33999064e-01 -2.25804246e-01 -4.32864575e+01] [-2.52181710e-01 -3.31108785e-03 9.67674233e-01 -6.93213746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:-43.32, Z:-6.94 [[ 4.19581532e-01 9.00707825e-01 1.12591085e-01 8.01443512e+01] [-8.71703783e-01 4.34414988e-01 -2.26751257e-01 -4.33179542e+01] [-2.53147887e-01 -3.00543458e-03 9.67422925e-01 -6.93862794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.16, Y:-43.35, Z:-6.95 [[ 4.19252393e-01 9.00846146e-01 1.12710481e-01 8.01606377e+01] [-8.71670559e-01 4.34128813e-01 -2.27426056e-01 -4.33486802e+01] [-2.53806753e-01 -2.89748964e-03 9.67250607e-01 -6.94521583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:80.17, Y:-43.38, Z:-6.95 [[ 4.17015701e-01 9.02001780e-01 1.11761774e-01 8.01730187e+01] [-8.73252683e-01 4.31719110e-01 -2.25938843e-01 -4.33813157e+01] [-2.52046932e-01 -3.37622370e-03 9.67709122e-01 -6.95113539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.19, Y:-43.41, Z:-6.96 [[ 4.14834959e-01 9.03023205e-01 1.11629069e-01 8.01875040e+01] [-8.74267007e-01 4.29574982e-01 -2.26102931e-01 -4.34124199e+01] [-2.52129248e-01 -3.79821256e-03 9.67686114e-01 -6.95982945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-43.44, Z:-6.97 [[ 4.12157875e-01 9.04208798e-01 1.11947915e-01 8.02036888e+01] [-8.75214190e-01 4.27068601e-01 -2.27183917e-01 -4.34421536e+01] [-2.53231136e-01 -4.34276283e-03 9.67396058e-01 -6.96920882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:-43.47, Z:-6.98 [[ 4.06731145e-01 9.06428999e-01 1.13825508e-01 8.02234557e+01] [-8.76401767e-01 4.22320800e-01 -2.31441321e-01 -4.34701617e+01] [-2.57856004e-01 -5.62248272e-03 9.66166998e-01 -6.97882306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:-43.50, Z:-6.99 [[ 4.04382757e-01 9.07512436e-01 1.13559520e-01 8.02395031e+01] [-8.77561797e-01 4.19980622e-01 -2.31304062e-01 -4.35002247e+01] [-2.57604111e-01 -6.12012207e-03 9.66231166e-01 -6.98816316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-43.53, Z:-7.00 [[ 4.03033530e-01 9.08142800e-01 1.13316498e-01 8.02554110e+01] [-8.78229413e-01 4.18612895e-01 -2.31249524e-01 -4.35311058e+01] [-2.57443337e-01 -6.31656982e-03 9.66272751e-01 -6.99556248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.27, Y:-43.56, Z:-7.00 [[ 4.02156673e-01 9.08542223e-01 1.13230032e-01 8.02742801e+01] [-8.78574152e-01 4.17744368e-01 -2.31510481e-01 -4.35602128e+01] [-2.57638255e-01 -6.37749422e-03 9.66220398e-01 -7.00187112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.29, Y:-43.59, Z:-7.01 [[ 4.01465268e-01 9.08816543e-01 1.13481846e-01 8.02918514e+01] [-8.78616347e-01 4.17146953e-01 -2.32425762e-01 -4.35891723e+01] [-2.58570984e-01 -6.39613362e-03 9.65971084e-01 -7.00866142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:-43.62, Z:-7.02 [[ 4.02032641e-01 9.08624688e-01 1.13008549e-01 8.03080966e+01] [-8.78565638e-01 4.17569539e-01 -2.31857929e-01 -4.36183549e+01] [-2.57860766e-01 -6.07097270e-03 9.66163013e-01 -7.01672668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.32, Y:-43.65, Z:-7.03 [[ 4.02683356e-01 9.08365022e-01 1.12778996e-01 8.03233319e+01] [-8.78312891e-01 4.18139087e-01 -2.31789063e-01 -4.36483408e+01] [-2.57706384e-01 -5.71764806e-03 9.66206359e-01 -7.02594527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-43.68, Z:-7.03 [[ 4.02053790e-01 9.08663611e-01 1.12619678e-01 8.03387362e+01] [-8.78601321e-01 4.17489720e-01 -2.31866455e-01 -4.36789206e+01] [-2.57706168e-01 -5.72501058e-03 9.66206373e-01 -7.03427787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-43.71, Z:-7.04 [[ 4.02443819e-01 9.08480188e-01 1.12706344e-01 8.03548773e+01] [-8.78250756e-01 4.17892656e-01 -2.32467931e-01 -4.37084354e+01] [-2.58291663e-01 -5.42915040e-03 9.66051728e-01 -7.04317063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-43.74, Z:-7.05 [[ 4.01587728e-01 9.08794619e-01 1.13223838e-01 8.03754120e+01] [-8.78184001e-01 4.17207732e-01 -2.33945653e-01 -4.37357722e+01] [-2.59846411e-01 -5.48166023e-03 9.65634400e-01 -7.05151254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:-43.76, Z:-7.06 [[ 4.00330104e-01 9.09345842e-01 1.13251699e-01 8.03937334e+01] [-8.78631896e-01 4.16002458e-01 -2.34409782e-01 -4.37641221e+01] [-2.60272546e-01 -5.66526262e-03 9.65518569e-01 -7.05874201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:-43.79, Z:-7.07 [[ 4.00260177e-01 9.09436956e-01 1.12766187e-01 8.04122130e+01] [-8.78885347e-01 4.15805131e-01 -2.33808981e-01 -4.37925819e+01] [-2.59523288e-01 -5.52412540e-03 9.65721050e-01 -7.06709649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:-43.82, Z:-7.08 [[ 3.99087020e-01 9.09995062e-01 1.12421253e-01 8.04311554e+01] [-8.79546398e-01 4.14579995e-01 -2.33498526e-01 -4.38214158e+01] [-2.59090108e-01 -5.69347723e-03 9.65836373e-01 -7.07517021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-43.85, Z:-7.08 [[ 3.98805794e-01 9.10212921e-01 1.11652935e-01 8.04493249e+01] [-8.80087710e-01 4.14102462e-01 -2.32303194e-01 -4.38497041e+01] [-2.57681124e-01 -5.62051607e-03 9.66213666e-01 -7.08463420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:-43.88, Z:-7.09 [[ 3.98185202e-01 9.10608026e-01 1.10641620e-01 8.04670792e+01] [-8.80945703e-01 4.13232499e-01 -2.30593952e-01 -4.38773263e+01] [-2.55701417e-01 -5.65016024e-03 9.66739293e-01 -7.09487634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-43.92, Z:-7.10 [[ 4.01637564e-01 9.05747886e-01 1.35307180e-01 8.04479624e+01] [-8.87646423e-01 4.21370575e-01 -1.85824289e-01 -4.39218517e+01] [-2.25324421e-01 -4.54709197e-02 9.73222123e-01 -7.10349509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.53, Y:-43.92, Z:-7.10 [[ 4.00138796e-01 9.13404890e-01 7.47024142e-02 8.05314570e+01] [-8.78624432e-01 4.05522855e-01 -2.52131556e-01 -4.39191382e+01] [-2.60591732e-01 3.52522509e-02 9.64805280e-01 -7.10478693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-43.96, Z:-7.12 [[ 4.01058259e-01 9.09062438e-01 1.12950237e-01 8.05145497e+01] [-8.77801039e-01 4.16637279e-01 -2.36386788e-01 -4.39635508e+01] [-2.61949630e-01 -4.34296168e-03 9.65071775e-01 -7.11557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-43.99, Z:-7.12 [[ 4.05740689e-01 9.06939809e-01 1.13290228e-01 8.05356344e+01] [-8.75302720e-01 4.21250850e-01 -2.37471827e-01 -4.39907114e+01] [-2.63096259e-01 -2.81126206e-03 9.64765493e-01 -7.12252271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:-44.02, Z:-7.13 [[ 4.08402352e-01 9.05867939e-01 1.12297800e-01 8.05514904e+01] [-8.74653547e-01 4.23555808e-01 -2.35757610e-01 -4.40190558e+01] [-2.61129646e-01 -1.93770661e-03 9.65301794e-01 -7.13265529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:-44.05, Z:-7.14 [[ 4.13529320e-01 9.03606954e-01 1.11749605e-01 8.05647714e+01] [-8.72521869e-01 4.28362416e-01 -2.34970696e-01 -4.40479750e+01] [-2.60190486e-01 -3.36702044e-04 9.65557247e-01 -7.14371174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:-44.08, Z:-7.15 [[ 4.14408375e-01 9.03179751e-01 1.11946576e-01 8.05793096e+01] [-8.71866122e-01 4.29262539e-01 -2.35760764e-01 -4.40780917e+01] [-2.60988819e-01 9.88079393e-05 9.65341818e-01 -7.15226542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:-44.11, Z:-7.16 [[ 4.15800974e-01 9.02558302e-01 1.11794731e-01 8.05938593e+01] [-8.71198642e-01 4.30567140e-01 -2.35849242e-01 -4.41086284e+01] [-2.61002829e-01 6.70926882e-04 9.65337803e-01 -7.15952813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.61, Y:-44.14, Z:-7.17 [[ 4.17060117e-01 9.02046686e-01 1.11232351e-01 8.06082164e+01] [-8.70881114e-01 4.31636904e-01 -2.35065241e-01 -4.41389806e+01] [-2.60051809e-01 1.16618322e-03 9.65593961e-01 -7.16858415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:-44.17, Z:-7.18 [[ 4.19486899e-01 9.01039520e-01 1.10265704e-01 8.06224933e+01] [-8.70282938e-01 4.33732601e-01 -2.33417306e-01 -4.41685951e+01] [-2.58144047e-01 1.95314104e-03 9.66104464e-01 -7.17650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:-44.20, Z:-7.18 [[ 4.22483389e-01 8.99596895e-01 1.10603855e-01 8.06379162e+01] [-8.68501331e-01 4.36710838e-01 -2.34497508e-01 -4.41983670e+01] [-2.59255132e-01 3.01170592e-03 9.65804176e-01 -7.18423364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-44.23, Z:-7.19 [[ 4.22207566e-01 8.99593518e-01 1.11679334e-01 8.06530894e+01] [-8.67779278e-01 4.36716371e-01 -2.37145392e-01 -4.42283600e+01] [-2.62106651e-01 3.21156674e-03 9.65033569e-01 -7.19113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:-44.26, Z:-7.20 [[ 4.21359115e-01 8.99960585e-01 1.11926057e-01 8.06669477e+01] [-8.67916282e-01 4.35959848e-01 -2.38034322e-01 -4.42583473e+01] [-2.63016774e-01 3.15548391e-03 9.64786100e-01 -7.19933432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-44.29, Z:-7.21 [[ 4.19294522e-01 9.01164307e-01 1.09977250e-01 8.06784007e+01] [-8.70190389e-01 4.33470360e-01 -2.34248017e-01 -4.42891514e+01] [-2.58767830e-01 2.51776409e-03 9.65936267e-01 -7.21145749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:-44.32, Z:-7.22 [[ 4.16633535e-01 9.02463659e-01 1.09434187e-01 8.06930043e+01] [-8.71737934e-01 4.30761888e-01 -2.33489124e-01 -4.43189567e+01] [-2.57855526e-01 1.88146678e-03 9.66181654e-01 -7.22037022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:-44.38, Z:-7.23 [[ 0.41555818 0.89203892 0.17770193 80.63525582] [ -0.87954383 0.44387929 -0.17138793 -44.37972253] [ -0.23176291 -0.08507498 0.969045 -7.23016538] [ 0. 0. 0. 1. ]] SLAMing on 89.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-44.35, Z:-7.22 [[ 4.11642094e-01 9.10777401e-01 3.21762749e-02 8.07973754e+01] [-8.72749747e-01 4.04129086e-01 -2.73838567e-01 -4.43456456e+01] [-2.62409347e-01 8.46416456e-02 9.61237289e-01 -7.21886802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:-44.40, Z:-7.24 [[ 4.07505351e-01 9.06402480e-01 1.11238177e-01 8.07411383e+01] [-8.74514825e-01 4.22415098e-01 -2.38305070e-01 -4.44049917e+01] [-2.62988992e-01 -1.68843606e-04 9.64798819e-01 -7.23768608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:-44.44, Z:-7.25 [[ 4.04118637e-01 9.07996151e-01 1.10594375e-01 8.07565487e+01] [-8.76439795e-01 4.18977236e-01 -2.37300152e-01 -4.44355058e+01] [-2.61804150e-01 -1.03189773e-03 9.65120470e-01 -7.24590872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-44.46, Z:-7.25 [[ 4.00978950e-01 9.09264146e-01 1.11600157e-01 8.07713301e+01] [-8.77053251e-01 4.16216106e-01 -2.39878609e-01 -4.44644391e+01] [-2.64562801e-01 -1.69300724e-03 9.64366973e-01 -7.25449641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:-44.49, Z:-7.26 [[ 3.99220853e-01 9.10018699e-01 1.11752757e-01 8.07867966e+01] [-8.77642269e-01 4.14562228e-01 -2.40587210e-01 -4.44937516e+01] [-2.65267332e-01 -2.03151151e-03 9.64172762e-01 -7.26286488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.80, Y:-44.52, Z:-7.27 [[ 3.97023536e-01 9.11061543e-01 1.11081844e-01 8.08031936e+01] [-8.79016773e-01 4.12262502e-01 -2.39518565e-01 -4.45226713e+01] [-2.64011032e-01 -2.54829621e-03 9.64516294e-01 -7.27193865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-44.55, Z:-7.28 [[ 3.93732589e-01 9.12622288e-01 1.09978214e-01 8.08240821e+01] [-8.81181286e-01 4.08789712e-01 -2.37508972e-01 -4.45493541e+01] [-2.61713944e-01 -3.39572140e-03 9.65139513e-01 -7.28089350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.84, Y:-44.58, Z:-7.29 [[ 3.92162001e-01 9.13317596e-01 1.09817733e-01 8.08413774e+01] [-8.81895177e-01 4.07231282e-01 -2.37536480e-01 -4.45783524e+01] [-2.61667463e-01 -3.69494805e-03 9.65151017e-01 -7.28767589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-44.61, Z:-7.29 [[ 3.89578877e-01 9.14360294e-01 1.10333814e-01 8.08570204e+01] [-8.82573023e-01 4.04879179e-01 -2.39034954e-01 -4.46071706e+01] [-2.63235935e-01 -4.25467837e-03 9.64722105e-01 -7.29475264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.87, Y:-44.64, Z:-7.30 [[ 3.87684663e-01 9.15096010e-01 1.10904888e-01 8.08703405e+01] [-8.82896722e-01 4.03209571e-01 -2.40656229e-01 -4.46370378e+01] [-2.64941467e-01 -4.61883253e-03 9.64253434e-01 -7.30207984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-44.67, Z:-7.31 [[ 3.86114549e-01 9.15856776e-01 1.10099592e-01 8.08830796e+01] [-8.84059301e-01 4.01474694e-01 -2.39284817e-01 -4.46672975e+01] [-2.63352821e-01 -4.94321934e-03 9.64686921e-01 -7.31273253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-44.71, Z:-7.32 [[ 3.89516997e-01 9.10538664e-01 1.38549091e-01 8.08597271e+01] [-8.91582867e-01 4.10504637e-01 -1.91222213e-01 -4.47118542e+01] [-2.30990262e-01 -4.90436936e-02 9.71719206e-01 -7.32391990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.95, Y:-44.71, Z:-7.32 [[ 3.87965183e-01 9.19218447e-01 6.72343892e-02 8.09521934e+01] [-8.83480473e-01 3.91679437e-01 -2.57000918e-01 -4.47066260e+01] [-2.62574313e-01 4.03071384e-02 9.64069533e-01 -7.32407764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:-44.78, Z:-7.34 [[ 0.39314451 0.9024878 0.17593514 80.85645241] [ -0.88878223 0.42202539 -0.17877559 -44.77794789] [ -0.23559189 -0.08608338 0.96803208 -7.34288016] [ 0. 0. 0. 1. ]] SLAMing on 89.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-44.75, Z:-7.33 [[ 3.90473486e-01 9.19944395e-01 3.51107751e-02 8.10135047e+01] [-8.80677168e-01 3.84373962e-01 -2.76883338e-01 -4.47497173e+01] [-2.68212943e-01 7.71943441e-02 9.60261866e-01 -7.33048275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-44.81, Z:-7.35 [[ 3.88945138e-01 9.14479241e-01 1.11576871e-01 8.09594908e+01] [-8.81303666e-01 4.04618623e-01 -2.44105752e-01 -4.48061229e+01] [-2.68375723e-01 -3.38935999e-03 9.63308353e-01 -7.35147013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:-44.86, Z:-7.36 [[ 3.91586302e-01 9.04523010e-01 1.68814375e-01 8.09106723e+01] [-8.88632634e-01 4.19358049e-01 -1.85663322e-01 -4.48604846e+01] [-2.38730414e-01 -7.73107486e-02 9.68003532e-01 -7.36278098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:-44.84, Z:-7.35 [[ 3.90025082e-01 9.19778629e-01 4.34477693e-02 8.10526116e+01] [-8.79976861e-01 3.86211053e-01 -2.76553336e-01 -4.48363373e+01] [-2.71147857e-01 6.96297059e-02 9.60015908e-01 -7.35296419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:-44.89, Z:-7.37 [[ 3.89410680e-01 9.14254968e-01 1.11790763e-01 8.10021762e+01] [-8.80708715e-01 4.05128975e-01 -2.45403085e-01 -4.48908251e+01] [-2.69650667e-01 -2.89251716e-03 9.62953868e-01 -7.37413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-44.92, Z:-7.38 [[ 3.92006827e-01 9.13119660e-01 1.11996137e-01 8.10116581e+01] [-8.79302555e-01 4.07686930e-01 -2.46208009e-01 -4.49226625e+01] [-2.70476735e-01 -1.96326926e-03 9.62724510e-01 -7.38420653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:-44.95, Z:-7.39 [[ 3.93932353e-01 9.12208664e-01 1.12661681e-01 8.10254357e+01] [-8.77829992e-01 4.09724268e-01 -2.48073638e-01 -4.49521571e+01] [-2.72455146e-01 -1.17357040e-03 9.62167769e-01 -7.39201084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:-44.98, Z:-7.40 [[ 3.95889306e-01 9.11445836e-01 1.11973860e-01 8.10410796e+01] [-8.77352236e-01 4.11419815e-01 -2.46955037e-01 -4.49811940e+01] [-2.71154405e-01 -4.73658307e-04 9.62535747e-01 -7.39992854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.01, Y:-45.03, Z:-7.41 [[ 4.03735194e-01 9.03661178e-01 1.42808849e-01 8.10128866e+01] [-8.83682351e-01 4.25602549e-01 -1.94853722e-01 -4.50254881e+01] [-2.36861554e-01 -4.75283538e-02 9.70380163e-01 -7.41047736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-45.02, Z:-7.41 [[ 4.05161566e-01 9.11750178e-01 6.74960683e-02 8.11064321e+01] [-8.73457792e-01 4.07835082e-01 -2.65973742e-01 -4.50225888e+01] [-2.70028871e-01 4.88073711e-02 9.61614397e-01 -7.41048586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-45.07, Z:-7.43 [[ 4.05864569e-01 9.07137619e-01 1.11244291e-01 8.10754628e+01] [-8.73032396e-01 4.20824163e-01 -2.46417247e-01 -4.50701812e+01] [-2.70348640e-01 2.89215979e-03 9.62758146e-01 -7.42604571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:-45.10, Z:-7.43 [[ 4.07611527e-01 9.06305308e-01 1.11640188e-01 8.10844073e+01] [-8.71811066e-01 4.22607987e-01 -2.47685191e-01 -4.51026290e+01] [-2.71658439e-01 3.63018753e-03 9.62386884e-01 -7.43350498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:-45.14, Z:-7.44 [[ 4.08987779e-01 9.05610159e-01 1.12246324e-01 8.10948863e+01] [-8.70594760e-01 4.24089413e-01 -2.49425208e-01 -4.51350940e+01] [-2.73484479e-01 4.29080062e-03 9.61866846e-01 -7.44067721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-45.17, Z:-7.45 [[ 4.10108874e-01 9.05054746e-01 1.12634888e-01 8.11058716e+01] [-8.69645319e-01 4.25267156e-01 -2.50728668e-01 -4.51669269e+01] [-2.74823089e-01 4.87364818e-03 9.61482458e-01 -7.44794021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:-45.20, Z:-7.46 [[ 4.12454322e-01 9.04068889e-01 1.11986054e-01 8.11136581e+01] [-8.68916144e-01 4.27348889e-01 -2.49715162e-01 -4.52000978e+01] [-2.73616824e-01 5.68960792e-03 9.61821949e-01 -7.45765438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:-45.23, Z:-7.47 [[ 4.12904285e-01 9.03966738e-01 1.11149396e-01 8.11239262e+01] [-8.69224994e-01 4.27562096e-01 -2.48271151e-01 -4.52323793e+01] [-2.71952131e-01 5.89838920e-03 9.62292704e-01 -7.46801206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-45.26, Z:-7.48 [[ 4.12693204e-01 9.04073897e-01 1.11061732e-01 8.11346327e+01] [-8.69271764e-01 4.27333886e-01 -2.48500201e-01 -4.52646680e+01] [-2.72122987e-01 6.01151592e-03 9.62243702e-01 -7.47759060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:-45.30, Z:-7.49 [[ 4.12155900e-01 9.04354874e-01 1.10769024e-01 8.11466452e+01] [-8.69629589e-01 4.26739132e-01 -2.48270200e-01 -4.52962788e+01] [-2.71793842e-01 5.99800715e-03 9.62336808e-01 -7.48662411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-45.33, Z:-7.50 [[ 4.11345057e-01 9.04612362e-01 1.11676853e-01 8.11564857e+01] [-8.69190128e-01 4.26191998e-01 -2.50736719e-01 -4.53284267e+01] [-2.74415317e-01 6.07089165e-03 9.61592106e-01 -7.49571107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.12, Y:-45.38, Z:-7.51 [[ 4.11667969e-01 8.98589712e-01 1.51874993e-01 8.11172205e+01] [-8.77303236e-01 4.35869473e-01 -2.00890104e-01 -4.53816693e+01] [-2.46715453e-01 -5.05404019e-02 9.67769163e-01 -7.50536842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-45.37, Z:-7.51 [[ 4.13028939e-01 9.08859078e-01 5.81572983e-02 8.12199916e+01] [-8.69040633e-01 4.12420088e-01 -2.73272849e-01 -4.53741549e+01] [-2.72351748e-01 6.23285393e-02 9.60176900e-01 -7.50785679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.18, Y:-45.43, Z:-7.52 [[ 4.11788369e-01 9.04526366e-01 1.10735687e-01 8.11788276e+01] [-8.69365594e-01 4.26366505e-01 -2.49830079e-01 -4.54282730e+01] [-2.73191882e-01 6.60732425e-03 9.61936868e-01 -7.52296430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-45.46, Z:-7.53 [[ 4.12088378e-01 9.04397453e-01 1.10672558e-01 8.11875291e+01] [-8.69137945e-01 4.26635256e-01 -2.50163129e-01 -4.54624476e+01] [-2.73463712e-01 6.89959815e-03 9.61857574e-01 -7.53195190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.20, Y:-45.50, Z:-7.54 [[ 4.10693388e-01 9.04964011e-01 1.11225355e-01 8.11999159e+01] [-8.69224452e-01 4.25434181e-01 -2.51901984e-01 -4.54950872e+01] [-2.75281298e-01 6.77468119e-03 9.61339852e-01 -7.54137409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:-45.53, Z:-7.55 [[ 4.08302525e-01 9.05983472e-01 1.11727331e-01 8.12107032e+01] [-8.69797921e-01 4.23265383e-01 -2.53570487e-01 -4.55284131e+01] [-2.77020981e-01 6.35327024e-03 9.60842865e-01 -7.55022633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:-45.56, Z:-7.56 [[ 4.07603025e-01 9.06322600e-01 1.11530800e-01 8.12256298e+01] [-8.70125905e-01 4.22538850e-01 -2.53656914e-01 -4.55608745e+01] [-2.77021090e-01 6.34548756e-03 9.60842886e-01 -7.55949669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.24, Y:-45.59, Z:-7.57 [[ 4.03767243e-01 9.08030158e-01 1.11594115e-01 8.12358514e+01] [-8.71694762e-01 4.18869683e-01 -2.54354930e-01 -4.55941873e+01] [-2.77705338e-01 5.42418273e-03 9.60650989e-01 -7.56943155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-45.64, Z:-7.58 [[ 3.97908526e-01 9.08496359e-01 1.27683872e-01 8.12190947e+01] [-8.83609230e-01 4.16950238e-01 -2.13042785e-01 -4.56401657e+01] [-2.46786415e-01 -2.80511071e-02 9.68663822e-01 -7.57889251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-45.65, Z:-7.59 [[ 3.93338743e-01 9.15866599e-01 8.04549922e-02 8.12852755e+01] [-8.77506657e-01 4.00090972e-01 -2.64403632e-01 -4.56483552e+01] [-2.74347771e-01 3.34004009e-02 9.61050318e-01 -7.58800842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:-45.69, Z:-7.60 [[ 3.89890368e-01 9.14203987e-01 1.10528600e-01 8.12711398e+01] [-8.78355648e-01 4.05250529e-01 -2.53502197e-01 -4.56934205e+01] [-2.76544492e-01 1.75464498e-03 9.60999514e-01 -7.59853909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.27, Y:-45.73, Z:-7.60 [[ 3.88856381e-01 9.13588343e-01 1.18941393e-01 8.12663722e+01] [-8.86617293e-01 4.06175421e-01 -2.21204214e-01 -4.57345839e+01] [-2.50400661e-01 -1.94388262e-02 9.67947127e-01 -7.60413599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:-45.75, Z:-7.61 [[ 3.83937434e-01 9.18817887e-01 9.14644021e-02 8.13131003e+01] [-8.80250864e-01 3.94125859e-01 -2.64240843e-01 -4.57527786e+01] [-2.78837699e-01 2.09403323e-02 9.60109910e-01 -7.61337480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.31, Y:-45.79, Z:-7.63 [[ 3.81603146e-01 9.17662855e-01 1.10787744e-01 8.13091461e+01] [-8.81207249e-01 3.97359882e-01 -2.56083790e-01 -4.57924752e+01] [-2.79021187e-01 9.54168066e-05 9.60284941e-01 -7.62548698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.32, Y:-45.83, Z:-7.64 [[ 3.79467155e-01 9.18586104e-01 1.10472835e-01 8.13230942e+01] [-8.82189325e-01 3.95220790e-01 -2.56012739e-01 -4.58265425e+01] [-2.78830906e-01 -3.09530203e-04 9.60340164e-01 -7.63703136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-45.86, Z:-7.65 [[ 3.78211761e-01 9.19040525e-01 1.10997200e-01 8.13358758e+01] [-8.82034645e-01 3.94162969e-01 -2.58167463e-01 -4.58611711e+01] [-2.81017347e-01 -2.61405179e-04 9.59702653e-01 -7.64682511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.35, Y:-45.90, Z:-7.66 [[ 3.76393666e-01 9.19748646e-01 1.11311435e-01 8.13484506e+01] [-8.82280527e-01 3.92507661e-01 -2.59843815e-01 -4.58963883e+01] [-2.82681589e-01 -4.04345403e-04 9.59213718e-01 -7.65523288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-45.94, Z:-7.66 [[ 3.77047338e-01 9.17703320e-01 1.25123627e-01 8.13396629e+01] [-8.90563316e-01 3.96329229e-01 -2.23204219e-01 -4.59410936e+01] [-2.54425403e-01 -2.72719553e-02 9.66707792e-01 -7.66253740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:-45.98, Z:-7.67 [[ 3.74794040e-01 9.16621693e-01 1.39047115e-01 8.13409466e+01] [-8.90681253e-01 3.97623218e-01 -2.20414794e-01 -4.59754935e+01] [-2.57325343e-01 -4.12365074e-02 9.65444570e-01 -7.67181946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:-45.97, Z:-6.76 [[ 3.93770524e-01 1.31864290e-01 -9.09701370e-01 8.23580480e+01] [-8.58368304e-01 -3.01314213e-01 -4.15227166e-01 -4.59735466e+01] [-3.28859588e-01 9.44363041e-01 -5.46052852e-03 -6.75785802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.42, Y:-46.08, Z:-7.65 [[ 3.60172449e-01 9.22592651e-01 1.38197708e-01 8.14161807e+01] [-8.63083583e-01 3.85771075e-01 -3.25986819e-01 -4.60759213e+01] [-3.54065722e-01 -1.86470183e-03 9.35218684e-01 -7.65407247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.43, Y:-46.11, Z:-7.67 [[ 3.59589469e-01 9.22802703e-01 1.38313356e-01 8.14300143e+01] [-8.62961094e-01 3.85268611e-01 -3.26904035e-01 -4.61131512e+01] [-3.54955722e-01 -1.80779675e-03 9.34881365e-01 -7.66649501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.45, Y:-46.15, Z:-7.68 [[ 3.57978070e-01 9.23442027e-01 1.38226349e-01 8.14451633e+01] [-8.63146412e-01 3.83733669e-01 -3.28217523e-01 -4.61494789e+01] [-3.56131959e-01 -1.81490183e-03 9.34433911e-01 -7.67941341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.46, Y:-46.19, Z:-7.70 [[ 3.56472279e-01 9.24122833e-01 1.37566364e-01 8.14622005e+01] [-8.63869794e-01 3.82091122e-01 -3.28230642e-01 -4.61883386e+01] [-3.55888316e-01 -1.83430119e-03 9.34526694e-01 -7.69610454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.47, Y:-46.22, Z:-7.72 [[ 3.54579084e-01 9.25234841e-01 1.34959851e-01 8.14742962e+01] [-8.66605863e-01 3.79389474e-01 -3.24126372e-01 -4.62249415e+01] [-3.51095359e-01 -2.02856653e-03 9.36337511e-01 -7.71560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.48, Y:-46.27, Z:-7.73 [[ 3.54211493e-01 9.24742073e-01 1.39234756e-01 8.14756830e+01] [-8.76037019e-01 3.80218867e-01 -2.96635726e-01 -4.62684909e+01] [-3.27251218e-01 -1.69030178e-02 9.44786181e-01 -7.72803393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:-46.46, Z:-6.56 [[ 0.37584068 -0.17869253 -0.90929245 82.48457643] [ -0.84013955 -0.47975891 -0.25297613 -46.45565209] [ -0.39103621 0.85901128 -0.33043958 -6.55656267] [ 0. 0. 0. 1. ]] SLAMing on 90.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:-46.41, Z:-7.72 [[ 3.69248265e-01 9.10386776e-01 1.86685928e-01 8.14821631e+01] [-8.46609813e-01 4.12374088e-01 -3.36451238e-01 -4.64084439e+01] [-3.83285198e-01 -3.38161025e-02 9.23010795e-01 -7.72100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.57, Y:-46.52, Z:-6.80 [[ 0.37122751 0.08585798 -0.92456397 82.56580575] [ -0.80939409 -0.45804978 -0.3675209 -46.52472203] [ -0.45505092 0.88477048 -0.10054774 -6.7964353 ] [ 0. 0. 0. 1. ]] SLAMing on 91.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.55, Y:-46.52, Z:-7.73 [[ 3.61207382e-01 9.12277032e-01 1.93079890e-01 8.15527525e+01] [-8.04799339e-01 4.09573642e-01 -4.29589870e-01 -4.65178356e+01] [-4.70985405e-01 -2.19535793e-04 8.82140975e-01 -7.72552816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-46.57, Z:-7.75 [[ 3.61369857e-01 9.05054336e-01 2.24250919e-01 8.15301764e+01] [-8.20137345e-01 4.22944230e-01 -3.85347782e-01 -4.65746515e+01] [-4.43606313e-01 -4.46634804e-02 8.95108157e-01 -7.74509614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-46.70, Z:-6.92 [[ 3.57313070e-01 1.78318395e-01 -9.16804188e-01 8.26508099e+01] [-7.75736795e-01 -4.90013940e-01 -3.97641502e-01 -4.67030828e+01] [-5.20153627e-01 8.53281248e-01 -3.67602452e-02 -6.91862285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:-47.72, Z:-6.27 [[ 4.38676158e-01 -8.97112591e-01 5.24616753e-02 8.17859930e+01] [-7.68995796e-01 -3.44540590e-01 5.38458213e-01 -4.77189681e+01] [-4.64982466e-01 -2.76551588e-01 -8.41017553e-01 -6.26619378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:-46.85, Z:-7.86 [[ 4.08475901e-01 8.77165490e-01 2.52444332e-01 8.16050643e+01] [-7.54919990e-01 4.80120026e-01 -4.46744411e-01 -4.68479804e+01] [-5.13072360e-01 -8.09094702e-03 8.58307224e-01 -7.86412262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:-46.90, Z:-7.89 [[ 4.11421810e-01 8.72965030e-01 2.62038453e-01 8.16056403e+01] [-7.70266777e-01 4.86711841e-01 -4.12068776e-01 -4.68953028e+01] [-4.87258849e-01 -3.23054327e-02 8.72659827e-01 -7.88535861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-47.07, Z:-6.94 [[ 4.44307650e-01 7.06980334e-02 -8.93080344e-01 8.27645663e+01] [-7.01789606e-01 -5.92166723e-01 -3.96017577e-01 -4.70660196e+01] [-5.56850124e-01 8.02708142e-01 -2.13489060e-01 -6.93834209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:81.68, Y:-47.01, Z:-7.91 [[ 3.95421583e-01 8.72237200e-01 2.87826404e-01 8.16845249e+01] [-7.19300561e-01 4.88938498e-01 -4.93503646e-01 -4.70133609e+01] [-5.71181648e-01 -1.18917008e-02 8.20737542e-01 -7.91056570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:-47.05, Z:-7.94 [[ 3.92397587e-01 8.74077877e-01 2.86377371e-01 8.17082191e+01] [-7.21768716e-01 4.85607212e-01 -4.93189169e-01 -4.70456255e+01] [-5.70152659e-01 -1.31719875e-02 8.21433165e-01 -7.93838277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-47.08, Z:-7.97 [[ 3.90030058e-01 8.75799732e-01 2.84343776e-01 8.17315852e+01] [-7.23672735e-01 4.82491148e-01 -4.93457256e-01 -4.70777371e+01] [-5.69363088e-01 -1.33086755e-02 8.21978439e-01 -7.96611102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:81.75, Y:-47.11, Z:-7.99 [[ 3.87554982e-01 8.77380948e-01 2.82849446e-01 8.17541022e+01] [-7.25011718e-01 4.79604479e-01 -4.94305121e-01 -4.71105110e+01] [-5.69349757e-01 -1.34987503e-02 8.21984573e-01 -7.99295328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.78, Y:-47.14, Z:-8.02 [[ 3.84598439e-01 8.78969256e-01 2.81952279e-01 8.17771568e+01] [-7.25380846e-01 4.76686226e-01 -4.96581182e-01 -4.71443749e+01] [-5.70882360e-01 -1.35384350e-02 8.20920241e-01 -8.01937106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:-47.19, Z:-8.05 [[ 3.80410073e-01 8.81000706e-01 2.81293322e-01 8.18066770e+01] [-7.25818351e-01 4.72903776e-01 -4.99549537e-01 -4.71871694e+01] [-5.73128168e-01 -1.41341792e-02 8.19343840e-01 -8.05224466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:-47.22, Z:-8.08 [[ 3.81081950e-01 8.82397593e-01 2.75954770e-01 8.18315896e+01] [-7.29334984e-01 4.70353202e-01 -4.96828287e-01 -4.72200085e+01] [-5.68196294e-01 -1.19311755e-02 8.22806550e-01 -8.08024755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:-47.25, Z:-8.11 [[ 3.80128920e-01 8.83520205e-01 2.73667774e-01 8.18540422e+01] [-7.30740013e-01 4.68260210e-01 -4.96740786e-01 -4.72516466e+01] [-5.67028250e-01 -1.11544544e-02 8.23622815e-01 -8.10846860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.88, Y:-47.28, Z:-8.14 [[ 3.78596220e-01 8.84938209e-01 2.71199683e-01 8.18776711e+01] [-7.33084160e-01 4.65576136e-01 -4.95808912e-01 -4.72830553e+01] [-5.65024351e-01 -1.11008118e-02 8.24999549e-01 -8.13642409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.89, Y:-47.32, Z:-8.16 [[ 3.81574035e-01 8.83460828e-01 2.71842272e-01 8.18935315e+01] [-7.45412459e-01 4.68011120e-01 -4.74685010e-01 -4.73226357e+01] [-5.46590818e-01 -2.15071418e-02 8.37123600e-01 -8.16280159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:-47.75, Z:-7.06 [[ 0.40558609 -0.15056567 -0.9015708 83.02491867] [ -0.6781913 -0.71085816 -0.18637929 -47.74890593] [ -0.61282663 0.68703032 -0.3904265 -7.06016911] [ 0. 0. 0. 1. ]] SLAMing on 91.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-48.68, Z:-7.13 [[ 4.60800861e-01 -7.15557325e-01 5.25014553e-01 8.17303525e+01] [-7.13101498e-01 5.36504517e-02 6.99004923e-01 -4.86829413e+01] [-5.28345361e-01 -6.96490735e-01 -4.85542826e-01 -7.13059456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.98, Y:-47.63, Z:-8.37 [[ 4.37235174e-01 8.42444074e-01 3.14822784e-01 8.19796620e+01] [-6.95997017e-01 5.38660682e-01 -4.74797665e-01 -4.76278588e+01] [-5.69573135e-01 -1.15174784e-02 8.21859959e-01 -8.37404931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:-47.66, Z:-8.40 [[ 4.37557087e-01 8.43460406e-01 3.11638153e-01 8.20082853e+01] [-6.95524217e-01 5.37132622e-01 -4.77215475e-01 -4.76614779e+01] [-5.69903376e-01 -7.94286947e-03 8.21673325e-01 -8.40341990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.04, Y:-47.69, Z:-8.43 [[ 4.37073871e-01 8.44724848e-01 3.08879203e-01 8.20351947e+01] [-6.96885188e-01 5.35160451e-01 -4.77445626e-01 -4.76914726e+01] [-5.68610118e-01 -6.57433328e-03 8.22580885e-01 -8.42982200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:-47.72, Z:-8.46 [[ 4.35378250e-01 8.46281174e-01 3.07008068e-01 8.20617456e+01] [-6.98580842e-01 5.32697084e-01 -4.77722330e-01 -4.77219342e+01] [-5.67829717e-01 -6.48004271e-03 8.23120539e-01 -8.45627340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.09, Y:-47.75, Z:-8.48 [[ 4.32504182e-01 8.48448591e-01 3.05082155e-01 8.20868995e+01] [-7.01082895e-01 5.29228972e-01 -4.77911570e-01 -4.77517807e+01] [-5.66941713e-01 -7.18912727e-03 8.23726538e-01 -8.48310724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.11, Y:-47.78, Z:-8.51 [[ 4.28952848e-01 8.50744677e-01 3.03698782e-01 8.21119698e+01] [-7.03213064e-01 5.25516025e-01 -4.78878162e-01 -4.77834563e+01] [-5.67001624e-01 -8.14879936e-03 8.23676366e-01 -8.51052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:-47.82, Z:-8.54 [[ 4.24380320e-01 8.53376023e-01 3.02738680e-01 8.21386225e+01] [-7.05219925e-01 5.21208788e-01 -4.80631103e-01 -4.78152252e+01] [-5.67949119e-01 -9.52696797e-03 8.23008527e-01 -8.53809595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters Centerline goodness : 0.991167 Centerline is valid? [True, True] Translation: X:82.10, Y:-47.85, Z:-8.57 [[ 0.40774368 0.8385444 0.36137015 82.09908817] [ -0.72725388 0.53754958 -0.42678127 -47.85347268] [ -0.55212942 -0.08879048 0.8290171 -8.56678967] [ 0. 0. 0. 1. ]] SLAMing on 91.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:-47.89, Z:-8.60 [[ 4.04793189e-01 8.63392477e-01 3.01157607e-01 8.22020147e+01] [-7.15602519e-01 5.04144205e-01 -4.83478702e-01 -4.78868491e+01] [-5.69258736e-01 -1.98002564e-02 8.21919972e-01 -8.59788495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.24, Y:-47.91, Z:-8.62 [[ 4.01876250e-01 8.68994963e-01 2.88692283e-01 8.22365342e+01] [-7.19193247e-01 4.94686115e-01 -4.87900319e-01 -4.79129165e+01] [-5.66794983e-01 -1.15499895e-02 8.23777910e-01 -8.62482340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.26, Y:-47.94, Z:-8.65 [[ 3.99614055e-01 8.70529175e-01 2.87206481e-01 8.22609145e+01] [-7.20435291e-01 4.91980519e-01 -4.88802782e-01 -4.79438907e+01] [-5.66817076e-01 -1.15812230e-02 8.23762270e-01 -8.65125080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:-47.98, Z:-8.68 [[ 3.97010867e-01 8.72030616e-01 2.86260330e-01 8.22852940e+01] [-7.21071763e-01 4.89312312e-01 -4.90539473e-01 -4.79754405e+01] [-5.67836142e-01 -1.16647390e-02 8.23058959e-01 -8.67697463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.29, Y:-48.03, Z:-8.70 [[ 4.02963698e-01 8.63425598e-01 3.03506992e-01 8.22878926e+01] [-7.34827453e-01 5.02916253e-01 -4.55086648e-01 -4.80272982e+01] [-5.45572060e-01 -3.96418712e-02 8.37125826e-01 -8.70263964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-48.24, Z:-7.84 [[ 0.41872321 0.19828368 -0.88620226 83.44984786] [ -0.66285105 -0.60030485 -0.44750707 -48.24120015] [ -0.62072487 0.7748017 -0.11992903 -7.84017334] [ 0. 0. 0. 1. ]] SLAMing on 92.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:-48.13, Z:-8.74 [[ 3.79443296e-01 8.68647465e-01 3.18550414e-01 8.23766068e+01] [-6.79953275e-01 4.95298623e-01 -5.40687357e-01 -4.81332169e+01] [-6.27444283e-01 -1.14392047e-02 7.78577431e-01 -8.73849115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.40, Y:-48.16, Z:-8.77 [[ 3.76421221e-01 8.70527178e-01 3.17000784e-01 8.24012903e+01] [-6.81784278e-01 4.91966037e-01 -5.41423694e-01 -4.81628413e+01] [-6.27277660e-01 -1.23227823e-02 7.78698200e-01 -8.76899776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.43, Y:-48.19, Z:-8.80 [[ 3.73903630e-01 8.72258769e-01 3.15215346e-01 8.24284345e+01] [-6.82736737e-01 4.88892978e-01 -5.43004791e-01 -4.81916781e+01] [-6.27747261e-01 -1.21776344e-02 7.78321965e-01 -8.79971254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.46, Y:-48.22, Z:-8.83 [[ 3.72208317e-01 8.73728510e-01 3.13144469e-01 8.24554144e+01] [-6.83754808e-01 4.86275439e-01 -5.44073120e-01 -4.82213267e+01] [-6.27646661e-01 -1.16054960e-02 7.78411833e-01 -8.82997070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:-48.27, Z:-8.86 [[ 3.80018119e-01 8.63704722e-01 3.31059485e-01 8.24488753e+01] [-7.02893359e-01 5.02301960e-01 -5.03620559e-01 -4.82696629e+01] [-6.01271283e-01 -4.13145760e-02 7.97976159e-01 -8.85901506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.63, Y:-48.58, Z:-8.02 [[ 0.39378233 0.18977729 -0.89939983 83.63423161] [ -0.62747084 -0.65952819 -0.41388757 -48.57868803] [ -0.671726 0.72732877 -0.14063083 -8.01791572] [ 0. 0. 0. 1. ]] SLAMing on 92.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:-48.39, Z:-8.90 [[ 3.69094876e-01 8.55198454e-01 3.63874398e-01 8.25007476e+01] [-6.56966552e-01 5.17012211e-01 -5.48719714e-01 -4.83945908e+01] [-6.57391758e-01 -3.65236736e-02 7.52663337e-01 -8.90451407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.68, Y:-48.60, Z:-8.28 [[ 3.33613295e-01 4.25625801e-01 -8.41156850e-01 8.36762131e+01] [-6.06204744e-01 -5.86472171e-01 -5.37183582e-01 -4.85968570e+01] [-7.21954277e-01 6.89124858e-01 6.23614658e-02 -8.28324761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:-49.79, Z:-7.74 [[ 4.22170271e-01 -8.22682776e-01 -3.80743105e-01 8.31944396e+01] [-5.71237417e-01 -5.67552264e-01 5.92935275e-01 -4.97897755e+01] [-7.03889250e-01 -3.28249375e-02 -7.09550878e-01 -7.73544165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:-48.64, Z:-9.08 [[ 3.94538520e-01 8.13452813e-01 4.27356849e-01 8.25636435e+01] [-5.60942242e-01 5.81585369e-01 -5.89153850e-01 -4.86395408e+01] [-7.27793348e-01 -7.27862120e-03 6.85757876e-01 -9.07595529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:-48.66, Z:-9.11 [[ 3.95326231e-01 8.14864093e-01 4.23926505e-01 8.25868965e+01] [-5.62185302e-01 5.79629413e-01 -5.89896118e-01 -4.86643735e+01] [-7.26405436e-01 -5.12384088e-03 6.87247327e-01 -9.11277853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-48.70, Z:-9.15 [[ 3.97481695e-01 8.14875223e-01 4.21884668e-01 8.26046166e+01] [-5.59530390e-01 5.79636117e-01 -5.92408402e-01 -4.86979140e+01] [-7.27278519e-01 -5.85797368e-04 6.86342198e-01 -9.14837530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:-48.73, Z:-9.18 [[ 3.95976104e-01 8.16800144e-01 4.19571745e-01 8.26275651e+01] [-5.59717140e-01 5.76920282e-01 -5.94877896e-01 -4.87282041e+01] [-7.27955801e-01 7.15934846e-04 6.85623686e-01 -9.18431974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-48.78, Z:-9.22 [[ 4.07960762e-01 8.01609428e-01 4.37024417e-01 8.26202548e+01] [-5.79500170e-01 5.97236501e-01 -5.54516109e-01 -4.87774120e+01] [-7.05512274e-01 -2.70349095e-02 7.08181858e-01 -9.21912566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-48.87, Z:-8.72 [[ 0.35257456 0.55511236 -0.75335347 83.80685029] [ -0.54991044 -0.52847475 -0.64677117 -48.8656972 ] [ -0.75715896 0.642312 0.11893533 -8.71738358] [ 0. 0. 0. 1. ]] SLAMing on 92.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-49.92, Z:-8.21 [[ 0.38160227 -0.53493094 -0.75380939 83.78322524] [ -0.48038134 -0.81151027 0.33269332 -49.91794607] [ -0.78969201 0.23515944 -0.566645 -8.20565377] [ 0. 0. 0. 1. ]] SLAMing on 92.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.60, Y:-50.39, Z:-8.74 [[ 0.43933632 -0.71436999 0.54466421 82.60200619] [ -0.51214707 0.298943 0.80519467 -50.38558759] [ -0.73803047 -0.63269945 -0.23452598 -8.73934767] [ 0. 0. 0. 1. ]] SLAMing on 92.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:-49.12, Z:-9.59 [[ 4.47969324e-01 7.41235449e-01 4.99893482e-01 8.27363131e+01] [-4.90882049e-01 6.71236424e-01 -5.55406587e-01 -4.91222874e+01] [-7.47233764e-01 3.41637663e-03 6.64552504e-01 -9.59068649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-49.15, Z:-9.63 [[ 4.46622562e-01 7.44490204e-01 4.96248550e-01 8.27612382e+01] [-4.94573378e-01 6.67626158e-01 -5.56482242e-01 -4.91488631e+01] [-7.45604091e-01 3.10620279e-03 6.66381940e-01 -9.62795037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:-49.17, Z:-9.67 [[ 4.43850856e-01 7.48206353e-01 4.93136564e-01 8.27894880e+01] [-4.98300931e-01 6.63463083e-01 -5.58133424e-01 -4.91733434e+01] [-7.44776879e-01 1.99758931e-03 6.67310580e-01 -9.67064969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-49.20, Z:-9.71 [[ 4.41476064e-01 7.52017033e-01 4.89458137e-01 8.28164455e+01] [-5.00815509e-01 6.59138782e-01 -5.60999012e-01 -4.91959467e+01] [-7.44501653e-01 2.53940985e-03 6.67615788e-01 -9.70917738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.84, Y:-49.22, Z:-9.75 [[ 4.40222114e-01 7.54319346e-01 4.87038822e-01 8.28399550e+01] [-5.01528353e-01 6.56496782e-01 -5.63454777e-01 -4.92219788e+01] [-7.44764259e-01 3.78147497e-03 6.67316941e-01 -9.74737361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:-49.25, Z:-9.78 [[ 4.37767376e-01 7.57395138e-01 4.84471186e-01 8.28647258e+01] [-5.03581180e-01 6.52946368e-01 -5.65744673e-01 -4.92484599e+01] [-7.44825966e-01 3.69398906e-03 6.67248555e-01 -9.78477594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.89, Y:-49.27, Z:-9.82 [[ 4.35145053e-01 7.59982559e-01 4.82778720e-01 8.28895772e+01] [-5.03773778e-01 6.49928552e-01 -5.69038538e-01 -4.92743894e+01] [-7.46231039e-01 4.40304561e-03 6.65672479e-01 -9.82153696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:-49.30, Z:-9.86 [[ 4.32503343e-01 7.62812841e-01 4.80684332e-01 8.29149401e+01] [-5.04830557e-01 6.46602419e-01 -5.71884097e-01 -4.92996843e+01] [-7.47052185e-01 4.67764495e-03 6.64748939e-01 -9.85923510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:-49.32, Z:-9.90 [[ 4.30633592e-01 7.65474734e-01 4.78124607e-01 8.29388724e+01] [-5.06253606e-01 6.43444858e-01 -5.74182898e-01 -4.93240470e+01] [-7.47169322e-01 5.21013745e-03 6.64613316e-01 -9.89780531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:-49.35, Z:-9.94 [[ 4.28315378e-01 7.68473163e-01 4.75389245e-01 8.29633809e+01] [-5.08437263e-01 6.39861592e-01 -5.76254018e-01 -4.93491289e+01] [-7.47019067e-01 5.11285084e-03 6.64782951e-01 -9.93634852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:-49.40, Z:-9.97 [[ 4.41983660e-01 7.53526334e-01 4.86670841e-01 8.29589062e+01] [-5.32359132e-01 6.57009749e-01 -5.33790169e-01 -4.93970857e+01] [-7.21972436e-01 -2.31571340e-02 6.91534199e-01 -9.97177088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-49.34, Z:-9.54 [[ 0.37314727 0.64484722 -0.66703312 84.13257591] [ -0.50917057 -0.45867745 -0.72825842 -49.34483476] [ -0.77556847 0.61138127 0.15718298 -9.54394433] [ 0. 0. 0. 1. ]] SLAMing on 92.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:-50.52, Z:-8.98 [[ 0.43013563 -0.56097376 -0.70731307 84.18979782] [ -0.44177823 -0.8140715 0.37698751 -50.51930578] [ -0.78728352 0.15031975 -0.59798715 -8.98491225] [ 0. 0. 0. 1. ]] SLAMing on 92.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.06, Y:-49.62, Z:-10.15 [[ 4.15754515e-01 7.17362895e-01 5.59051572e-01 8.30555110e+01] [-4.30451219e-01 6.96696670e-01 -5.73868886e-01 -4.96185896e+01] [-8.01161614e-01 -2.05585014e-03 5.98444519e-01 -1.01500162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-49.64, Z:-10.19 [[ 4.07796359e-01 7.22687027e-01 5.58055187e-01 8.30815841e+01] [-4.31609144e-01 6.91160921e-01 -5.79663806e-01 -4.96387929e+01] [-8.04621450e-01 -4.47693190e-03 5.93771235e-01 -1.01895437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:-49.66, Z:-10.23 [[ 4.03572895e-01 7.27090575e-01 5.55399148e-01 8.31069354e+01] [-4.33679060e-01 6.86520841e-01 -5.83619403e-01 -4.96594794e+01] [-8.05637258e-01 -5.33200817e-03 5.92385161e-01 -1.02314190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:-49.68, Z:-10.27 [[ 4.01287810e-01 7.31366335e-01 5.51426675e-01 8.31332854e+01] [-4.37162225e-01 6.81960459e-01 -5.86360914e-01 -4.96790285e+01] [-8.04895821e-01 -5.76342544e-03 5.93388153e-01 -1.02730717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:-49.70, Z:-10.31 [[ 3.98396625e-01 7.35535101e-01 5.47967375e-01 8.31599409e+01] [-4.39750305e-01 6.77459508e-01 -5.89634026e-01 -4.96970461e+01] [-8.04922231e-01 -6.06061406e-03 5.93349367e-01 -1.03148716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:-49.79, Z:-10.35 [[ 4.21244496e-01 6.74479782e-01 6.06325077e-01 8.31095103e+01] [-4.62453962e-01 7.34832661e-01 -4.96142413e-01 -4.97851155e+01] [-7.80185496e-01 -7.14001736e-02 6.21460061e-01 -1.03476573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:-49.67, Z:-9.97 [[ 0.36155838 0.68279023 -0.63488033 84.38418863] [ -0.40041221 -0.50123707 -0.76709286 -49.66631904] [ -0.84198907 0.53156269 0.09217108 -9.96799659] [ 0. 0. 0. 1. ]] SLAMing on 93.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:-49.77, Z:-10.07 [[ 3.14227511e-01 6.96127117e-01 -6.45498341e-01 8.44866709e+01] [-3.62062046e-01 -5.40672999e-01 -7.59331142e-01 -4.97692189e+01] [-8.77594522e-01 4.72313185e-01 8.21468775e-02 -1.00679432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.59, Y:-49.88, Z:-10.17 [[ 2.68136334e-01 6.97741548e-01 -6.64273768e-01 8.45898608e+01] [-3.20040075e-01 -5.85848787e-01 -7.44550569e-01 -4.98763836e+01] [-9.08667848e-01 4.12235286e-01 6.62179111e-02 -1.01749441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:-49.97, Z:-10.30 [[ 2.21557838e-01 7.00610266e-01 -6.78275298e-01 8.46810710e+01] [-2.76158901e-01 -6.22006997e-01 -7.32696087e-01 -4.99749738e+01] [-9.35226382e-01 3.49646322e-01 5.56692358e-02 -1.02952496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:-51.30, Z:-10.36 [[ 2.58271631e-01 -6.55124553e-01 7.10005342e-01 8.33484275e+01] [-3.59033327e-01 6.17210529e-01 7.00104444e-01 -5.12958021e+01] [-8.96878383e-01 -4.35732697e-01 -7.58035774e-02 -1.03647315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.76, Y:-50.07, Z:-10.60 [[ 2.15577132e-01 7.06530807e-01 -6.74048009e-01 8.47572429e+01] [-2.75384223e-01 -6.18271590e-01 -7.36141135e-01 -5.00708140e+01] [-9.36851125e-01 3.44317382e-01 6.12822214e-02 -1.05971132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:-50.18, Z:-10.72 [[ 1.64728799e-01 6.87848891e-01 -7.06914653e-01 8.48588400e+01] [-2.30602533e-01 -6.69984509e-01 -7.05650926e-01 -5.01813783e+01] [-9.59003073e-01 2.79257339e-01 4.82539532e-02 -1.07175192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.94, Y:-50.29, Z:-10.85 [[ 1.19220557e-01 6.67736473e-01 -7.34788719e-01 8.49446134e+01] [-1.82941929e-01 -7.12622191e-01 -6.77275323e-01 -5.02863962e+01] [-9.75868182e-01 2.15168807e-01 3.71977838e-02 -1.08492455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.332320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:83.48, Y:-51.44, Z:-10.96 [[ 1.67932087e-01 -6.03355556e-01 7.79590204e-01 8.34799114e+01] [-2.78361559e-01 7.29615768e-01 6.24640436e-01 -5.14416192e+01] [-9.45681583e-01 -3.21905117e-01 -4.54250949e-02 -1.09641474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.78, Y:-50.13, Z:-11.32 [[ 1.41403458e-01 8.43029140e-01 5.18947909e-01 8.37835855e+01] [-2.59725515e-01 5.37444587e-01 -8.02306657e-01 -5.01314696e+01] [-9.55273636e-01 -2.13350769e-02 2.94952701e-01 -1.13199029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-50.15, Z:-11.46 [[ 1.11210347e-01 8.53709659e-01 5.08735763e-01 8.38408642e+01] [-2.77486725e-01 5.18226098e-01 -8.08976408e-01 -5.01513549e+01] [-9.54271123e-01 -5.12008734e-02 2.94525202e-01 -1.14631566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-50.12, Z:-11.51 [[ 1.11309721e-01 9.05068499e-01 4.10440201e-01 8.39486453e+01] [-2.70525537e-01 4.25005308e-01 -8.63820827e-01 -5.01199871e+01] [-9.56256283e-01 -1.48829002e-02 2.92151364e-01 -1.15147564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:-50.13, Z:-11.57 [[ 1.10578754e-01 9.09907865e-01 3.99799969e-01 8.39671797e+01] [-2.69650329e-01 4.14645354e-01 -8.69113301e-01 -5.01316707e+01] [-9.56588229e-01 -1.17007273e-02 2.91207922e-01 -1.15681392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-50.14, Z:-11.62 [[ 1.11508587e-01 9.15080556e-01 3.87547946e-01 8.39849822e+01] [-2.69326709e-01 4.03212839e-01 -8.74575629e-01 -5.01422962e+01] [-9.56571460e-01 -6.85432001e-03 2.91417329e-01 -1.16204991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-50.16, Z:-11.67 [[ 1.25364911e-01 9.09412765e-01 3.96550202e-01 8.39789299e+01] [-3.05526155e-01 4.15667013e-01 -8.56664872e-01 -5.01635376e+01] [-9.43894808e-01 -1.37607429e-02 3.29959443e-01 -1.16731119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:-50.90, Z:-11.47 [[ 8.51098326e-02 2.15818383e-01 -9.72717195e-01 8.52569785e+01] [-2.27073472e-01 -9.46367296e-01 -2.29840334e-01 -5.09043785e+01] [-9.70151511e-01 2.40439943e-01 -3.15385325e-02 -1.14702169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.13, Y:-52.02, Z:-11.51 [[ 0.16107855 -0.97701772 0.13960684 84.13334152] [ -0.23635355 0.09915051 0.96659514 -52.01574555] [ -0.95822268 -0.18869432 -0.21495059 -11.51361391] [ 0. 0. 0. 1. ]] SLAMing on 93.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-50.38, Z:-12.02 [[ 1.73392921e-01 7.90075734e-01 5.87975534e-01 8.38075281e+01] [-2.09840148e-01 6.12947489e-01 -7.61749623e-01 -5.03841962e+01] [-9.62238020e-01 8.70111928e-03 2.72070365e-01 -1.20207476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:-50.44, Z:-12.07 [[ 1.86530613e-01 7.49320498e-01 6.35393674e-01 8.37680201e+01] [-2.34926385e-01 6.62001650e-01 -7.11732681e-01 -5.04409509e+01] [-9.53947548e-01 -1.65108055e-02 2.99518729e-01 -1.20718896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-50.73, Z:-11.93 [[ 1.43866603e-01 5.38088240e-01 -8.30519985e-01 8.51836682e+01] [-1.73338215e-01 -8.12573523e-01 -5.56487316e-01 -5.07288123e+01] [-9.74297831e-01 2.24020791e-01 -2.36309376e-02 -1.19348112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-51.71, Z:-12.14 [[ 1.43677032e-01 -5.55923023e-01 8.18722482e-01 8.35959275e+01] [-2.23358843e-01 7.87742411e-01 5.74084246e-01 -5.17075632e+01] [-9.64089071e-01 -2.65351627e-01 -1.09898317e-02 -1.21444093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:-51.69, Z:-12.33 [[ 1.80751212e-01 -5.32323355e-01 8.27019253e-01 8.35869330e+01] [-2.78755873e-01 7.78661956e-01 5.62121625e-01 -5.16943893e+01] [-9.43198899e-01 -3.32140639e-01 -7.64416914e-03 -1.23270315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:-51.69, Z:-12.51 [[ 2.16487317e-01 -5.08407674e-01 8.33459584e-01 8.35867807e+01] [-3.33117651e-01 7.64004717e-01 5.52566215e-01 -5.16941953e+01] [-9.17695959e-01 -3.97263676e-01 -3.96223898e-03 -1.25083626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:-51.72, Z:-12.68 [[ 2.54604226e-01 -4.92968714e-01 8.31960657e-01 8.36014654e+01] [-3.84162159e-01 7.37956774e-01 5.54832619e-01 -5.17168347e+01] [-8.87466125e-01 -4.60870532e-01 -1.49301225e-03 -1.26822030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.26, Y:-50.82, Z:-12.76 [[ 2.47707544e-01 5.07199150e-01 -8.25463503e-01 8.52571923e+01] [-3.25966619e-01 -7.58714000e-01 -5.64002508e-01 -5.08152375e+01] [-9.12352309e-01 4.08781223e-01 -2.26091892e-02 -1.27560194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:-51.84, Z:-12.97 [[ 2.56550539e-01 -4.95943105e-01 8.29591621e-01 8.36903319e+01] [-3.83800389e-01 7.35474177e-01 5.58368155e-01 -5.18360039e+01] [-8.87062051e-01 -4.61647238e-01 -1.65686038e-03 -1.29748367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:-51.85, Z:-13.15 [[ 2.87384020e-01 -4.68147046e-01 8.35612810e-01 8.37080157e+01] [-4.35362775e-01 7.13238647e-01 5.49317656e-01 -5.18527436e+01] [-8.53152788e-01 -5.21659828e-01 1.15959244e-03 -1.31497226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:-51.88, Z:-13.32 [[ 3.16777149e-01 -4.39185407e-01 8.40695198e-01 8.37329360e+01] [-4.85263844e-01 6.86517560e-01 5.41491128e-01 -5.18811272e+01] [-8.14967018e-01 -5.79490999e-01 4.35227613e-03 -1.33222160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:-51.01, Z:-13.36 [[ 3.19256020e-01 4.52471939e-01 -8.32673248e-01 8.53903012e+01] [-4.17864380e-01 -7.21411878e-01 -5.52226640e-01 -5.10107572e+01] [-8.50567430e-01 5.24246170e-01 -4.12431792e-02 -1.33581397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.17, Y:-50.86, Z:-13.93 [[ 2.89440673e-01 8.18881894e-01 4.95637509e-01 8.41721927e+01] [-4.19138805e-01 5.73947267e-01 -7.03496408e-01 -5.08644970e+01] [-8.60550265e-01 -4.12043960e-03 5.09348862e-01 -1.39259201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.19, Y:-50.88, Z:-13.97 [[ 2.86883956e-01 8.23053300e-01 4.90184518e-01 8.41920686e+01] [-4.23126159e-01 5.67943209e-01 -7.05977878e-01 -5.08823821e+01] [-8.59454390e-01 -4.87616586e-03 5.11189176e-01 -1.39722117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:-50.95, Z:-14.01 [[ 2.97862276e-01 7.78626400e-01 5.52285247e-01 8.41401037e+01] [-4.50562943e-01 6.24719287e-01 -6.37745127e-01 -5.09544438e+01] [-8.41588438e-01 -5.88790514e-02 5.36900510e-01 -1.40113434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:-51.13, Z:-13.66 [[ 2.59835815e-01 5.41285820e-01 -7.99684319e-01 8.54839076e+01] [-3.67724407e-01 -7.10270190e-01 -6.00245798e-01 -5.11256573e+01] [-8.92896472e-01 4.50028798e-01 1.44903734e-02 -1.36567631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:-51.23, Z:-13.78 [[ 2.21081788e-01 5.51475841e-01 -8.04361386e-01 8.55542363e+01] [-3.16512495e-01 -7.39553325e-01 -5.94037641e-01 -5.12295909e+01] [-9.22465546e-01 3.85921333e-01 1.10472233e-02 -1.37774880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-51.33, Z:-13.91 [[ 1.82637913e-01 5.58094331e-01 -8.09428261e-01 8.56210840e+01] [-2.63215662e-01 -7.65468467e-01 -5.87175904e-01 -5.13256780e+01] [-9.47291353e-01 3.20294777e-01 7.09560599e-03 -1.39051857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:-51.42, Z:-14.04 [[ 1.42888983e-01 5.59934453e-01 -8.16122630e-01 8.56840606e+01] [-2.06162837e-01 -7.89658036e-01 -5.77872885e-01 -5.14158431e+01] [-9.68028731e-01 2.50825825e-01 2.60424191e-03 -1.40403718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-51.18, Z:-14.33 [[ 1.15243676e-01 8.53750569e-01 5.07768511e-01 8.44558225e+01] [-2.28266503e-01 5.20255805e-01 -8.22938820e-01 -5.11822943e+01] [-9.66754001e-01 -2.10680480e-02 2.54838848e-01 -1.43317600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:-51.19, Z:-14.38 [[ 1.09717243e-01 8.61033797e-01 4.96571170e-01 8.44743417e+01] [-2.29426684e-01 5.08034702e-01 -8.30219332e-01 -5.11893117e+01] [-9.67122290e-01 -2.28373003e-02 2.53284296e-01 -1.43840899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-51.22, Z:-14.44 [[ 1.21797842e-01 8.48687187e-01 5.14679846e-01 8.44624696e+01] [-2.54914719e-01 5.27894120e-01 -8.10152013e-01 -5.12158817e+01] [-9.59262098e-01 -3.25247010e-02 2.80639220e-01 -1.44381084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:-51.79, Z:-14.28 [[ 1.19864970e-01 2.87126687e-01 -9.50363433e-01 8.58663566e+01] [-1.45275871e-01 -9.41888070e-01 -3.02889062e-01 -5.17938883e+01] [-9.82103513e-01 1.74370664e-01 -7.11868053e-02 -1.42805785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:-51.79, Z:-14.45 [[ 9.02919141e-02 3.80483489e-01 -9.20369320e-01 8.58786467e+01] [-8.47443486e-02 -9.17857071e-01 -3.87758678e-01 -5.17896130e+01] [-9.92303263e-01 1.13007572e-01 -5.06312464e-02 -1.44494413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:-51.78, Z:-14.62 [[ 5.71109685e-02 4.60849078e-01 -8.85639015e-01 8.58849939e+01] [-2.50325257e-02 -8.86146995e-01 -4.62727647e-01 -5.17784343e+01] [-9.98053961e-01 4.85966055e-02 -3.90724968e-02 -1.46180861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:-52.81, Z:-14.82 [[ 1.03293019e-01 -6.88032751e-01 7.18290669e-01 8.43411614e+01] [-1.16007692e-01 7.08891512e-01 6.95711894e-01 -5.28149673e+01] [-9.87862727e-01 -1.55189424e-01 -6.59354732e-03 -1.48210678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:-51.53, Z:-15.01 [[ 7.38143574e-02 6.84462058e-01 7.25302097e-01 8.43617191e+01] [-1.00040458e-01 7.28699617e-01 -6.77487103e-01 -5.15325553e+01] [-9.92241577e-01 -2.25512792e-02 1.22262392e-01 -1.50051650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:-51.51, Z:-15.06 [[ 6.93378882e-02 7.12556194e-01 6.98180441e-01 8.43992223e+01] [-1.01715035e-01 7.01267203e-01 -7.05604961e-01 -5.15128055e+01] [-9.92394231e-01 -2.20902898e-02 1.21102065e-01 -1.50610860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:-51.50, Z:-15.12 [[ 6.61487433e-02 7.34097636e-01 6.75814327e-01 8.44301330e+01] [-1.02817117e-01 6.78707159e-01 -7.27176205e-01 -5.14976847e+01] [-9.92498355e-01 -2.13834885e-02 1.20373428e-01 -1.51166655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-51.48, Z:-15.17 [[ 6.21547575e-02 7.55080141e-01 6.52679682e-01 8.44608714e+01] [-1.03547492e-01 6.55293647e-01 -7.48243378e-01 -5.14812558e+01] [-9.92680564e-01 -2.10764585e-02 1.18916273e-01 -1.51729797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:-53.12, Z:-15.13 [[ 0.16849526 -0.97961245 0.10940203 84.89701105] [ -0.13279442 0.08741755 0.98728102 -53.12103613] [ -0.97671643 -0.18088015 -0.11535763 -15.12544524] [ 0. 0. 0. 1. ]] SLAMing on 94.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:-51.66, Z:-15.47 [[ 1.45214931e-01 5.83038500e-01 7.99361452e-01 8.42961415e+01] [-1.40018096e-01 8.11904244e-01 -5.66750766e-01 -5.16596786e+01] [-9.79442472e-01 -2.96243953e-02 1.99536559e-01 -1.54684849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:-52.14, Z:-15.32 [[ 1.54150447e-01 1.52076192e-01 -9.76273769e-01 8.59837358e+01] [-3.20195174e-02 -9.86796080e-01 -1.58771052e-01 -5.21405332e+01] [-9.87528425e-01 5.57344435e-02 -1.47245650e-01 -1.53217509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:-51.84, Z:-15.51 [[ 1.08878907e-01 5.25207403e-01 -8.43980194e-01 8.59111421e+01] [ 2.92792037e-02 -8.50353665e-01 -5.25396397e-01 -5.18441489e+01] [-9.93623728e-01 3.24935171e-02 -1.07963232e-01 -1.55147291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-51.64, Z:-15.69 [[ 4.85806219e-02 7.73209818e-01 -6.32286723e-01 8.57701225e+01] [ 7.26483499e-02 -6.34092835e-01 -7.69836667e-01 -5.16433617e+01] [-9.96173750e-01 -8.53544302e-03 -8.69770417e-02 -1.56937286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.35, Y:-51.43, Z:-15.87 [[-3.08823998e-02 9.93227096e-01 -1.12009884e-01 8.53481643e+01] [ 7.81678501e-02 -1.09320167e-01 -9.90928296e-01 -5.14312960e+01] [-9.96461773e-01 -3.93578156e-02 -7.42623576e-02 -1.58719765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:-53.25, Z:-16.00 [[ 1.20342956e-02 -9.64769517e-01 -2.62821146e-01 8.54456391e+01] [ 4.35872272e-02 -2.62084212e-01 9.64060174e-01 -5.32509256e+01] [-9.98977142e-01 -2.30574301e-02 3.88976292e-02 -1.60020783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.38, Y:-53.26, Z:-16.04 [[ 2.38650492e-02 -9.80750220e-01 -1.93802644e-01 8.53803111e+01] [ 4.35081692e-02 -1.92655266e-01 9.80301478e-01 -5.32632777e+01] [-9.98767990e-01 -3.18269413e-02 3.80729192e-02 -1.60381477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-51.70, Z:-16.03 [[-5.04638758e-02 7.10012970e-01 -7.02378088e-01 8.58996466e+01] [ 1.39669662e-01 -6.91345926e-01 -7.08895758e-01 -5.17032333e+01] [-9.88911413e-01 -1.33874538e-01 -6.42792766e-02 -1.60289861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-53.21, Z:-16.21 [[-1.02697294e-02 -9.11957383e-01 -4.10156389e-01 8.55911075e+01] [ 1.04229295e-01 -4.08919932e-01 9.06598446e-01 -5.32054018e+01] [-9.94500270e-01 -3.34397904e-02 9.92521718e-02 -1.62119455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-53.22, Z:-16.25 [[ 1.44781614e-03 -9.37466133e-01 -3.48073489e-01 8.55278639e+01] [ 1.08066795e-01 -3.45888725e-01 9.32031415e-01 -5.32226498e+01] [-9.94142581e-01 -3.89645965e-02 1.00808177e-01 -1.62537065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:-52.18, Z:-16.17 [[-5.91274746e-02 1.27901691e-01 9.90022777e-01 8.43023294e+01] [ 2.67126310e-02 9.91605493e-01 -1.26510795e-01 -5.21773491e+01] [-9.97892969e-01 1.89658492e-02 -6.20477193e-02 -1.61749483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:-51.92, Z:-16.31 [[-6.72802539e-02 4.63486180e-01 -8.83546223e-01 8.60636019e+01] [ 1.39392822e-01 -8.72501251e-01 -4.68306746e-01 -5.19164824e+01] [-9.87948890e-01 -1.54667799e-01 -5.90454110e-03 -1.63138552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:-53.12, Z:-16.46 [[-3.08351042e-02 -8.44202068e-01 -5.35137426e-01 8.56962103e+01] [ 1.16516036e-01 -5.34777796e-01 8.36920977e-01 -5.31207180e+01] [-9.92710033e-01 -3.65455461e-02 1.14853008e-01 -1.64579673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:-53.16, Z:-16.47 [[-2.80268124e-02 -8.87043737e-01 -4.60833924e-01 8.56260536e+01] [ 1.17066999e-01 -4.60755285e-01 8.79772633e-01 -5.31587613e+01] [-9.92728470e-01 -2.92912221e-02 1.16757050e-01 -1.64747135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:-53.17, Z:-16.49 [[-2.46509400e-02 -9.01111189e-01 -4.32886770e-01 8.55979535e+01] [ 1.16034754e-01 -4.32670674e-01 8.94053703e-01 -5.31713110e+01] [-9.92939206e-01 -2.81906456e-02 1.15225954e-01 -1.64861821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-53.17, Z:-16.51 [[-3.08586867e-02 -9.01930885e-01 -4.30776532e-01 8.55935041e+01] [ 1.30236636e-01 -4.30935825e-01 8.92934899e-01 -5.31706755e+01] [-9.91002604e-01 -2.85480879e-02 1.30762558e-01 -1.65061276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:-52.47, Z:-16.43 [[-4.35939470e-02 -2.14407391e-01 9.75770997e-01 8.42931769e+01] [ 2.76630567e-02 9.76065968e-01 2.15708092e-01 -5.24661992e+01] [-9.98666272e-01 3.63963755e-02 -3.66194043e-02 -1.64334346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:85.71, Y:-53.09, Z:-16.54 [[-2.16347110e-02 -8.22645167e-01 -5.68143352e-01 8.57131603e+01] [ 7.31191693e-02 -5.68056454e-01 8.19734989e-01 -5.30867867e+01] [-9.97088525e-01 -2.38074403e-02 7.24408685e-02 -1.65405687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.30, Y:-52.52, Z:-16.54 [[-1.51492724e-02 -2.91440236e-01 9.56469073e-01 8.43012054e+01] [-3.16259057e-02 9.56239898e-01 2.90869490e-01 -5.25177453e+01] [-9.99384962e-01 -2.58427396e-02 -2.37034001e-02 -1.65379188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:-51.66, Z:-16.62 [[-7.24561829e-02 6.19631938e-01 7.81541018e-01 8.45069679e+01] [-6.79037662e-02 7.78717724e-01 -6.23688852e-01 -5.16610057e+01] [-9.95057375e-01 -9.82596921e-02 -1.43475716e-02 -1.66242782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:-51.58, Z:-16.72 [[-5.68424384e-02 7.76689174e-01 -6.27314008e-01 8.58269511e+01] [-3.75696833e-02 -6.29548920e-01 -7.76051981e-01 -5.15776701e+01] [-9.97676028e-01 -2.05446983e-02 6.49650619e-02 -1.67173083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:-51.64, Z:-16.73 [[-5.68816635e-02 7.12915377e-01 -6.98939298e-01 8.58870189e+01] [-3.29228063e-02 -7.01031436e-01 -7.12369998e-01 -5.16403612e+01] [-9.97837945e-01 -1.75097473e-02 6.33470091e-02 -1.67332715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:-51.45, Z:-16.75 [[-1.37400938e-01 8.63677821e-01 4.84955260e-01 8.47938016e+01] [-7.47469428e-02 4.79161911e-01 -8.74538025e-01 -5.14478815e+01] [-9.87691185e-01 -1.56411268e-01 -1.28001924e-03 -1.67461645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-51.77, Z:-16.88 [[-1.15441275e-01 5.76838610e-01 -8.08659712e-01 8.59854215e+01] [-6.92761287e-02 -8.16795715e-01 -5.72752633e-01 -5.17688038e+01] [-9.90895620e-01 -1.00984799e-02 1.34253084e-01 -1.68785197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-51.77, Z:-16.89 [[-1.24017227e-01 5.73268190e-01 -8.09927965e-01 8.59881380e+01] [-7.65707817e-02 -8.19324231e-01 -5.68194263e-01 -5.17705784e+01] [-9.89321304e-01 -8.44905969e-03 1.45505913e-01 -1.68866433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-53.13, Z:-16.80 [[-5.66620573e-02 -8.91559765e-01 -4.49344630e-01 8.55889058e+01] [-6.44328440e-02 -4.45863988e-01 8.92778647e-01 -5.31312170e+01] [-9.96312110e-01 7.95392273e-02 -3.21821604e-02 -1.68004053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:-51.74, Z:-16.91 [[-6.08542910e-02 6.12190618e-01 -7.88365019e-01 8.59455049e+01] [-3.96966492e-02 -7.90688337e-01 -6.10930545e-01 -5.17417107e+01] [-9.97356973e-01 -5.88229556e-03 7.24186943e-02 -1.69075942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters Centerline goodness : 0.903538 Centerline is valid? [True, False] Translation: X:85.88, Y:-51.85, Z:-17.49 [[ 2.76267631e-01 -5.29723713e-01 -8.01915821e-01 8.58750977e+01] [ 1.56652735e-01 8.48050831e-01 -5.06230884e-01 -5.18493189e+01] [ 9.48227882e-01 1.42329005e-02 3.17271663e-01 -1.74915354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:85.90, Y:-51.95, Z:-17.56 [[ 2.84799600e-01 -4.40698494e-01 -8.51277878e-01 8.59020587e+01] [ 1.54158444e-01 8.97552360e-01 -4.13079817e-01 -5.19470538e+01] [ 9.46110122e-01 -1.35867062e-02 3.23559947e-01 -1.75568833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-51.93, Z:-17.53 [[ 2.58404894e-01 -4.53814669e-01 -8.52806635e-01 8.59044385e+01] [ 1.39095612e-01 8.91068729e-01 -4.32028854e-01 -5.19305784e+01] [ 9.55970356e-01 -6.98329053e-03 2.93380150e-01 -1.75303876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:-51.88, Z:-17.50 [[ 2.85205156e-01 -5.06565247e-01 -8.13664347e-01 8.58852966e+01] [ 1.57059670e-01 8.62148309e-01 -4.81697575e-01 -5.18788732e+01] [ 9.45510592e-01 9.58877815e-03 3.25450113e-01 -1.75035189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:-51.92, Z:-17.48 [[ 2.59855913e-01 -4.63734936e-01 -8.47009335e-01 8.59182065e+01] [ 1.44112787e-01 8.85942154e-01 -4.40837844e-01 -5.19224036e+01] [ 9.54833184e-01 -7.51055540e-03 2.97047441e-01 -1.74765567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-51.87, Z:-17.45 [[ 2.85557363e-01 -5.14737543e-01 -8.08394863e-01 8.58980069e+01] [ 1.62490123e-01 8.57309217e-01 -4.88485277e-01 -5.18735864e+01] [ 9.44486078e-01 8.13438664e-03 3.28450726e-01 -1.74489345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:-51.89, Z:-17.42 [[ 2.79928571e-01 -4.97044040e-01 -8.21332586e-01 8.59155593e+01] [ 1.65099863e-01 8.67714364e-01 -4.68843062e-01 -5.18901090e+01] [ 9.45717733e-01 -4.35932925e-03 3.24959945e-01 -1.74220130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:-51.95, Z:-17.40 [[ 2.55196712e-01 -4.31910057e-01 -8.65059733e-01 8.59560992e+01] [ 1.55072678e-01 9.01384759e-01 -4.04299370e-01 -5.19514671e+01] [ 9.54372623e-01 -3.09712601e-02 2.97007876e-01 -1.73977133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.89, Y:-51.81, Z:-17.37 [[ 2.78680047e-01 -5.76008662e-01 -7.68473456e-01 8.58858313e+01] [ 1.71651719e-01 8.17162495e-01 -5.50255527e-01 -5.18088894e+01] [ 9.44919636e-01 2.14354465e-02 3.26599759e-01 -1.73683049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.94, Y:-51.88, Z:-17.34 [[ 2.79128315e-01 -5.01518392e-01 -8.18881363e-01 8.59444573e+01] [ 1.74322988e-01 8.65071189e-01 -4.70386367e-01 -5.18836849e+01] [ 9.44298088e-01 -1.14516922e-02 3.28892048e-01 -1.73438358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:-51.97, Z:-17.32 [[ 2.51808459e-01 -4.15373909e-01 -8.74103550e-01 8.59975515e+01] [ 1.63957647e-01 9.08461300e-01 -3.84468407e-01 -5.19742695e+01] [ 9.53787392e-01 -4.65035646e-02 2.96861969e-01 -1.73179820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-51.78, Z:-17.29 [[ 2.75931931e-01 -6.07348721e-01 -7.44975906e-01 8.58979403e+01] [ 1.78021752e-01 7.93949231e-01 -5.81337143e-01 -5.17817820e+01] [ 9.44547418e-01 2.77875642e-02 3.27197228e-01 -1.72879280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-51.92, Z:-17.26 [[ 2.50799951e-01 -4.65344897e-01 -8.48854234e-01 8.59909334e+01] [ 1.60528913e-01 8.84732070e-01 -4.37583858e-01 -5.19206976e+01] [ 9.54635979e-01 -2.65196368e-02 2.96592070e-01 -1.72624165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:-51.90, Z:-17.24 [[ 2.45572812e-01 -4.91341458e-01 -8.35630041e-01 8.59837012e+01] [ 1.54518075e-01 8.70845889e-01 -4.66638621e-01 -5.18962083e+01] [ 9.56983886e-01 -1.45261871e-02 2.89777210e-01 -1.72364584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:-51.84, Z:-17.21 [[ 2.80176526e-01 -5.49559954e-01 -7.87073676e-01 8.59621378e+01] [ 1.75311523e-01 8.35416330e-01 -5.20908270e-01 -5.18362285e+01] [ 9.43804527e-01 7.96318510e-03 3.30408237e-01 -1.72097133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:-51.94, Z:-17.18 [[ 2.48618782e-01 -4.49137541e-01 -8.58174906e-01 8.60208901e+01] [ 1.55384643e-01 8.93012993e-01 -4.22354600e-01 -5.19362846e+01] [ 9.56056648e-01 -2.83419151e-02 2.91808879e-01 -1.71828288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.98, Y:-51.83, Z:-17.16 [[ 2.85658857e-01 -5.56841906e-01 -7.79952633e-01 8.59751778e+01] [ 1.75212534e-01 8.30493916e-01 -5.28753652e-01 -5.18261212e+01] [ 9.42178107e-01 1.43856869e-02 3.34803624e-01 -1.71572048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:-51.87, Z:-17.13 [[ 2.89430646e-01 -5.04189756e-01 -8.13647707e-01 8.60158741e+01] [ 1.69946241e-01 8.63592439e-01 -4.74685552e-01 -5.18742596e+01] [ 9.41991601e-01 -8.87822859e-04 3.35635272e-01 -1.71315653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:-51.87, Z:-17.11 [[ 2.90926764e-01 -5.04195431e-01 -8.13110439e-01 8.60223835e+01] [ 1.66125611e-01 8.63582818e-01 -4.76053566e-01 -5.18662689e+01] [ 9.42212237e-01 3.41825494e-03 3.34999128e-01 -1.71052764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-51.86, Z:-17.08 [[ 2.91780535e-01 -5.04746597e-01 -8.12462302e-01 8.60278174e+01] [ 1.63740271e-01 8.63244642e-01 -4.77491165e-01 -5.18575040e+01] [ 9.42365769e-01 6.28983058e-03 3.34525328e-01 -1.70783209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-51.85, Z:-17.05 [[ 2.92462757e-01 -5.05111993e-01 -8.11989785e-01 8.60325091e+01] [ 1.60471893e-01 8.62998156e-01 -4.79043792e-01 -5.18492454e+01] [ 9.42716451e-01 9.80093002e-03 3.33451098e-01 -1.70513807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-51.84, Z:-17.02 [[ 2.96545588e-01 -5.04732800e-01 -8.10743803e-01 8.60378477e+01] [ 1.56465850e-01 8.63136038e-01 -4.80119379e-01 -5.18429370e+01] [ 9.42114192e-01 1.55235655e-02 3.34932631e-01 -1.70241928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-51.84, Z:-17.00 [[ 2.99758190e-01 -5.05185103e-01 -8.09279333e-01 8.60444373e+01] [ 1.55355208e-01 8.62813224e-01 -4.81059352e-01 -5.18374463e+01] [ 9.41280929e-01 1.84757214e-02 3.37118468e-01 -1.69974452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:-51.83, Z:-16.97 [[ 3.01370757e-01 -5.05988135e-01 -8.08177996e-01 8.60498192e+01] [ 1.54699687e-01 8.62301711e-01 -4.82186443e-01 -5.18300738e+01] [ 9.40873888e-01 2.02920107e-02 3.38148726e-01 -1.69711952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:-51.82, Z:-16.95 [[ 3.02180189e-01 -5.06892227e-01 -8.07308741e-01 8.60552934e+01] [ 1.53960781e-01 8.61733963e-01 -4.83436299e-01 -5.18202386e+01] [ 9.40735463e-01 2.17909877e-02 3.38440455e-01 -1.69452082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:-51.81, Z:-16.92 [[ 3.02034288e-01 -5.08209360e-01 -8.06534894e-01 8.60625496e+01] [ 1.54273937e-01 8.60953122e-01 -4.84725979e-01 -5.18144136e+01] [ 9.40731014e-01 2.19765529e-02 3.38440822e-01 -1.69182450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:-51.81, Z:-16.89 [[ 3.01925092e-01 -5.08931259e-01 -8.06120470e-01 8.60677306e+01] [ 1.54097253e-01 8.60516161e-01 -4.85557383e-01 -5.18051251e+01] [ 9.40795023e-01 2.23810079e-02 3.38236330e-01 -1.68921362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:-51.79, Z:-16.87 [[ 3.01731799e-01 -5.10435395e-01 -8.05241348e-01 8.60721433e+01] [ 1.55173989e-01 8.59636635e-01 -4.86770879e-01 -5.17933569e+01] [ 9.40680049e-01 2.19217408e-02 3.38586005e-01 -1.68660708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-51.78, Z:-16.84 [[ 3.02516384e-01 -5.11841166e-01 -8.04053766e-01 8.60763051e+01] [ 1.56503501e-01 8.58805136e-01 -4.87811842e-01 -5.17846486e+01] [ 9.40207685e-01 2.17338455e-02 3.39907558e-01 -1.68393325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-51.78, Z:-16.81 [[ 3.02846437e-01 -5.13138602e-01 -8.03101993e-01 8.60789638e+01] [ 1.57061859e-01 8.58024878e-01 -4.89003969e-01 -5.17751722e+01] [ 9.40008302e-01 2.19564171e-02 3.40444280e-01 -1.68120944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.08, Y:-51.76, Z:-16.79 [[ 3.01187600e-01 -5.14411400e-01 -8.02911540e-01 8.60833704e+01] [ 1.56144995e-01 8.57250722e-01 -4.90652566e-01 -5.17644868e+01] [ 9.40693771e-01 2.24078508e-02 3.38516053e-01 -1.67859837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-51.83, Z:-16.76 [[ 2.70293455e-01 -4.38653131e-01 -8.57044269e-01 8.61317170e+01] [ 1.38876771e-01 8.98632635e-01 -4.16140157e-01 -5.18289337e+01] [ 9.52709132e-01 -6.54357934e-03 3.03813250e-01 -1.67606870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-51.67, Z:-16.73 [[ 2.97562690e-01 -5.93549928e-01 -7.47766627e-01 8.60428181e+01] [ 1.56068730e-01 8.02951774e-01 -5.75248641e-01 -5.16696428e+01] [ 9.41859330e-01 5.44695452e-02 3.31563074e-01 -1.67315072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-51.74, Z:-16.71 [[ 2.97511321e-01 -5.17558891e-01 -8.02259190e-01 8.61002863e+01] [ 1.57031875e-01 8.55392978e-01 -4.93602922e-01 -5.17373337e+01] [ 9.41715458e-01 2.08721929e-02 3.35762338e-01 -1.67061551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.10, Y:-51.73, Z:-16.68 [[ 2.98283780e-01 -5.19228691e-01 -8.00892223e-01 8.61040847e+01] [ 1.59399959e-01 8.54404663e-01 -4.94554673e-01 -5.17299488e+01] [ 9.41073026e-01 1.98554496e-02 3.37620085e-01 -1.66792774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:-51.73, Z:-16.65 [[ 2.96343073e-01 -5.22337638e-01 -7.99590004e-01 8.61131695e+01] [ 1.65765298e-01 8.52618739e-01 -4.95543289e-01 -5.17257461e+01] [ 9.40586332e-01 1.43065456e-02 3.39253112e-01 -1.66531353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-51.79, Z:-16.63 [[ 2.67524480e-01 -4.50886821e-01 -8.51546668e-01 8.61626985e+01] [ 1.53999248e-01 8.92406221e-01 -4.24140741e-01 -5.17949811e+01] [ 9.51165014e-01 -1.76695152e-02 3.08176741e-01 -1.66271562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-51.72, Z:-16.60 [[ 2.67076679e-01 -5.20566867e-01 -8.10974836e-01 8.61312852e+01] [ 1.55851698e-01 8.53797861e-01 -4.96728759e-01 -5.17238212e+01] [ 9.50989114e-01 6.27286189e-03 3.09160728e-01 -1.66001424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:-51.67, Z:-16.57 [[ 2.63578614e-01 -5.66701256e-01 -7.80625391e-01 8.61067672e+01] [ 1.60009072e-01 8.23716344e-01 -5.43956323e-01 -5.16729649e+01] [ 9.51274625e-01 1.84681091e-02 3.07791354e-01 -1.65736914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-51.69, Z:-16.55 [[ 2.90232581e-01 -5.44671675e-01 -7.86827691e-01 8.61302336e+01] [ 1.81919272e-01 8.38628799e-01 -5.13426837e-01 -5.16900650e+01] [ 9.39505416e-01 5.87407544e-03 3.42483675e-01 -1.65476590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:-51.74, Z:-16.52 [[ 2.58688773e-01 -4.88452226e-01 -8.33363391e-01 8.61692020e+01] [ 1.62286752e-01 8.72444065e-01 -4.60981955e-01 -5.17432014e+01] [ 9.52230607e-01 -1.59929817e-02 3.04960810e-01 -1.65210726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-51.66, Z:-16.49 [[ 2.90565279e-01 -5.66857070e-01 -7.70872804e-01 8.61291845e+01] [ 1.82662183e-01 8.23676358e-01 -5.36834970e-01 -5.16635922e+01] [ 9.39258402e-01 1.51762936e-02 3.42875101e-01 -1.64931779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.20, Y:-51.75, Z:-16.47 [[ 2.69475082e-01 -4.69688379e-01 -8.40699712e-01 8.61952315e+01] [ 1.68090131e-01 8.82533535e-01 -4.39181361e-01 -5.17529499e+01] [ 9.48224071e-01 -2.29648912e-02 3.16770778e-01 -1.64691013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:-51.68, Z:-16.44 [[ 2.67393382e-01 -5.32055332e-01 -8.03379053e-01 8.61656655e+01] [ 1.62967624e-01 8.46697571e-01 -5.06502493e-01 -5.16849367e+01] [ 9.49706445e-01 4.51063896e-03 3.13109121e-01 -1.64405080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:-51.63, Z:-16.41 [[ 2.94069797e-01 -5.86929979e-01 -7.54344851e-01 8.61388601e+01] [ 1.83371445e-01 8.09226239e-01 -5.58146762e-01 -5.16290470e+01] [ 9.38028714e-01 2.58088000e-02 3.45595194e-01 -1.64129537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-51.72, Z:-16.39 [[ 2.66113684e-01 -4.90454277e-01 -8.29842219e-01 8.62121947e+01] [ 1.67458272e-01 8.71316063e-01 -4.61265700e-01 -5.17231568e+01] [ 9.49284591e-01 -1.62148289e-02 3.13999753e-01 -1.63876899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.17, Y:-51.64, Z:-16.36 [[ 2.92134085e-01 -5.70646107e-01 -7.67476838e-01 8.61709769e+01] [ 1.88541828e-01 8.21098109e-01 -5.38748434e-01 -5.16445082e+01] [ 9.37608477e-01 1.26852943e-02 3.47461405e-01 -1.63594275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.20, Y:-51.67, Z:-16.33 [[ 2.90324537e-01 -5.39483372e-01 -7.90360269e-01 8.61999122e+01] [ 1.92551567e-01 8.41975820e-01 -5.03984735e-01 -5.16737262e+01] [ 9.37355619e-01 -5.86597343e-03 3.48324609e-01 -1.63325771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:-51.67, Z:-16.31 [[ 2.88739554e-01 -5.41000461e-01 -7.89903773e-01 8.62079304e+01] [ 1.93019436e-01 8.40996969e-01 -5.05438024e-01 -5.16679887e+01] [ 9.37748883e-01 -6.52683081e-03 3.47252694e-01 -1.63065327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:-51.66, Z:-16.28 [[ 2.88419803e-01 -5.42129938e-01 -7.89245936e-01 8.62155446e+01] [ 1.92709357e-01 8.40273701e-01 -5.06757547e-01 -5.16621145e+01] [ 9.37911041e-01 -5.93616523e-03 3.46825087e-01 -1.62807345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-51.71, Z:-16.26 [[ 2.68905516e-01 -4.83655533e-01 -8.32926857e-01 8.62553230e+01] [ 1.77436471e-01 8.74854406e-01 -4.50717281e-01 -5.17144083e+01] [ 9.46681637e-01 -2.65912392e-02 3.21071307e-01 -1.62553294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-51.60, Z:-16.23 [[ 2.96012278e-01 -5.95086821e-01 -7.47160228e-01 8.61889465e+01] [ 1.91260418e-01 8.03301281e-01 -5.64027042e-01 -5.15991485e+01] [ 9.35839828e-01 2.40567518e-02 3.51603597e-01 -1.62266560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-51.65, Z:-16.20 [[ 2.98088154e-01 -5.42234924e-01 -7.85572874e-01 8.62326322e+01] [ 1.89649919e-01 8.40223374e-01 -5.07993690e-01 -5.16454788e+01] [ 9.35508611e-01 2.44306952e-03 3.53295443e-01 -1.62009716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.24, Y:-51.64, Z:-16.17 [[ 2.98437060e-01 -5.43482224e-01 -7.84577844e-01 8.62401978e+01] [ 1.90230129e-01 8.39416377e-01 -5.09109659e-01 -5.16408613e+01] [ 9.35279541e-01 2.68684510e-03 3.53899649e-01 -1.61747754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:-51.64, Z:-16.15 [[ 2.96973367e-01 -5.44923840e-01 -7.84133170e-01 8.62487642e+01] [ 1.90401525e-01 8.38482309e-01 -5.10582683e-01 -5.16362185e+01] [ 9.35710467e-01 2.32930681e-03 3.52761245e-01 -1.61488339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.28, Y:-51.68, Z:-16.12 [[ 2.67297625e-01 -5.00295613e-01 -8.23563161e-01 8.62842084e+01] [ 1.73704972e-01 8.65676569e-01 -4.69500436e-01 -5.16785164e+01] [ 9.47828340e-01 -1.75606644e-02 3.18297126e-01 -1.61221788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-51.58, Z:-16.09 [[ 2.95405109e-01 -5.92234306e-01 -7.49662823e-01 8.62331057e+01] [ 1.92336494e-01 8.05481598e-01 -5.60540872e-01 -5.15827977e+01] [ 9.35811143e-01 2.13991188e-02 3.51851649e-01 -1.60946116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.27, Y:-51.62, Z:-16.07 [[ 2.95445156e-01 -5.48059638e-01 -7.82523349e-01 8.62705675e+01] [ 1.91493280e-01 8.36437170e-01 -5.13520384e-01 -5.16198203e+01] [ 9.35971412e-01 1.86914751e-03 3.52071048e-01 -1.60692741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:-51.61, Z:-16.04 [[ 2.96580021e-01 -5.49199242e-01 -7.81294108e-01 8.62757988e+01] [ 1.92217924e-01 8.35687993e-01 -5.14468511e-01 -5.16125838e+01] [ 9.35463821e-01 2.40235052e-03 3.53414301e-01 -1.60423407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-51.67, Z:-16.01 [[ 2.72797310e-01 -4.85592623e-01 -8.30530814e-01 8.63190813e+01] [ 1.74101308e-01 8.73937619e-01 -4.53786044e-01 -5.16707038e+01] [ 9.46187277e-01 -2.08048894e-02 3.22950142e-01 -1.60148601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-51.56, Z:-15.99 [[ 2.72642903e-01 -5.93067981e-01 -7.57585782e-01 8.62589027e+01] [ 1.70146986e-01 8.04727242e-01 -5.68739017e-01 -5.15624556e+01] [ 9.46950817e-01 2.61617194e-02 3.20311901e-01 -1.59863789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-51.59, Z:-15.96 [[ 2.98268575e-01 -5.62269751e-01 -7.71290208e-01 8.62925864e+01] [ 1.89511344e-01 8.26870188e-01 -5.29500844e-01 -5.15868973e+01] [ 9.35479186e-01 1.17652179e-02 3.53185889e-01 -1.59615037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:-51.59, Z:-15.94 [[ 2.97447480e-01 -5.52045237e-01 -7.78955103e-01 8.63088576e+01] [ 1.90037321e-01 8.33791491e-01 -5.18341168e-01 -5.15924029e+01] [ 9.35633910e-01 6.14873320e-03 3.52918376e-01 -1.59352860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-51.58, Z:-15.91 [[ 2.97790305e-01 -5.53259513e-01 -7.77961982e-01 8.63152278e+01] [ 1.90566214e-01 8.32984117e-01 -5.19443913e-01 -5.15847348e+01] [ 9.35417261e-01 6.43209156e-03 3.53487165e-01 -1.59093696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-51.61, Z:-15.88 [[ 2.69906984e-01 -5.17322759e-01 -8.12112913e-01 8.63435561e+01] [ 1.72578832e-01 8.55748128e-01 -4.87761917e-01 -5.16148976e+01] [ 9.47294446e-01 -8.50314970e-03 3.20251354e-01 -1.58816677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-51.59, Z:-15.86 [[ 2.69983496e-01 -5.42027895e-01 -7.95810702e-01 8.63355719e+01] [ 1.73120747e-01 8.40360010e-01 -5.13638258e-01 -5.15861705e+01] [ 9.47173753e-01 9.02509427e-04 3.20719608e-01 -1.58554863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:-51.53, Z:-15.83 [[ 2.99425388e-01 -5.91272376e-01 -7.48826692e-01 8.63106263e+01] [ 1.92957943e-01 8.06143931e-01 -5.59373931e-01 -5.15327380e+01] [ 9.34404446e-01 2.29986981e-02 3.55470660e-01 -1.58282032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-51.56, Z:-15.80 [[ 3.00142339e-01 -5.55926077e-01 -7.75152097e-01 8.63442799e+01] [ 1.90910874e-01 8.31185715e-01 -5.22190909e-01 -5.15611085e+01] [ 9.34594893e-01 8.74663637e-03 3.55606357e-01 -1.58031226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-51.60, Z:-15.78 [[ 2.69199700e-01 -5.16108265e-01 -8.13119782e-01 8.63741592e+01] [ 1.71145515e-01 8.56485347e-01 -4.86972342e-01 -5.15958069e+01] [ 9.47755630e-01 -8.06899562e-03 3.18895214e-01 -1.57788468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-51.50, Z:-15.75 [[ 3.04170938e-01 -6.06598470e-01 -7.34519119e-01 8.63213608e+01] [ 1.92540027e-01 7.94287542e-01 -5.76225337e-01 -5.14987289e+01] [ 9.32956793e-01 3.38466700e-02 3.58393673e-01 -1.57502159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:-51.54, Z:-15.72 [[ 3.03390264e-01 -5.57669955e-01 -7.72630940e-01 8.63647621e+01] [ 1.92475111e-01 8.30001182e-01 -5.23499159e-01 -5.15416561e+01] [ 9.33224346e-01 1.01123220e-02 3.59151864e-01 -1.57243370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:-51.54, Z:-15.70 [[ 3.00189469e-01 -5.60108989e-01 -7.72116703e-01 8.63725096e+01] [ 1.95589513e-01 8.28393045e-01 -5.24890185e-01 -5.15380077e+01] [ 9.33611817e-01 6.54857635e-03 3.58226312e-01 -1.56975421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:-51.53, Z:-15.67 [[ 2.97109280e-01 -5.62506812e-01 -7.71564749e-01 8.63819883e+01] [ 1.98621489e-01 8.26786786e-01 -5.26282353e-01 -5.15325149e+01] [ 9.33956947e-01 3.11403169e-03 3.57371967e-01 -1.56717937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-51.58, Z:-15.65 [[ 2.78628784e-01 -5.14628490e-01 -8.10878238e-01 8.64215832e+01] [ 1.91233921e-01 8.57135936e-01 -4.78275627e-01 -5.15762779e+01] [ 9.41167141e-01 -2.18060687e-02 3.37237168e-01 -1.56475838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.36, Y:-51.47, Z:-15.62 [[ 2.94185953e-01 -6.20391884e-01 -7.27027190e-01 8.63591213e+01] [ 2.09017650e-01 7.84037460e-01 -5.84462901e-01 -5.14677797e+01] [ 9.32612592e-01 1.99792605e-02 3.60325661e-01 -1.56190097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:-51.52, Z:-15.59 [[ 2.94438409e-01 -5.67754734e-01 -7.68739608e-01 8.64066486e+01] [ 2.10163087e-01 8.23173997e-01 -5.27461893e-01 -5.15157777e+01] [ 9.32275442e-01 -6.25564844e-03 3.61695130e-01 -1.55932536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:-51.51, Z:-15.57 [[ 2.91546956e-01 -5.69467085e-01 -7.68575052e-01 8.64142314e+01] [ 2.10825946e-01 8.21977229e-01 -5.29061297e-01 -5.15112317e+01] [ 9.33034186e-01 -7.78935149e-03 3.59703396e-01 -1.55664652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-51.51, Z:-15.54 [[ 2.89719923e-01 -5.71141005e-01 -7.68023645e-01 8.64239103e+01] [ 2.12045250e-01 8.20800538e-01 -5.30399179e-01 -5.15065469e+01] [ 9.33326941e-01 -9.18855681e-03 3.58910005e-01 -1.55405045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:-51.50, Z:-15.51 [[ 2.88334011e-01 -5.72995391e-01 -7.67163464e-01 8.64346932e+01] [ 2.14364792e-01 8.19482029e-01 -5.31504412e-01 -5.15025829e+01] [ 9.33226250e-01 -1.12020373e-02 3.59114578e-01 -1.55149988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-51.57, Z:-15.49 [[ 2.68372510e-01 -5.13481215e-01 -8.15054131e-01 8.64839605e+01] [ 2.07027492e-01 8.57066202e-01 -4.71780821e-01 -5.15670625e+01] [ 9.40805938e-01 -4.21256092e-02 3.36317736e-01 -1.54900918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:-51.45, Z:-15.46 [[ 2.87231052e-01 -6.31980774e-01 -7.19790681e-01 8.64165121e+01] [ 2.25377009e-01 7.74948943e-01 -5.90473826e-01 -5.14495631e+01] [ 9.30969133e-01 7.37814755e-03 3.65023337e-01 -1.54629249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:-51.50, Z:-15.44 [[ 2.89136743e-01 -5.78513193e-01 -7.62707302e-01 8.64645782e+01] [ 2.27579714e-01 8.15435375e-01 -5.32233616e-01 -5.15023994e+01] [ 9.29842684e-01 -1.96884156e-02 3.67430196e-01 -1.54364924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:-51.56, Z:-15.41 [[ 2.70542610e-01 -5.15307173e-01 -8.13182153e-01 8.65089392e+01] [ 2.13537573e-01 8.55761910e-01 -4.71246493e-01 -5.15615785e+01] [ 9.38727011e-01 -4.61526875e-02 3.41557504e-01 -1.54083495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.43, Y:-51.43, Z:-15.38 [[ 2.87403280e-01 -6.41182969e-01 -7.11536194e-01 8.64348361e+01] [ 2.26321525e-01 7.67303180e-01 -6.00020331e-01 -5.14274237e+01] [ 9.30686801e-01 1.14118547e-02 3.65638957e-01 -1.53820225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:-51.52, Z:-15.36 [[ 2.65210418e-01 -5.44441519e-01 -7.95768098e-01 8.65123905e+01] [ 2.03244950e-01 8.38345156e-01 -5.05834844e-01 -5.15192417e+01] [ 9.42525822e-01 -2.75831768e-02 3.32992859e-01 -1.53561577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:-51.46, Z:-15.33 [[ 2.92526813e-01 -6.02861084e-01 -7.42284700e-01 8.64872490e+01] [ 2.23853382e-01 7.97842511e-01 -5.59765121e-01 -5.14593421e+01] [ 9.29686897e-01 -2.41663383e-03 3.68342820e-01 -1.53306751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:-51.48, Z:-15.30 [[ 2.93657584e-01 -5.79774198e-01 -7.60017830e-01 8.65137381e+01] [ 2.23477654e-01 8.14678151e-01 -5.35123582e-01 -5.14830557e+01] [ 9.29420767e-01 -1.27039037e-02 3.68802995e-01 -1.53041806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-51.51, Z:-15.28 [[ 2.67901769e-01 -5.49292821e-01 -7.91521344e-01 8.65396950e+01] [ 2.00922904e-01 8.35341601e-01 -5.11697563e-01 -5.15121043e+01] [ 9.42262505e-01 -2.19500844e-02 3.34155002e-01 -1.52752255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:-51.48, Z:-15.25 [[ 2.68673824e-01 -5.71477921e-01 -7.75388523e-01 8.65339264e+01] [ 2.01117333e-01 8.20526929e-01 -5.35058294e-01 -5.14842602e+01] [ 9.42001165e-01 -1.21879138e-02 3.35388223e-01 -1.52491461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.52, Y:-51.45, Z:-15.22 [[ 2.95316843e-01 -5.99003939e-01 -7.44299834e-01 8.65247265e+01] [ 2.20475388e-01 8.00745989e-01 -5.56952839e-01 -5.14481145e+01] [ 9.29612051e-01 3.77759327e-04 3.68539403e-01 -1.52237106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-51.46, Z:-15.20 [[ 2.96451651e-01 -5.81319193e-01 -7.57749572e-01 8.65439795e+01] [ 2.18880700e-01 8.13652019e-01 -5.38573700e-01 -5.14579907e+01] [ 9.29627699e-01 -6.19569411e-03 3.68448036e-01 -1.51978174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:-51.47, Z:-15.17 [[ 2.76125033e-01 -5.61729023e-01 -7.79881703e-01 8.65627691e+01] [ 1.99139557e-01 8.27257856e-01 -5.25345483e-01 -5.14703146e+01] [ 9.40265071e-01 -1.02442577e-02 3.40289071e-01 -1.51684912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-51.49, Z:-15.14 [[ 2.84940495e-01 -5.39374277e-01 -7.92391509e-01 8.65836346e+01] [ 2.03530289e-01 8.41855208e-01 -4.99855209e-01 -5.14923306e+01] [ 9.36687961e-01 -1.88466824e-02 3.49657642e-01 -1.51439573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-51.40, Z:-15.12 [[ 3.05056456e-01 -6.21781508e-01 -7.21337864e-01 8.65382258e+01] [ 2.17613440e-01 7.82913887e-01 -5.82829508e-01 -5.14042489e+01] [ 9.27138042e-01 2.08230905e-02 3.74140949e-01 -1.51177249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-51.44, Z:-15.09 [[ 3.05018966e-01 -5.82422570e-01 -7.53490133e-01 8.65758565e+01] [ 2.15570474e-01 8.12882011e-01 -5.41065807e-01 -5.14383471e+01] [ 9.27627512e-01 2.60510767e-03 3.73497540e-01 -1.50915173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.59, Y:-51.43, Z:-15.07 [[ 3.02927183e-01 -5.83611025e-01 -7.53414423e-01 8.65867564e+01] [ 2.14633173e-01 8.12028881e-01 -5.42716959e-01 -5.14308206e+01] [ 9.28529872e-01 2.69599108e-03 3.71247908e-01 -1.50663365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:-51.43, Z:-15.04 [[ 3.03596127e-01 -5.84579922e-01 -7.52393320e-01 8.65996066e+01] [ 2.14778702e-01 8.11328714e-01 -5.43705643e-01 -5.14274178e+01] [ 9.28277707e-01 3.46886648e-03 3.71871572e-01 -1.50412541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-51.42, Z:-15.01 [[ 3.04575636e-01 -5.85645987e-01 -7.51167398e-01 8.66061673e+01] [ 2.15590664e-01 8.10557532e-01 -5.44533886e-01 -5.14244982e+01] [ 9.27768477e-01 3.90707662e-03 3.73135883e-01 -1.50142087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.61, Y:-51.42, Z:-14.99 [[ 3.05507940e-01 -5.86123254e-01 -7.50416171e-01 8.66112354e+01] [ 2.13959874e-01 8.10198486e-01 -5.45710166e-01 -5.14199859e+01] [ 9.27839464e-01 6.15983922e-03 3.72928928e-01 -1.49870765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.62, Y:-51.41, Z:-14.96 [[ 3.05445464e-01 -5.86428297e-01 -7.50203253e-01 8.66157241e+01] [ 2.10868472e-01 8.09951482e-01 -5.47277886e-01 -5.14129911e+01] [ 9.28567475e-01 8.96933456e-03 3.71055245e-01 -1.49598317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:-51.40, Z:-14.93 [[ 3.09312824e-01 -5.85603876e-01 -7.49262089e-01 8.66211758e+01] [ 2.06212852e-01 8.10456911e-01 -5.48302703e-01 -5.14018819e+01] [ 9.28332826e-01 1.50895856e-02 3.71443761e-01 -1.49336943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.63, Y:-51.39, Z:-14.91 [[ 3.11883417e-01 -5.85662696e-01 -7.48149677e-01 8.66293255e+01] [ 2.04331098e-01 8.10345845e-01 -5.49170659e-01 -5.13943747e+01] [ 9.27888752e-01 1.84069769e-02 3.72402533e-01 -1.49074397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:86.64, Y:-51.39, Z:-14.88 [[ 3.14983889e-01 -5.85613944e-01 -7.46887849e-01 8.66365815e+01] [ 2.02541271e-01 8.10293192e-01 -5.49910880e-01 -5.13864368e+01] [ 9.27233619e-01 2.19374535e-02 3.73840293e-01 -1.48820003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:-51.38, Z:-14.86 [[ 3.16954938e-01 -5.85528037e-01 -7.46120959e-01 8.66440344e+01] [ 1.99738362e-01 8.10247395e-01 -5.51002491e-01 -5.13769103e+01] [ 9.27169970e-01 2.56139819e-02 3.73764324e-01 -1.48564499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:-51.37, Z:-14.83 [[ 3.15848943e-01 -5.86747341e-01 -7.45631949e-01 8.66516241e+01] [ 1.99756773e-01 8.09368656e-01 -5.52285806e-01 -5.13700329e+01] [ 9.27543356e-01 2.54938560e-02 3.72844989e-01 -1.48301460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-51.36, Z:-14.80 [[ 3.16409066e-01 -5.88236396e-01 -7.44219891e-01 8.66582338e+01] [ 2.02335174e-01 8.08322223e-01 -5.52879428e-01 -5.13623555e+01] [ 9.26793278e-01 2.43542021e-02 3.74781393e-01 -1.48034721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-51.35, Z:-14.78 [[ 3.14327865e-01 -5.90931445e-01 -7.42965693e-01 8.66618969e+01] [ 2.07674621e-01 8.06480888e-01 -5.53588140e-01 -5.13524876e+01] [ 9.26320271e-01 1.97130595e-02 3.76220880e-01 -1.47764928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.66, Y:-51.33, Z:-14.75 [[ 3.07701915e-01 -5.95137342e-01 -7.42382028e-01 8.66615182e+01] [ 2.15603308e-01 8.03553342e-01 -5.54812797e-01 -5.13271512e+01] [ 9.26733373e-01 1.06569391e-02 3.75568482e-01 -1.47522008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-51.32, Z:-14.73 [[ 3.06795574e-01 -5.96243902e-01 -7.41869049e-01 8.66694217e+01] [ 2.15331748e-01 8.02729835e-01 -5.56108848e-01 -5.13230273e+01] [ 9.27096928e-01 1.08637744e-02 3.74664202e-01 -1.47261129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:-51.32, Z:-14.70 [[ 3.06307411e-01 -5.96967374e-01 -7.41488857e-01 8.66760329e+01] [ 2.13731184e-01 8.02171274e-01 -5.57530473e-01 -5.13173532e+01] [ 9.27628563e-01 1.22964242e-02 3.73301550e-01 -1.46995967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.68, Y:-51.31, Z:-14.67 [[ 3.07732433e-01 -5.97681018e-01 -7.40323004e-01 8.66804336e+01] [ 2.13634986e-01 8.01617489e-01 -5.58363228e-01 -5.13101256e+01] [ 9.27178970e-01 1.36675799e-02 3.74369276e-01 -1.46723203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:-51.30, Z:-14.65 [[ 3.07439547e-01 -5.98865282e-01 -7.39487186e-01 8.66880005e+01] [ 2.14059502e-01 8.00732441e-01 -5.59469469e-01 -5.13031313e+01] [ 9.27178221e-01 1.37087813e-02 3.74369624e-01 -1.46457371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:-51.29, Z:-14.62 [[ 3.07030497e-01 -5.99379093e-01 -7.39240811e-01 8.66938159e+01] [ 2.11922572e-01 8.00314343e-01 -5.60879467e-01 -5.12947266e+01] [ 9.27804450e-01 1.55452873e-02 3.72742869e-01 -1.46191959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-51.29, Z:-14.59 [[ 3.06736982e-01 -6.00538639e-01 -7.38421132e-01 8.67013751e+01] [ 2.12349567e-01 7.99444133e-01 -5.61957951e-01 -5.12877330e+01] [ 9.27803905e-01 1.55698782e-02 3.72743201e-01 -1.45926122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:-51.28, Z:-14.57 [[ 3.08128048e-01 -6.00922511e-01 -7.37529146e-01 8.67089741e+01] [ 2.11121830e-01 7.99110509e-01 -5.62894278e-01 -5.12799699e+01] [ 9.27623134e-01 1.77350120e-02 3.73096221e-01 -1.45666945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:-51.27, Z:-14.54 [[ 3.08157822e-01 -6.01620081e-01 -7.36947783e-01 8.67164107e+01] [ 2.09819292e-01 7.98550895e-01 -5.64174027e-01 -5.12728945e+01] [ 9.27908736e-01 1.92287767e-02 3.72311204e-01 -1.45401445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.72, Y:-51.27, Z:-14.51 [[ 3.07970589e-01 -6.02721056e-01 -7.36125971e-01 8.67238670e+01] [ 2.10111321e-01 7.97715836e-01 -5.65245679e-01 -5.12657732e+01] [ 9.27904817e-01 1.94106444e-02 3.72311533e-01 -1.45135569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:-51.26, Z:-14.49 [[ 3.09290339e-01 -6.03162328e-01 -7.35210645e-01 8.67312010e+01] [ 2.10490678e-01 7.97363131e-01 -5.65602079e-01 -5.12578241e+01] [ 9.27379728e-01 2.01802719e-02 3.73576760e-01 -1.44881150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-51.25, Z:-14.46 [[ 3.09388062e-01 -6.04160199e-01 -7.34349699e-01 8.67371408e+01] [ 2.10581784e-01 7.96594649e-01 -5.66650048e-01 -5.12489750e+01] [ 9.27326447e-01 2.06740907e-02 3.73682008e-01 -1.44615474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-51.24, Z:-14.44 [[ 3.09488812e-01 -6.05196460e-01 -7.33453421e-01 8.67432788e+01] [ 2.10893600e-01 7.95799097e-01 -5.67651026e-01 -5.12409206e+01] [ 9.27221961e-01 2.10010092e-02 3.73922977e-01 -1.44358532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:-51.23, Z:-14.41 [[ 3.09303552e-01 -6.06283014e-01 -7.32633755e-01 8.67506987e+01] [ 2.11183964e-01 7.94966784e-01 -5.68708314e-01 -5.12337741e+01] [ 9.27217691e-01 2.11830005e-02 3.73923300e-01 -1.44092647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:-51.23, Z:-14.38 [[ 3.08627821e-01 -6.07048527e-01 -7.32284749e-01 8.67575616e+01] [ 2.11273371e-01 7.94385995e-01 -5.69486131e-01 -5.12271103e+01] [ 9.27422466e-01 2.10469964e-02 3.73422807e-01 -1.43832268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.76, Y:-51.22, Z:-14.36 [[ 3.07894918e-01 -6.08301479e-01 -7.31553163e-01 8.67649122e+01] [ 2.11807912e-01 7.93435045e-01 -5.70612161e-01 -5.12206674e+01] [ 9.27544138e-01 2.07398366e-02 3.73137684e-01 -1.43568682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-51.21, Z:-14.33 [[ 3.07907807e-01 -6.09476168e-01 -7.30569356e-01 8.67710310e+01] [ 2.12648189e-01 7.92535934e-01 -5.71548372e-01 -5.12127319e+01] [ 9.27347578e-01 2.06299553e-02 3.73632004e-01 -1.43306933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:-51.21, Z:-14.30 [[ 3.07618932e-01 -6.10621696e-01 -7.29734018e-01 8.67784767e+01] [ 2.13069631e-01 7.91652823e-01 -5.72614304e-01 -5.12056341e+01] [ 9.27346712e-01 2.06628428e-02 3.73632336e-01 -1.43041097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.78, Y:-51.20, Z:-14.28 [[ 3.07292827e-01 -6.11730364e-01 -7.28942439e-01 8.67831322e+01] [ 2.13595050e-01 7.90799018e-01 -5.73597478e-01 -5.11964685e+01] [ 9.27333960e-01 2.05638938e-02 3.73669444e-01 -1.42778471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:-51.19, Z:-14.25 [[ 3.06634495e-01 -6.12958672e-01 -7.28187443e-01 8.67871091e+01] [ 2.14085796e-01 7.89853292e-01 -5.74716495e-01 -5.11867026e+01] [ 9.27438709e-01 2.03333139e-02 3.73422011e-01 -1.42515769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.79, Y:-51.18, Z:-14.22 [[ 3.06441293e-01 -6.14052251e-01 -7.27346937e-01 8.67944402e+01] [ 2.14380045e-01 7.88998739e-01 -5.75779634e-01 -5.11794806e+01] [ 9.27434596e-01 2.05139865e-02 3.73422342e-01 -1.42249866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-51.17, Z:-14.20 [[ 3.05974603e-01 -6.14920769e-01 -7.26809459e-01 8.67990078e+01] [ 2.15059363e-01 7.88333512e-01 -5.76437113e-01 -5.11709741e+01] [ 9.27431406e-01 2.00679378e-02 3.73454502e-01 -1.41982025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:-51.16, Z:-14.17 [[ 3.05374437e-01 -6.16214487e-01 -7.25965674e-01 8.68053277e+01] [ 2.15825550e-01 7.87332530e-01 -5.77517808e-01 -5.11629944e+01] [ 9.27451231e-01 1.96772353e-02 3.73426059e-01 -1.41720919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.81, Y:-51.16, Z:-14.15 [[ 3.05076505e-01 -6.17361113e-01 -7.25116254e-01 8.68126971e+01] [ 2.16249693e-01 7.86433039e-01 -5.78583741e-01 -5.11558420e+01] [ 9.27450482e-01 1.97061384e-02 3.73426394e-01 -1.41455077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:-51.15, Z:-14.12 [[ 3.02820700e-01 -6.18968197e-01 -7.24691655e-01 8.68213814e+01] [ 2.17218058e-01 7.85205486e-01 -5.79886765e-01 -5.11480270e+01] [ 9.27963329e-01 1.81856016e-02 3.72227544e-01 -1.41200168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:-51.14, Z:-14.09 [[ 3.02259420e-01 -6.20401740e-01 -7.23699471e-01 8.68293957e+01] [ 2.18668458e-01 7.84093004e-01 -5.80846165e-01 -5.11383717e+01] [ 9.27805663e-01 1.73159775e-02 3.72661788e-01 -1.40943055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-51.13, Z:-14.07 [[ 3.01353221e-01 -6.22051287e-01 -7.22660662e-01 8.68359209e+01] [ 2.20790397e-01 7.82817880e-01 -5.81762638e-01 -5.11280944e+01] [ 9.27597885e-01 1.57595098e-02 3.73247640e-01 -1.40687078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-51.12, Z:-14.04 [[ 3.01472632e-01 -6.23563043e-01 -7.21306719e-01 8.68404901e+01] [ 2.23149517e-01 7.81636093e-01 -5.82451123e-01 -5.11182678e+01] [ 9.26994361e-01 1.46338270e-02 3.74789682e-01 -1.40422061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-51.11, Z:-14.01 [[ 3.00175880e-01 -6.24845207e-01 -7.20737753e-01 8.68396760e+01] [ 2.23299922e-01 7.80617886e-01 -5.83757536e-01 -5.11075179e+01] [ 9.27378880e-01 1.42892482e-02 3.73850547e-01 -1.40142189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.85, Y:-51.10, Z:-13.99 [[ 2.98985860e-01 -6.26372255e-01 -7.19906420e-01 8.68457552e+01] [ 2.24669546e-01 7.79413703e-01 -5.84840042e-01 -5.10983755e+01] [ 9.27432505e-01 1.31178539e-02 3.73760446e-01 -1.39886588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-51.13, Z:-13.96 [[ 2.67428256e-01 -5.83077018e-01 -7.67139700e-01 8.68857680e+01] [ 2.00705284e-01 8.12381774e-01 -5.47497253e-01 -5.11343849e+01] [ 9.42443376e-01 -7.55275615e-03 3.34280480e-01 -1.39625971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:-51.05, Z:-13.94 [[ 2.96758031e-01 -6.57590020e-01 -6.92466632e-01 8.68358908e+01] [ 2.28131809e-01 7.52954244e-01 -6.17264761e-01 -5.10536173e+01] [ 9.27302835e-01 2.52046099e-02 3.73462420e-01 -1.39379929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-51.07, Z:-13.91 [[ 2.97157737e-01 -6.30206433e-01 -7.17312436e-01 8.68673074e+01] [ 2.29627055e-01 7.76366949e-01 -5.86963181e-01 -5.10731054e+01] [ 9.26805640e-01 9.70630854e-03 3.75415893e-01 -1.39121939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-51.06, Z:-13.89 [[ 2.96803847e-01 -6.31929970e-01 -7.15941331e-01 8.68709741e+01] [ 2.32552401e-01 7.74985032e-01 -5.87637287e-01 -5.10638504e+01] [ 9.26189428e-01 7.91913232e-03 3.76975371e-01 -1.38856949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:-51.06, Z:-13.86 [[ 2.94734064e-01 -6.33278370e-01 -7.15604875e-01 8.68775514e+01] [ 2.32394513e-01 7.73889311e-01 -5.89141854e-01 -5.10567772e+01] [ 9.26889757e-01 7.33752615e-03 3.75261960e-01 -1.38593109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.88, Y:-51.05, Z:-13.83 [[ 2.91782818e-01 -6.34929741e-01 -7.15350970e-01 8.68839982e+01] [ 2.32903826e-01 7.72548502e-01 -5.90698417e-01 -5.10490447e+01] [ 9.27695313e-01 5.74767104e-03 3.73293945e-01 -1.38332043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-51.04, Z:-13.81 [[ 2.88611130e-01 -6.37072138e-01 -7.14732612e-01 8.68859821e+01] [ 2.35480411e-01 7.70799998e-01 -5.91959745e-01 -5.10361306e+01] [ 9.28036956e-01 2.54064128e-03 3.72479467e-01 -1.38072819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-51.03, Z:-13.78 [[ 2.89112890e-01 -6.38600720e-01 -7.13163976e-01 8.68919428e+01] [ 2.38372114e-01 7.69537178e-01 -5.92445159e-01 -5.10266501e+01] [ 9.27142099e-01 1.28512754e-03 3.74707721e-01 -1.37810841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:-51.05, Z:-13.76 [[ 2.61594280e-01 -6.09719734e-01 -7.48204704e-01 8.69230788e+01] [ 2.17019077e-01 7.92505822e-01 -5.69944947e-01 -5.10509783e+01] [ 9.40463265e-01 -1.32803558e-02 3.39635804e-01 -1.37557564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-50.99, Z:-13.73 [[ 2.88514618e-01 -6.67851134e-01 -6.86100706e-01 8.68865039e+01] [ 2.40950826e-01 7.44154807e-01 -6.23037978e-01 -5.09913581e+01] [ 9.26661758e-01 1.44390325e-02 3.75618822e-01 -1.37286084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.96, Y:-51.07, Z:-13.70 [[ 2.69413130e-01 -5.85669842e-01 -7.64465435e-01 8.69625510e+01] [ 2.27693049e-01 8.10048984e-01 -5.40348516e-01 -5.10699013e+01] [ 9.35720279e-01 -2.84864811e-02 3.51590785e-01 -1.37042953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:86.87, Y:-50.95, Z:-13.67 [[ 2.87946265e-01 -7.02548800e-01 -6.50778098e-01 8.68653717e+01] [ 2.44308527e-01 7.10964896e-01 -6.59425705e-01 -5.09483982e+01] [ 9.25959120e-01 3.08885302e-02 3.76358349e-01 -1.36723310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.93, Y:-51.00, Z:-13.65 [[ 2.88813808e-01 -6.42116100e-01 -7.10122172e-01 8.69277606e+01] [ 2.43935370e-01 7.66605577e-01 -5.93979314e-01 -5.09985950e+01] [ 9.25787297e-01 -1.67448727e-03 3.78041104e-01 -1.36482115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.94, Y:-50.99, Z:-13.62 [[ 2.88099259e-01 -6.42856524e-01 -7.09742423e-01 8.69381013e+01] [ 2.42373631e-01 7.65986459e-01 -5.95415626e-01 -5.09943335e+01] [ 9.26419905e-01 -4.84047280e-04 3.76491601e-01 -1.36228645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:-50.99, Z:-13.60 [[ 2.87876521e-01 -6.43919000e-01 -7.08869121e-01 8.69453017e+01] [ 2.42638361e-01 7.65093612e-01 -5.96454852e-01 -5.09868413e+01] [ 9.26419848e-01 -2.93493519e-04 3.76491938e-01 -1.35963257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:-50.98, Z:-13.57 [[ 2.86491309e-01 -6.44485606e-01 -7.08915392e-01 8.69558014e+01] [ 2.41355093e-01 7.64616435e-01 -5.97586333e-01 -5.09817603e+01] [ 9.27184151e-01 1.02950651e-04 3.74605847e-01 -1.35712181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:-50.98, Z:-13.55 [[ 2.87286325e-01 -6.45042042e-01 -7.08087094e-01 8.69657608e+01] [ 2.41875247e-01 7.64146905e-01 -5.97976482e-01 -5.09752914e+01] [ 9.26802532e-01 5.21724646e-04 3.75548659e-01 -1.35459573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.97, Y:-50.97, Z:-13.52 [[ 2.87395749e-01 -6.45930897e-01 -7.07231899e-01 8.69728046e+01] [ 2.41624725e-01 7.63394818e-01 -5.99037432e-01 -5.09687826e+01] [ 9.26833953e-01 1.27609818e-03 3.75469300e-01 -1.35194780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:-50.96, Z:-13.49 [[ 2.88172382e-01 -6.47104492e-01 -7.05841664e-01 8.69798479e+01] [ 2.43243546e-01 7.62400513e-01 -5.99648259e-01 -5.09629287e+01] [ 9.26169129e-01 1.11063830e-03 3.77106763e-01 -1.34932284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.99, Y:-50.96, Z:-13.47 [[ 2.87012651e-01 -6.48614724e-01 -7.04927427e-01 8.69873411e+01] [ 2.44827761e-01 7.61116877e-01 -6.00633388e-01 -5.09589914e+01] [ 9.26111821e-01 -1.96422715e-04 3.77249063e-01 -1.34669458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:87.00, Y:-50.96, Z:-13.44 [[ 2.84078811e-01 -6.50388685e-01 -7.04481219e-01 8.69955113e+01] [ 2.46106151e-01 7.59597935e-01 -6.02032174e-01 -5.09554690e+01] [ 9.26677394e-01 -2.35257708e-03 3.75850334e-01 -1.34404128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.00, Y:-50.95, Z:-13.41 [[ 2.84477843e-01 -6.51636668e-01 -7.03165706e-01 8.70038678e+01] [ 2.47820158e-01 7.58526045e-01 -6.02680188e-01 -5.09483773e+01] [ 9.26098011e-01 -2.80947682e-03 3.77272555e-01 -1.34144750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.01, Y:-50.94, Z:-13.39 [[ 2.85243133e-01 -6.52637623e-01 -7.01926270e-01 8.70124676e+01] [ 2.48725785e-01 7.57666159e-01 -6.03388328e-01 -5.09416129e+01] [ 9.25619705e-01 -2.47478556e-03 3.78446874e-01 -1.33891514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-50.94, Z:-13.36 [[ 2.86680537e-01 -6.53551300e-01 -7.00489092e-01 8.70251240e+01] [ 2.49843057e-01 7.56879882e-01 -6.03913314e-01 -5.09388496e+01] [ 9.24874433e-01 -1.88214313e-03 3.80267985e-01 -1.33631073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-50.93, Z:-13.34 [[ 2.87005739e-01 -6.54547863e-01 -6.99424622e-01 8.70342432e+01] [ 2.50342103e-01 7.56019040e-01 -6.04784295e-01 -5.09334053e+01] [ 9.24638598e-01 -1.51886714e-03 3.80842691e-01 -1.33367615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.04, Y:-50.93, Z:-13.31 [[ 2.85810002e-01 -6.55301362e-01 -6.99208673e-01 8.70422222e+01] [ 2.48447401e-01 7.55367433e-01 -6.06377712e-01 -5.09262257e+01] [ 9.25519601e-01 -4.07762442e-04 3.78699488e-01 -1.33105594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.05, Y:-50.92, Z:-13.29 [[ 2.84060648e-01 -6.55954743e-01 -6.99308890e-01 8.70498564e+01] [ 2.45556905e-01 7.54799474e-01 -6.08259451e-01 -5.09175736e+01] [ 9.26828655e-01 1.06244717e-03 3.75483044e-01 -1.32851587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-50.91, Z:-13.26 [[ 2.84832164e-01 -6.55970982e-01 -6.98979764e-01 8.70556596e+01] [ 2.41850026e-01 7.54771873e-01 -6.09776996e-01 -5.09067733e+01] [ 9.27566280e-01 4.63582683e-03 3.73629905e-01 -1.32596523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-50.90, Z:-13.23 [[ 2.87634146e-01 -6.56398113e-01 -6.97429649e-01 8.70599013e+01] [ 2.41938569e-01 7.54384170e-01 -6.10221478e-01 -5.08990626e+01] [ 9.26678114e-01 6.78540256e-03 3.75794666e-01 -1.32330485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-50.89, Z:-13.21 [[ 2.91649699e-01 -6.56579758e-01 -6.95588581e-01 8.70637568e+01] [ 2.42082436e-01 7.54195089e-01 -6.10398117e-01 -5.08915076e+01] [ 9.25384540e-01 9.63264899e-03 3.78907199e-01 -1.32062091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:-50.88, Z:-13.18 [[ 2.95358925e-01 -6.56588818e-01 -6.94013133e-01 8.70655042e+01] [ 2.41209957e-01 7.54136554e-01 -6.10815696e-01 -5.08809552e+01] [ 9.24435429e-01 1.30069893e-02 3.81116722e-01 -1.31792565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.07, Y:-50.87, Z:-13.15 [[ 2.94891981e-01 -6.57392800e-01 -6.93450377e-01 8.70713419e+01] [ 2.40175404e-01 7.53418833e-01 -6.12107701e-01 -5.08708087e+01] [ 9.24853769e-01 1.39559281e-02 3.80066754e-01 -1.31536502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-50.86, Z:-13.13 [[ 2.93097689e-01 -6.58565251e-01 -6.93098518e-01 8.70785399e+01] [ 2.39557596e-01 7.52396915e-01 -6.13604955e-01 -5.08607490e+01] [ 9.25584087e-01 1.38091801e-02 3.78290105e-01 -1.31280095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-50.85, Z:-13.10 [[ 2.90895351e-01 -6.60141234e-01 -6.92526855e-01 8.70854083e+01] [ 2.40469083e-01 7.51040080e-01 -6.14909276e-01 -5.08519397e+01] [ 9.26042394e-01 1.23429526e-02 3.77217625e-01 -1.31022534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-50.84, Z:-13.08 [[ 2.89154036e-01 -6.61841250e-01 -6.91632925e-01 8.70923179e+01] [ 2.42404559e-01 7.49571227e-01 -6.15940748e-01 -5.08438198e+01] [ 9.26083135e-01 1.04467788e-02 3.77174882e-01 -1.30766189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:-50.84, Z:-13.05 [[ 2.84422657e-01 -6.64616344e-01 -6.90933331e-01 8.70999229e+01] [ 2.46741358e-01 7.47167753e-01 -6.17137789e-01 -5.08379046e+01] [ 9.26402965e-01 5.04614145e-03 3.76499777e-01 -1.30499707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:-50.83, Z:-13.02 [[ 2.82168258e-01 -6.66433076e-01 -6.90107259e-01 8.71071896e+01] [ 2.48861548e-01 7.45559954e-01 -6.18229961e-01 -5.08319798e+01] [ 9.26525231e-01 2.70371098e-03 3.76222920e-01 -1.30234359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:-50.83, Z:-13.00 [[ 2.79426635e-01 -6.67916453e-01 -6.89788640e-01 8.71140495e+01] [ 2.48960725e-01 7.44234840e-01 -6.19784688e-01 -5.08253367e+01] [ 9.27329129e-01 1.45407009e-03 3.74244002e-01 -1.29968317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-50.82, Z:-12.97 [[ 2.78243126e-01 -6.69295811e-01 -6.88929518e-01 8.71196628e+01] [ 2.50043529e-01 7.42995886e-01 -6.20834396e-01 -5.08176690e+01] [ 9.27393658e-01 4.80535671e-04 3.74086584e-01 -1.29701497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-50.81, Z:-12.94 [[ 2.80295441e-01 -6.70405033e-01 -6.87016417e-01 8.71227826e+01] [ 2.52767193e-01 7.41995243e-01 -6.20928181e-01 -5.08070280e+01] [ 9.26036291e-01 3.88127130e-04 3.77434282e-01 -1.29436641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:-50.81, Z:-12.92 [[ 2.61367872e-01 -6.57314532e-01 -7.06841171e-01 8.71389921e+01] [ 2.32370105e-01 7.53608044e-01 -6.14881330e-01 -5.08126426e+01] [ 9.36851626e-01 -3.53853276e-03 3.49709178e-01 -1.29159128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-50.81, Z:-12.89 [[ 2.61664747e-01 -6.55380271e-01 -7.08525413e-01 8.71479424e+01] [ 2.32037238e-01 7.55288388e-01 -6.12942225e-01 -5.08085464e+01] [ 9.36851258e-01 -4.01890762e-03 3.49704973e-01 -1.28904536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:-50.78, Z:-12.86 [[ 2.83991972e-01 -6.82917762e-01 -6.73031864e-01 8.71325901e+01] [ 2.51192568e-01 7.30407627e-01 -6.35143285e-01 -5.07755079e+01] [ 9.25338238e-01 1.13149917e-02 3.78973768e-01 -1.28646678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-50.78, Z:-12.84 [[ 2.82585562e-01 -6.71794295e-01 -6.84717333e-01 8.71536875e+01] [ 2.48855006e-01 7.40713887e-01 -6.24030547e-01 -5.07795808e+01] [ 9.26399798e-01 5.94668639e-03 3.76494423e-01 -1.28400933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.19, Y:-50.81, Z:-12.81 [[ 2.66596873e-01 -6.35281772e-01 -7.24805613e-01 8.71930347e+01] [ 2.34049463e-01 7.72184760e-01 -5.90721208e-01 -5.08061700e+01] [ 9.34958264e-01 -1.21559374e-02 3.54549400e-01 -1.28143395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:-50.76, Z:-12.79 [[ 2.74509372e-01 -6.69574208e-01 -6.90155768e-01 8.71704541e+01] [ 2.40335667e-01 7.42723339e-01 -6.24980647e-01 -5.07640409e+01] [ 9.31065718e-01 5.69399830e-03 3.64807082e-01 -1.27896767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:-50.78, Z:-12.76 [[ 2.66276100e-01 -6.47273297e-01 -7.14236878e-01 8.71966393e+01] [ 2.34256573e-01 7.62229136e-01 -6.03432352e-01 -5.07788075e+01] [ 9.34997806e-01 -6.63506953e-03 3.54591426e-01 -1.27635600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:-50.70, Z:-12.73 [[ 2.83191318e-01 -7.20374394e-01 -6.33137749e-01 8.71295993e+01] [ 2.53622198e-01 6.92911822e-01 -6.74943692e-01 -5.07030987e+01] [ 9.24920785e-01 3.05604063e-02 3.78929549e-01 -1.27322779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-50.79, Z:-12.71 [[ 2.69121494e-01 -6.26362592e-01 -7.31603393e-01 8.72236878e+01] [ 2.39827667e-01 7.79284217e-01 -5.78963556e-01 -5.07875596e+01] [ 9.32768091e-01 -1.96471974e-02 3.59941212e-01 -1.27080683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-50.70, Z:-12.68 [[ 2.82853135e-01 -7.15524459e-01 -6.38763534e-01 8.71508757e+01] [ 2.56067616e-01 6.98120087e-01 -6.68623750e-01 -5.06957098e+01] [ 9.24350301e-01 2.55556686e-02 3.80688098e-01 -1.26804232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:-50.73, Z:-12.66 [[ 2.83585565e-01 -6.77691657e-01 -6.78463887e-01 8.72007489e+01] [ 2.57735297e-01 7.35340549e-01 -6.26774915e-01 -5.07261441e+01] [ 9.23662137e-01 2.88022668e-03 3.83197025e-01 -1.26570303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-50.76, Z:-12.63 [[ 2.70914041e-01 -6.36537816e-01 -7.22097771e-01 8.72473527e+01] [ 2.47870501e-01 7.70984606e-01 -5.86636984e-01 -5.07608706e+01] [ 9.30142891e-01 -2.00585401e-02 3.66649503e-01 -1.26335566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:-50.67, Z:-12.60 [[ 2.85244554e-01 -7.20433964e-01 -6.32147489e-01 8.71747053e+01] [ 2.64137290e-01 6.93096218e-01 -6.70707928e-01 -5.06727810e+01] [ 9.21339805e-01 2.43420591e-02 3.87995397e-01 -1.26037996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-50.74, Z:-12.58 [[ 2.63099114e-01 -6.48472495e-01 -7.14326451e-01 8.72464633e+01] [ 2.44840351e-01 7.61051588e-01 -6.00710981e-01 -5.07357643e+01] [ 9.33183829e-01 -1.68494122e-02 3.59004233e-01 -1.25782137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.20, Y:-50.67, Z:-12.55 [[ 2.83370280e-01 -7.09850455e-01 -6.44836115e-01 8.71976660e+01] [ 2.66420690e-01 7.04199125e-01 -6.58121272e-01 -5.06702916e+01] [ 9.21260713e-01 1.46943262e-02 3.88667951e-01 -1.25501354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:-50.69, Z:-12.53 [[ 2.81908190e-01 -6.82443399e-01 -6.74387708e-01 8.72357811e+01] [ 2.66473929e-01 7.30933850e-01 -6.28273310e-01 -5.06918810e+01] [ 9.21693777e-01 -2.59135067e-03 3.87909612e-01 -1.25253362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-50.69, Z:-12.50 [[ 2.84535494e-01 -6.82497826e-01 -6.73228246e-01 8.72463258e+01] [ 2.64954441e-01 7.30887386e-01 -6.28969613e-01 -5.06864774e+01] [ 9.21324426e-01 5.89366321e-04 3.88794233e-01 -1.24994857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-50.68, Z:-12.47 [[ 2.86803716e-01 -6.82542986e-01 -6.72219236e-01 8.72526673e+01] [ 2.63388200e-01 7.30836869e-01 -6.29685736e-01 -5.06795612e+01] [ 9.21070184e-01 3.54159469e-03 3.89380499e-01 -1.24727443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:-50.67, Z:-12.45 [[ 2.88405274e-01 -6.82738814e-01 -6.71334573e-01 8.72583896e+01] [ 2.61630010e-01 7.30635854e-01 -6.30651241e-01 -5.06729310e+01] [ 9.21071189e-01 6.24187319e-03 3.89344197e-01 -1.24465695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:-50.67, Z:-12.42 [[ 2.89697640e-01 -6.82760494e-01 -6.70755832e-01 8.72640858e+01] [ 2.58770694e-01 7.30580674e-01 -6.31893667e-01 -5.06656705e+01] [ 9.21473280e-01 9.48615165e-03 3.88325904e-01 -1.24195855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-50.66, Z:-12.39 [[ 2.90988360e-01 -6.83192525e-01 -6.69756484e-01 8.72703055e+01] [ 2.57890917e-01 7.30149322e-01 -6.32751328e-01 -5.06579419e+01] [ 9.21313220e-01 1.13991576e-02 3.88654100e-01 -1.23937344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:-50.65, Z:-12.37 [[ 2.91397794e-01 -6.83339033e-01 -6.69428930e-01 8.72783265e+01] [ 2.54706453e-01 7.29960889e-01 -6.34256828e-01 -5.06495196e+01] [ 9.22069384e-01 1.43131725e-02 3.86759854e-01 -1.23682542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.29, Y:-50.64, Z:-12.34 [[ 2.95654567e-01 -6.82552114e-01 -6.68364413e-01 8.72904303e+01] [ 2.50931784e-01 7.30561923e-01 -6.35068907e-01 -5.06416228e+01] [ 9.21749216e-01 2.00471483e-02 3.87267988e-01 -1.23440199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:-50.63, Z:-12.32 [[ 2.96042651e-01 -6.83096037e-01 -6.67636543e-01 8.72998665e+01] [ 2.49703379e-01 7.30008245e-01 -6.36188797e-01 -5.06339280e+01] [ 9.21958226e-01 2.16279171e-02 3.86684965e-01 -1.23182590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-50.68, Z:-12.29 [[ 2.76709040e-01 -6.30257499e-01 -7.25401676e-01 8.73544294e+01] [ 2.30601157e-01 7.76370279e-01 -5.86576760e-01 -5.06817226e+01] [ 9.32874704e-01 -4.96737358e-03 3.60166784e-01 -1.22915332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:-50.57, Z:-12.26 [[ 2.98561278e-01 -7.33290423e-01 -6.10857037e-01 8.72624058e+01] [ 2.50024610e-01 6.77791021e-01 -6.91438375e-01 -5.05733432e+01] [ 9.21058553e-01 5.37074323e-02 3.85702805e-01 -1.22621357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:-50.62, Z:-12.24 [[ 3.00871101e-01 -6.83106764e-01 -6.65463545e-01 8.73173620e+01] [ 2.47008219e-01 7.29803497e-01 -6.37474545e-01 -5.06160515e+01] [ 9.21120795e-01 2.74227031e-02 3.88309767e-01 -1.22358231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:-50.67, Z:-12.21 [[ 2.83264493e-01 -6.25164492e-01 -7.27276141e-01 8.73726193e+01] [ 2.28960871e-01 7.80491096e-01 -5.81730666e-01 -5.06657860e+01] [ 9.31309909e-01 -1.73413645e-03 3.64223621e-01 -1.22094474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-50.54, Z:-12.18 [[ 3.05234625e-01 -7.39119033e-01 -6.00445567e-01 8.72700114e+01] [ 2.49802262e-01 6.70602251e-01 -6.98492270e-01 -5.05441448e+01] [ 9.18929080e-01 6.32113646e-02 3.89324633e-01 -1.21811331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:-50.59, Z:-12.16 [[ 3.05718992e-01 -6.82872179e-01 -6.63491888e-01 8.73399764e+01] [ 2.43787533e-01 7.29768084e-01 -6.38753617e-01 -5.05873954e+01] [ 9.20382278e-01 3.35280608e-02 3.89579687e-01 -1.21594410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-50.58, Z:-12.13 [[ 3.06462271e-01 -6.83199254e-01 -6.62811931e-01 8.73459472e+01] [ 2.42178570e-01 7.29365501e-01 -6.39824590e-01 -5.05780922e+01] [ 9.20559839e-01 3.55632509e-02 3.88979226e-01 -1.21330982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-50.57, Z:-12.11 [[ 3.07246887e-01 -6.83688522e-01 -6.61943620e-01 8.73490104e+01] [ 2.41462986e-01 7.28834458e-01 -6.40699585e-01 -5.05685483e+01] [ 9.20486272e-01 3.70180708e-02 3.89017590e-01 -1.21065221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-50.55, Z:-12.08 [[ 3.07959089e-01 -6.84386290e-01 -6.60890767e-01 8.73463326e+01] [ 2.41727252e-01 7.28140876e-01 -6.41388183e-01 -5.05529750e+01] [ 9.20178861e-01 3.77660116e-02 3.89672417e-01 -1.20798323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-50.54, Z:-12.05 [[ 3.08178652e-01 -6.85220865e-01 -6.59922939e-01 8.73509466e+01] [ 2.42116197e-01 7.27337092e-01 -6.42153020e-01 -5.05411454e+01] [ 9.20003079e-01 3.81198199e-02 3.90052834e-01 -1.20546848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-50.53, Z:-12.03 [[ 3.08356747e-01 -6.86287852e-01 -6.58729915e-01 8.73569065e+01] [ 2.43608185e-01 7.26351800e-01 -6.42703753e-01 -5.05313568e+01] [ 9.19549438e-01 3.77100399e-02 3.91160816e-01 -1.20289987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:-50.52, Z:-12.00 [[ 3.07141328e-01 -6.87628393e-01 -6.57899231e-01 8.73636464e+01] [ 2.44829334e-01 7.25139450e-01 -6.43608091e-01 -5.05215066e+01] [ 9.19631884e-01 3.66056138e-02 3.91071895e-01 -1.20031582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.41, Y:-50.56, Z:-11.98 [[ 2.84799088e-01 -6.41252959e-01 -7.12519559e-01 8.74135339e+01] [ 2.34610961e-01 7.67324432e-01 -5.96800564e-01 -5.05605838e+01] [ 9.29433794e-01 2.80335819e-03 3.68978271e-01 -1.19792023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.36, Y:-50.49, Z:-11.95 [[ 2.88900100e-01 -7.05999348e-01 -6.46607805e-01 8.73568263e+01] [ 2.37064215e-01 7.07128650e-01 -6.66160364e-01 -5.04924258e+01] [ 9.27543687e-01 3.91662236e-02 3.71656719e-01 -1.19522971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.33, Y:-50.45, Z:-11.92 [[ 3.03259678e-01 -7.40072153e-01 -6.00272252e-01 8.73261165e+01] [ 2.55888293e-01 6.70046411e-01 -6.96820629e-01 -5.04507683e+01] [ 9.17907811e-01 5.77149573e-02 3.92573859e-01 -1.19228808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-50.49, Z:-11.90 [[ 2.99591628e-01 -6.93596424e-01 -6.55109806e-01 8.73866275e+01] [ 2.57801684e-01 7.19958672e-01 -6.44358443e-01 -5.04891362e+01] [ 9.18576697e-01 2.41559836e-02 3.94503916e-01 -1.18988246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:-50.48, Z:-11.87 [[ 2.98479993e-01 -6.95416690e-01 -6.53685950e-01 8.73921571e+01] [ 2.61558695e-01 7.18286341e-01 -6.44710618e-01 -5.04819572e+01] [ 9.17876213e-01 2.14559767e-02 3.96286384e-01 -1.18728008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:-50.47, Z:-11.85 [[ 2.95979883e-01 -6.97314114e-01 -6.52800839e-01 8.73982035e+01] [ 2.64159058e-01 7.16523130e-01 -6.45611800e-01 -5.04738000e+01] [ 9.17941120e-01 1.86448502e-02 3.96278272e-01 -1.18471634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:-50.46, Z:-11.82 [[ 2.92040011e-01 -6.99195747e-01 -6.52562594e-01 8.74023424e+01] [ 2.65147564e-01 7.14751811e-01 -6.47168153e-01 -5.04623895e+01] [ 9.18917516e-01 1.59736125e-02 3.94126176e-01 -1.18212189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-50.45, Z:-11.80 [[ 2.92193235e-01 -6.99969379e-01 -6.51664011e-01 8.74089638e+01] [ 2.65012137e-01 7.13978400e-01 -6.48076702e-01 -5.04527176e+01] [ 9.18907874e-01 1.66647558e-02 3.94120039e-01 -1.17956118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:-50.44, Z:-11.77 [[ 2.92015499e-01 -7.00559973e-01 -6.51108803e-01 8.74158333e+01] [ 2.63561982e-01 7.13366218e-01 -6.49340990e-01 -5.04429872e+01] [ 9.19381330e-01 1.80101070e-02 3.92954967e-01 -1.17700978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.42, Y:-50.43, Z:-11.74 [[ 2.92113980e-01 -7.01294553e-01 -6.50273306e-01 8.74218293e+01] [ 2.63199439e-01 7.12623390e-01 -6.50302975e-01 -5.04339270e+01] [ 9.19453902e-01 1.88110213e-02 3.92747588e-01 -1.17437784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:-50.42, Z:-11.72 [[ 2.91538092e-01 -7.01992079e-01 -6.49778933e-01 8.74274983e+01] [ 2.61851645e-01 7.11908658e-01 -6.51628559e-01 -5.04244807e+01] [ 9.20021335e-01 1.98288643e-02 3.91366272e-01 -1.17174550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:-50.42, Z:-11.69 [[ 2.88911892e-01 -7.03609182e-01 -6.49202617e-01 8.74343079e+01] [ 2.62971833e-01 7.10361717e-01 -6.52864493e-01 -5.04171235e+01] [ 9.20530137e-01 1.78983136e-02 3.90261344e-01 -1.16909773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:-50.41, Z:-11.66 [[ 2.86820770e-01 -7.05181868e-01 -6.48422994e-01 8.74421935e+01] [ 2.64466771e-01 7.08844370e-01 -6.53909004e-01 -5.04102023e+01] [ 9.20755762e-01 1.60683485e-02 3.89808459e-01 -1.16647720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:-50.40, Z:-11.64 [[ 2.86972714e-01 -7.06654816e-01 -6.46750054e-01 8.74491401e+01] [ 2.67931141e-01 7.07411705e-01 -6.54050138e-01 -5.04031567e+01] [ 9.19706239e-01 1.44100638e-02 3.92342688e-01 -1.16388752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:-50.39, Z:-11.61 [[ 2.86965030e-01 -7.08304347e-01 -6.44946527e-01 8.74546039e+01] [ 2.72144191e-01 7.05802254e-01 -6.54049476e-01 -5.03946390e+01] [ 9.18470800e-01 1.21708769e-02 3.95301479e-01 -1.16127244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:-50.38, Z:-11.59 [[ 2.83267023e-01 -7.10664939e-01 -6.43983803e-01 8.74592516e+01] [ 2.76050822e-01 7.03488043e-01 -6.54904968e-01 -5.03812445e+01] [ 9.18452904e-01 7.74072224e-03 3.95454604e-01 -1.15878355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:-50.37, Z:-11.56 [[ 2.80091953e-01 -7.12201696e-01 -6.43674795e-01 8.74681620e+01] [ 2.76332754e-01 7.01949299e-01 -6.56435367e-01 -5.03724171e+01] [ 9.19341453e-01 5.99383586e-03 3.93415006e-01 -1.15628664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-50.37, Z:-11.54 [[ 2.78869450e-01 -7.13317822e-01 -6.42969295e-01 8.74780479e+01] [ 2.76607508e-01 7.00819008e-01 -6.57526429e-01 -5.03673950e+01] [ 9.19630424e-01 5.51389921e-03 3.92746076e-01 -1.15364678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.48, Y:-50.36, Z:-11.51 [[ 2.78593344e-01 -7.14246236e-01 -6.42057680e-01 8.74825620e+01] [ 2.76875166e-01 6.99871598e-01 -6.58422272e-01 -5.03592589e+01] [ 9.19633564e-01 5.66223572e-03 3.92736614e-01 -1.15100758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:-50.35, Z:-11.48 [[ 2.78736942e-01 -7.15372770e-01 -6.40739820e-01 8.74868496e+01] [ 2.78626056e-01 6.98724156e-01 -6.58902174e-01 -5.03501438e+01] [ 9.19061063e-01 5.13356849e-03 3.94081728e-01 -1.14839755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.49, Y:-50.34, Z:-11.46 [[ 2.77423596e-01 -7.16647018e-01 -6.39885302e-01 8.74928063e+01] [ 2.79601104e-01 6.97423709e-01 -6.59866193e-01 -5.03417685e+01] [ 9.19162320e-01 4.14981539e-03 3.93857091e-01 -1.14576453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:-50.34, Z:-11.43 [[ 2.77268099e-01 -7.18030507e-01 -6.38400025e-01 8.75007047e+01] [ 2.82387032e-01 6.96006119e-01 -6.60176527e-01 -5.03352454e+01] [ 9.18357210e-01 2.77000230e-03 3.95742797e-01 -1.14316266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.51, Y:-50.33, Z:-11.40 [[ 2.76260801e-01 -7.19664853e-01 -6.36994873e-01 8.75108988e+01] [ 2.85593951e-01 6.94321378e-01 -6.60570904e-01 -5.03321587e+01] [ 9.17668821e-01 5.67963957e-04 3.97345709e-01 -1.14049461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.52, Y:-50.32, Z:-11.38 [[ 2.76169234e-01 -7.20791206e-01 -6.35759854e-01 8.75180651e+01] [ 2.87145784e-01 6.93152247e-01 -6.61125753e-01 -5.03249151e+01] [ 9.17212000e-01 2.68309770e-05 3.98399480e-01 -1.13785361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:-50.32, Z:-11.35 [[ 2.75110555e-01 -7.21798035e-01 -6.35076199e-01 8.75245793e+01] [ 2.87095569e-01 6.92103733e-01 -6.62245088e-01 -5.03172126e+01] [ 9.17545812e-01 -1.36948797e-04 3.97630060e-01 -1.13528458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.53, Y:-50.31, Z:-11.33 [[ 2.73669677e-01 -7.22978316e-01 -6.34355785e-01 8.75327422e+01] [ 2.87583814e-01 6.90870136e-01 -6.63320440e-01 -5.03091856e+01] [ 9.17823762e-01 -8.99765750e-04 3.96987069e-01 -1.13272834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.54, Y:-50.30, Z:-11.30 [[ 2.71372280e-01 -7.24194744e-01 -6.33955092e-01 8.75426607e+01] [ 2.87375911e-01 6.89593186e-01 -6.64737786e-01 -5.03023273e+01] [ 9.18570722e-01 -1.79201373e-03 3.95252599e-01 -1.13019015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.55, Y:-50.30, Z:-11.28 [[ 2.68231180e-01 -7.25687123e-01 -6.33585221e-01 8.75537184e+01] [ 2.87823329e-01 6.88015060e-01 -6.66177910e-01 -5.03001182e+01] [ 9.19352906e-01 -3.67092021e-03 3.93416775e-01 -1.12756227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:-50.29, Z:-11.25 [[ 2.66275931e-01 -7.26888078e-01 -6.33033057e-01 8.75604438e+01] [ 2.87950708e-01 6.86740801e-01 -6.67436485e-01 -5.02939733e+01] [ 9.19881252e-01 -4.56004550e-03 3.92170483e-01 -1.12490945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:87.57, Y:-50.29, Z:-11.22 [[ 2.66317821e-01 -7.27885124e-01 -6.31868708e-01 8.75678661e+01] [ 2.89040419e-01 6.85682839e-01 -6.68052902e-01 -5.02865347e+01] [ 9.19527300e-01 -4.72120272e-03 3.92997781e-01 -1.12230229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:-50.28, Z:-11.20 [[ 2.65222439e-01 -7.28920597e-01 -6.31135343e-01 8.75776210e+01] [ 2.89180900e-01 6.84579654e-01 -6.69122638e-01 -5.02797427e+01] [ 9.19799687e-01 -5.04594862e-03 3.92355800e-01 -1.11979431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.59, Y:-50.28, Z:-11.17 [[ 2.63543485e-01 -7.30164461e-01 -6.30400421e-01 8.75946091e+01] [ 2.89860563e-01 6.83244180e-01 -6.70192692e-01 -5.02768911e+01] [ 9.20068305e-01 -6.10330320e-03 3.91710433e-01 -1.11731656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:-50.27, Z:-11.15 [[ 2.62611591e-01 -7.31500253e-01 -6.29239646e-01 8.76035321e+01] [ 2.91835954e-01 6.81800211e-01 -6.70805671e-01 -5.02710312e+01] [ 9.19710242e-01 -7.47340779e-03 3.92526712e-01 -1.11474411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.61, Y:-50.26, Z:-11.12 [[ 2.60661071e-01 -7.32706173e-01 -6.28647334e-01 8.76109077e+01] [ 2.92076451e-01 6.80492765e-01 -6.72027488e-01 -5.02642446e+01] [ 9.20188651e-01 -8.44167784e-03 3.91384191e-01 -1.11214479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:-50.26, Z:-11.10 [[ 2.59051751e-01 -7.33869537e-01 -6.27955167e-01 8.76189782e+01] [ 2.92477073e-01 6.79226963e-01 -6.73132895e-01 -5.02573024e+01] [ 9.20515808e-01 -9.28623409e-03 3.90594949e-01 -1.10959418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:-50.26, Z:-11.07 [[ 2.56243885e-01 -7.35253028e-01 -6.27488691e-01 8.76320392e+01] [ 2.92897192e-01 6.77704155e-01 -6.74483738e-01 -5.02560894e+01] [ 9.21167904e-01 -1.09573419e-02 3.89011092e-01 -1.10699292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.64, Y:-50.25, Z:-11.04 [[ 2.54375838e-01 -7.36743351e-01 -6.26499934e-01 8.76431763e+01] [ 2.94883652e-01 6.76048090e-01 -6.75279655e-01 -5.02505767e+01] [ 9.21051880e-01 -1.29697603e-02 3.89223869e-01 -1.10447473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:-50.24, Z:-11.02 [[ 2.52500971e-01 -7.38209995e-01 -6.25531184e-01 8.76538174e+01] [ 2.96796201e-01 6.74405439e-01 -6.76083811e-01 -5.02445016e+01] [ 9.20953459e-01 -1.49434602e-02 3.89385951e-01 -1.10193034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.66, Y:-50.24, Z:-10.99 [[ 2.49194250e-01 -7.39962360e-01 -6.24786309e-01 8.76640794e+01] [ 2.98982220e-01 6.72405582e-01 -6.77111782e-01 -5.02391232e+01] [ 9.21147034e-01 -1.80676351e-02 3.88795194e-01 -1.09934897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:-50.24, Z:-10.97 [[ 2.49465541e-01 -7.41079685e-01 -6.23352103e-01 8.76744060e+01] [ 3.01171104e-01 6.71155167e-01 -6.77382246e-01 -5.02350014e+01] [ 9.20360206e-01 -1.87521126e-02 3.90621874e-01 -1.09677001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:-50.24, Z:-10.94 [[ 2.50492437e-01 -7.42347662e-01 -6.21428586e-01 8.76866120e+01] [ 3.04931395e-01 6.69719906e-01 -6.77120441e-01 -5.02372154e+01] [ 9.18841871e-01 -1.98795362e-02 3.94124880e-01 -1.09404068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-50.23, Z:-10.91 [[ 2.51752889e-01 -7.42907108e-01 -6.20249556e-01 8.76954033e+01] [ 3.05002918e-01 6.69136786e-01 -6.77664506e-01 -5.02314489e+01] [ 9.18473572e-01 -1.85739270e-02 3.95045955e-01 -1.09144717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-50.22, Z:-10.89 [[ 2.51961126e-01 -7.43384994e-01 -6.19592077e-01 8.77036456e+01] [ 3.03589852e-01 6.68645792e-01 -6.78782739e-01 -5.02233733e+01] [ 9.18884537e-01 -1.70750039e-02 3.94156886e-01 -1.08888664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:-50.21, Z:-10.86 [[ 2.52184550e-01 -7.42938927e-01 -6.20036050e-01 8.77154378e+01] [ 2.96961710e-01 6.69245102e-01 -6.81120207e-01 -5.02131961e+01] [ 9.20986805e-01 -1.23589726e-02 3.89397689e-01 -1.08644715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:-50.21, Z:-10.84 [[ 2.51660305e-01 -7.43387808e-01 -6.19710947e-01 8.77255150e+01] [ 2.94522429e-01 6.68774650e-01 -6.82639734e-01 -5.02065389e+01] [ 9.21913027e-01 -1.07254491e-02 3.87248415e-01 -1.08394265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:-50.20, Z:-10.81 [[ 2.51264689e-01 -7.44345058e-01 -6.18721659e-01 8.77361010e+01] [ 2.95084672e-01 6.67707047e-01 -6.83441538e-01 -5.02027592e+01] [ 9.21841143e-01 -1.08505520e-02 3.87416021e-01 -1.08129486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.75, Y:-50.20, Z:-10.79 [[ 2.51945907e-01 -7.45347243e-01 -6.17236378e-01 8.77451109e+01] [ 2.96990258e-01 6.66584786e-01 -6.83711569e-01 -5.02006304e+01] [ 9.21042913e-01 -1.10548600e-02 3.89304178e-01 -1.07862016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.75, Y:-50.20, Z:-10.76 [[ 2.54658503e-01 -7.46641776e-01 -6.14552768e-01 8.77513296e+01] [ 3.02736822e-01 6.65114217e-01 -6.82622513e-01 -5.02003626e+01] [ 9.18422269e-01 -1.22121242e-02 3.95412949e-01 -1.07580384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.76, Y:-50.19, Z:-10.73 [[ 2.56434304e-01 -7.47288025e-01 -6.13026962e-01 8.77575281e+01] [ 3.03860322e-01 6.64406247e-01 -6.82812744e-01 -5.01912983e+01] [ 9.17556730e-01 -1.11779596e-02 3.97447733e-01 -1.07323194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:-50.18, Z:-10.71 [[ 2.56943999e-01 -7.47697224e-01 -6.12314170e-01 8.77644027e+01] [ 3.02313248e-01 6.63973527e-01 -6.83919480e-01 -5.01807131e+01] [ 9.17925096e-01 -9.38167892e-03 3.96642790e-01 -1.07070907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:-50.17, Z:-10.68 [[ 2.58950249e-01 -7.47833985e-01 -6.11301153e-01 8.77730237e+01] [ 3.01138639e-01 6.63850747e-01 -6.84556576e-01 -5.01698359e+01] [ 9.17747399e-01 -6.82030172e-03 3.97106025e-01 -1.06828127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.78, Y:-50.16, Z:-10.66 [[ 2.58685927e-01 -7.48148296e-01 -6.11028410e-01 8.77820859e+01] [ 2.98161498e-01 6.63515058e-01 -6.86183277e-01 -5.01601769e+01] [ 9.18793400e-01 -4.67918854e-03 3.94711024e-01 -1.06578099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:-50.16, Z:-10.63 [[ 2.59739454e-01 -7.48285589e-01 -6.10413051e-01 8.77943952e+01] [ 2.95617611e-01 6.63374005e-01 -6.87419201e-01 -5.01561606e+01] [ 9.19318032e-01 -1.89895983e-03 3.93510801e-01 -1.06321465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.80, Y:-50.15, Z:-10.61 [[ 2.59588841e-01 -7.49021240e-01 -6.09574291e-01 8.78033380e+01] [ 2.95123661e-01 6.62544915e-01 -6.88430288e-01 -5.01518952e+01] [ 9.19519254e-01 -1.19097565e-03 3.93043157e-01 -1.06053637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:-50.15, Z:-10.58 [[ 2.60193831e-01 -7.49731089e-01 -6.08442656e-01 8.78119451e+01] [ 2.95328911e-01 6.61742506e-01 -6.89113699e-01 -5.01470443e+01] [ 9.19282331e-01 -3.87573940e-04 3.93598584e-01 -1.05788257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:-50.14, Z:-10.55 [[ 2.60386308e-01 -7.50443454e-01 -6.07481352e-01 8.78187876e+01] [ 2.95057853e-01 6.60934521e-01 -6.90004654e-01 -5.01417527e+01] [ 9.19314872e-01 4.25621016e-04 3.93522534e-01 -1.05517971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:-50.13, Z:-10.53 [[ 2.62012092e-01 -7.50930292e-01 -6.06179313e-01 8.78249322e+01] [ 2.95140847e-01 6.60378414e-01 -6.90501434e-01 -5.01329771e+01] [ 9.18826177e-01 2.01144902e-03 3.94657333e-01 -1.05258090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:-50.12, Z:-10.50 [[ 2.66352317e-01 -7.50167267e-01 -6.05231787e-01 8.78302966e+01] [ 2.91200454e-01 6.61200820e-01 -6.91386846e-01 -5.01167526e+01] [ 9.18835534e-01 7.90871721e-03 3.94561418e-01 -1.05014652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.84, Y:-50.11, Z:-10.48 [[ 2.68036819e-01 -7.50011004e-01 -6.04681534e-01 8.78360637e+01] [ 2.87732455e-01 6.61322067e-01 -6.92721559e-01 -5.01056511e+01] [ 9.19438034e-01 1.16883809e-02 3.93061170e-01 -1.04759774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:-50.10, Z:-10.45 [[ 2.74747884e-01 -7.48568651e-01 -6.03455528e-01 8.78418346e+01] [ 2.83092081e-01 6.62766468e-01 -6.93252827e-01 -5.00983270e+01] [ 9.18897423e-01 1.96362665e-02 3.94007542e-01 -1.04497627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.85, Y:-50.09, Z:-10.42 [[ 2.75626212e-01 -7.49028422e-01 -6.02483705e-01 8.78487199e+01] [ 2.82428156e-01 6.62200392e-01 -6.94064102e-01 -5.00918520e+01] [ 9.18838685e-01 2.11438974e-02 3.94066501e-01 -1.04233229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:-50.08, Z:-10.40 [[ 2.75901337e-01 -7.49505665e-01 -6.01763832e-01 8.78554728e+01] [ 2.81158961e-01 6.61612091e-01 -6.95139612e-01 -5.00843011e+01] [ 9.19145304e-01 2.25986542e-02 3.93269895e-01 -1.03971558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:-50.08, Z:-10.37 [[ 2.74826390e-01 -7.50380136e-01 -6.01165624e-01 8.78636670e+01] [ 2.80565782e-01 6.60616584e-01 -6.96325047e-01 -5.00759464e+01] [ 9.19648464e-01 2.27019952e-02 3.92085860e-01 -1.03715504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:-50.07, Z:-10.35 [[ 2.73178698e-01 -7.51572311e-01 -6.00426898e-01 8.78716248e+01] [ 2.81137129e-01 6.59293750e-01 -6.97347594e-01 -5.00677361e+01] [ 9.19964844e-01 2.16982138e-02 3.91399890e-01 -1.03458327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-50.06, Z:-10.32 [[ 2.73643200e-01 -7.52255236e-01 -5.99359207e-01 8.78784867e+01] [ 2.81370489e-01 6.58492155e-01 -6.98010551e-01 -5.00598646e+01] [ 9.19755428e-01 2.23638472e-02 3.91854324e-01 -1.03203060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.88, Y:-50.05, Z:-10.29 [[ 2.73411427e-01 -7.53091744e-01 -5.98413751e-01 8.78848668e+01] [ 2.81610649e-01 6.57529090e-01 -6.98821106e-01 -5.00508758e+01] [ 9.19750854e-01 2.25459914e-02 3.91854622e-01 -1.02939914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:-50.04, Z:-10.27 [[ 2.74469056e-01 -7.53147329e-01 -5.97859381e-01 8.78896116e+01] [ 2.80575191e-01 6.57406390e-01 -6.99352845e-01 -5.00422751e+01] [ 9.19752303e-01 2.42062050e-02 3.91752167e-01 -1.02672897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.89, Y:-50.03, Z:-10.24 [[ 2.75483095e-01 -7.53395853e-01 -5.97079352e-01 8.78938282e+01] [ 2.78968007e-01 6.57038447e-01 -7.00340867e-01 -5.00318625e+01] [ 9.19937995e-01 2.63660333e-02 3.91176325e-01 -1.02410487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.90, Y:-50.02, Z:-10.22 [[ 2.74598688e-01 -7.53552689e-01 -5.97288796e-01 8.78987827e+01] [ 2.74235978e-01 6.56742994e-01 -7.02483643e-01 -5.00205702e+01] [ 9.21623670e-01 2.91030096e-02 3.86992023e-01 -1.02154781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-50.01, Z:-10.19 [[ 2.75199966e-01 -7.54089594e-01 -5.96333685e-01 8.79062707e+01] [ 2.73884837e-01 6.56076598e-01 -7.03242913e-01 -5.00114363e+01] [ 9.21548737e-01 3.02056721e-02 3.87085963e-01 -1.01900796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:-50.00, Z:-10.16 [[ 2.75869572e-01 -7.54805816e-01 -5.95116929e-01 8.79121264e+01] [ 2.74777721e-01 6.55234219e-01 -7.03679844e-01 -5.00023415e+01] [ 9.21082615e-01 3.05989833e-02 3.88163006e-01 -1.01645307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-49.99, Z:-10.14 [[ 2.76757434e-01 -7.55543292e-01 -5.93767342e-01 8.79158217e+01] [ 2.76111121e-01 6.54370466e-01 -7.03961605e-01 -4.99933049e+01] [ 9.20417281e-01 3.08808411e-02 3.89715797e-01 -1.01385640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-49.98, Z:-10.11 [[ 2.77586675e-01 -7.56544323e-01 -5.92103306e-01 8.79183405e+01] [ 2.79031026e-01 6.53246306e-01 -7.03854353e-01 -4.99833685e+01] [ 9.19286313e-01 3.01653968e-02 3.92431808e-01 -1.01125212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-49.97, Z:-10.09 [[ 2.75943814e-01 -7.57670832e-01 -5.91430404e-01 8.79219133e+01] [ 2.79268670e-01 6.51976378e-01 -7.04936744e-01 -4.99725925e+01] [ 9.19708661e-01 2.93549519e-02 3.91502574e-01 -1.00865767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.93, Y:-49.96, Z:-10.06 [[ 2.72363917e-01 -7.59428201e-01 -5.90835598e-01 8.79297756e+01] [ 2.80788591e-01 6.50054529e-01 -7.06106846e-01 -4.99614055e+01] [ 9.20312808e-01 2.64181317e-02 3.90290172e-01 -1.00613864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:-49.95, Z:-10.04 [[ 2.70023547e-01 -7.60972131e-01 -5.89922622e-01 8.79370303e+01] [ 2.82716950e-01 6.48336691e-01 -7.06916304e-01 -4.99528618e+01] [ 9.20412087e-01 2.41029240e-02 3.90205893e-01 -1.00355826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.94, Y:-49.94, Z:-10.01 [[ 2.69169245e-01 -7.62355060e-01 -5.88525853e-01 8.79425202e+01] [ 2.85671111e-01 6.46777420e-01 -7.07156974e-01 -4.99449034e+01] [ 9.19749930e-01 2.22200745e-02 3.91875407e-01 -1.00097624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.95, Y:-49.94, Z:-9.98 [[ 2.63354406e-01 -7.65026706e-01 -5.87689200e-01 8.79485161e+01] [ 2.90050730e-01 6.43799287e-01 -7.08091132e-01 -4.99367285e+01] [ 9.20062515e-01 1.60192376e-02 3.91443933e-01 -9.98356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:-49.93, Z:-9.96 [[ 2.59857802e-01 -7.66978272e-01 -5.86701162e-01 8.79563160e+01] [ 2.93102867e-01 6.41556292e-01 -7.08869687e-01 -4.99285703e+01] [ 9.20089470e-01 1.22415263e-02 3.91516938e-01 -9.95818111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:-49.92, Z:-9.93 [[ 2.56017800e-01 -7.68826522e-01 -5.85969850e-01 8.79643375e+01] [ 2.95130391e-01 6.39396446e-01 -7.09979040e-01 -4.99201623e+01] [ 9.20517756e-01 8.82976117e-03 3.90600943e-01 -9.93218763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:-49.91, Z:-9.91 [[ 2.53322536e-01 -7.70427404e-01 -5.85037868e-01 8.79715146e+01] [ 2.97082433e-01 6.37496848e-01 -7.10872560e-01 -4.99114484e+01] [ 9.20635498e-01 6.27556604e-03 3.90372766e-01 -9.90621637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:-49.90, Z:-9.88 [[ 2.52228114e-01 -7.71548405e-01 -5.84032565e-01 8.79772535e+01] [ 2.98294222e-01 6.36148834e-01 -7.11572357e-01 -4.99025267e+01] [ 9.20544152e-01 5.26501387e-03 3.90603052e-01 -9.88019391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:-49.90, Z:-9.85 [[ 2.50652317e-01 -7.72870143e-01 -5.82962399e-01 8.79811792e+01] [ 2.99811689e-01 6.34552983e-01 -7.12359083e-01 -4.98962612e+01] [ 9.20481595e-01 3.77551325e-03 3.90767679e-01 -9.85332164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:-49.89, Z:-9.83 [[ 2.50322632e-01 -7.73709078e-01 -5.81990414e-01 8.79892122e+01] [ 2.99932988e-01 6.33528568e-01 -7.13219290e-01 -4.98897205e+01] [ 9.20531793e-01 3.97680553e-03 3.90647415e-01 -9.82743884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:-49.88, Z:-9.80 [[ 2.49121227e-01 -7.74651155e-01 -5.81252271e-01 8.79984086e+01] [ 2.99612572e-01 6.32377285e-01 -7.14374745e-01 -4.98837657e+01] [ 9.20961954e-01 3.81542505e-03 3.89633830e-01 -9.80148755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:-49.88, Z:-9.78 [[ 2.49904650e-01 -7.75400795e-01 -5.79914884e-01 8.80083574e+01] [ 3.00586309e-01 6.31454675e-01 -7.14781690e-01 -4.98767183e+01] [ 9.20432255e-01 4.31279371e-03 3.90878322e-01 -9.77553649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.04, Y:-49.90, Z:-9.75 [[ 2.30249165e-01 -7.49651008e-01 -6.20490683e-01 8.80429953e+01] [ 2.76072091e-01 6.61745128e-01 -6.97049200e-01 -4.98995424e+01] [ 9.33150322e-01 -1.08051644e-02 3.59323984e-01 -9.74797255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.00, Y:-49.84, Z:-9.73 [[ 2.51859603e-01 -7.92937357e-01 -5.54812661e-01 8.80018868e+01] [ 3.04662377e-01 6.09108779e-01 -7.32234479e-01 -4.98435487e+01] [ 9.18557335e-01 1.53897406e-02 3.94988075e-01 -9.72511468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:-49.85, Z:-9.70 [[ 2.51708831e-01 -7.77632310e-01 -5.76134233e-01 8.80280677e+01] [ 3.04672304e-01 6.28702790e-01 -7.15477176e-01 -4.98518413e+01] [ 9.18595369e-01 4.55977945e-03 3.95173072e-01 -9.69903952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-49.84, Z:-9.67 [[ 2.50567496e-01 -7.78288755e-01 -5.75745208e-01 8.80367782e+01] [ 3.02670807e-01 6.27883254e-01 -7.17044630e-01 -4.98431406e+01] [ 9.19568547e-01 5.40681103e-03 3.92892421e-01 -9.67328915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:-49.84, Z:-9.65 [[ 2.50750211e-01 -7.78234378e-01 -5.75739164e-01 8.80465456e+01] [ 2.97718571e-01 6.27910800e-01 -7.19090870e-01 -4.98360456e+01] [ 9.21134075e-01 8.90394634e-03 3.89143592e-01 -9.64771499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:-49.86, Z:-9.62 [[ 2.32560127e-01 -7.51305945e-01 -6.17620567e-01 8.80804327e+01] [ 2.71800667e-01 6.59935310e-01 -7.00435424e-01 -4.98580244e+01] [ 9.33830919e-01 -4.97633093e-03 3.57680097e-01 -9.61954696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:-49.80, Z:-9.60 [[ 2.53645556e-01 -7.94485576e-01 -5.51775862e-01 8.80373897e+01] [ 2.96862677e-01 6.06839229e-01 -7.37305026e-01 -4.98006746e+01] [ 9.20617447e-01 2.32124834e-02 3.89775188e-01 -9.59697820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:-49.81, Z:-9.57 [[ 2.56599074e-01 -7.78546425e-01 -5.72732381e-01 8.80612349e+01] [ 2.96429205e-01 6.27407911e-01 -7.20061830e-01 -4.98082611e+01] [ 9.19938390e-01 1.49925943e-02 3.91776187e-01 -9.57035839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-49.80, Z:-9.54 [[ 2.61065551e-01 -7.78092888e-01 -5.71328483e-01 8.80664259e+01] [ 2.94825545e-01 6.27842933e-01 -7.20340995e-01 -4.97987080e+01] [ 9.19196756e-01 1.96139874e-02 3.93309820e-01 -9.54401980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.07, Y:-49.79, Z:-9.52 [[ 2.62738902e-01 -7.78443098e-01 -5.70082987e-01 8.80723746e+01] [ 2.94835191e-01 6.27353964e-01 -7.20762939e-01 -4.97901214e+01] [ 9.18716757e-01 2.12919363e-02 3.94342711e-01 -9.51853437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:-49.78, Z:-9.49 [[ 2.63237422e-01 -7.78875940e-01 -5.69261214e-01 8.80785646e+01] [ 2.93780149e-01 6.26765559e-01 -7.21705036e-01 -4.97814058e+01] [ 9.18912011e-01 2.27421285e-02 3.93806440e-01 -9.49259065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:-49.77, Z:-9.47 [[ 2.63692685e-01 -7.79734688e-01 -5.67873211e-01 8.80849474e+01] [ 2.95520166e-01 6.25704002e-01 -7.21915739e-01 -4.97723826e+01] [ 9.18223284e-01 2.25459141e-02 3.95420893e-01 -9.46639657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-49.76, Z:-9.44 [[ 2.62593766e-01 -7.80741026e-01 -5.66999087e-01 8.80901473e+01] [ 2.96030326e-01 6.24469185e-01 -7.22775403e-01 -4.97636714e+01] [ 9.18373867e-01 2.19473909e-02 3.95104735e-01 -9.43972568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-49.75, Z:-9.41 [[ 2.61387297e-01 -7.82216525e-01 -5.65520989e-01 8.80938658e+01] [ 2.99515819e-01 6.22699362e-01 -7.22866363e-01 -4.97532206e+01] [ 9.17587573e-01 1.95656022e-02 3.97051926e-01 -9.41397852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-49.74, Z:-9.39 [[ 2.59959499e-01 -7.83159218e-01 -5.64874054e-01 8.80985058e+01] [ 2.99136909e-01 6.21523347e-01 -7.24034418e-01 -4.97424865e+01] [ 9.18116642e-01 1.92449458e-02 3.95842726e-01 -9.38863457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.10, Y:-49.73, Z:-9.36 [[ 2.57929606e-01 -7.84033616e-01 -5.64591541e-01 8.81033447e+01] [ 2.97452408e-01 6.20420316e-01 -7.25672582e-01 -4.97309630e+01] [ 9.19235761e-01 1.92333300e-02 3.93237454e-01 -9.36362626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:-49.72, Z:-9.34 [[ 2.57583876e-01 -7.84563916e-01 -5.64012419e-01 8.81070028e+01] [ 2.95828977e-01 6.19712379e-01 -7.26940014e-01 -4.97202838e+01] [ 9.19856382e-01 2.03968097e-02 3.91724657e-01 -9.33751952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:-49.71, Z:-9.31 [[ 2.59936345e-01 -7.84807954e-01 -5.62591834e-01 8.81071806e+01] [ 2.96165866e-01 6.19334609e-01 -7.27124764e-01 -4.97100410e+01] [ 9.19085891e-01 2.23856560e-02 3.93420903e-01 -9.31014723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:-49.70, Z:-9.28 [[ 2.63149816e-01 -7.85077994e-01 -5.60718037e-01 8.81115425e+01] [ 2.98009713e-01 6.18926468e-01 -7.26718817e-01 -4.97009594e+01] [ 9.17574185e-01 2.41365015e-02 3.96831254e-01 -9.28352956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-49.69, Z:-9.26 [[ 2.64602629e-01 -7.85479510e-01 -5.59470633e-01 8.81171579e+01] [ 2.98250355e-01 6.18360837e-01 -7.27101506e-01 -4.96908486e+01] [ 9.17078064e-01 2.55306551e-02 3.97889446e-01 -9.25801566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-49.68, Z:-9.23 [[ 2.64380127e-01 -7.86224327e-01 -5.58528831e-01 8.81235311e+01] [ 2.98365049e-01 6.17402839e-01 -7.27868142e-01 -4.96798271e+01] [ 9.17104926e-01 2.57883898e-02 3.97810901e-01 -9.23282423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-49.67, Z:-9.21 [[ 2.62955689e-01 -7.86880887e-01 -5.58276612e-01 8.81280914e+01] [ 2.96088487e-01 6.16534138e-01 -7.29532223e-01 -4.96655734e+01] [ 9.18251552e-01 2.65353708e-02 3.95107531e-01 -9.20840616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-49.65, Z:-9.18 [[ 2.60973115e-01 -7.87962708e-01 -5.57680736e-01 8.81317733e+01] [ 2.95867808e-01 6.15186019e-01 -7.30758785e-01 -4.96530950e+01] [ 9.18888063e-01 2.57086198e-02 3.93679811e-01 -9.18275142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-49.64, Z:-9.16 [[ 2.59950950e-01 -7.88986661e-01 -5.56709576e-01 8.81327080e+01] [ 2.96710955e-01 6.13902670e-01 -7.31495811e-01 -4.96417146e+01] [ 9.18905932e-01 2.49712008e-02 3.93685568e-01 -9.15696343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-49.63, Z:-9.13 [[ 2.59469372e-01 -7.89958959e-01 -5.55554217e-01 8.81328747e+01] [ 2.98018367e-01 6.12675459e-01 -7.31993057e-01 -4.96317991e+01] [ 9.18618908e-01 2.43644183e-02 3.94392795e-01 -9.13026598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:-49.62, Z:-9.10 [[ 2.60659546e-01 -7.90815515e-01 -5.53775607e-01 8.81346833e+01] [ 3.01036116e-01 6.11583444e-01 -7.31671338e-01 -4.96222608e+01] [ 9.17297039e-01 2.40106606e-02 3.97479094e-01 -9.10405734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:-49.61, Z:-9.08 [[ 2.60839793e-01 -7.91976188e-01 -5.52029275e-01 8.81361207e+01] [ 3.04615776e-01 6.10132756e-01 -7.31400881e-01 -4.96134431e+01] [ 9.16063225e-01 2.26216287e-02 4.00395343e-01 -9.07675726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:-49.60, Z:-9.05 [[ 2.59577625e-01 -7.92972557e-01 -5.51193233e-01 8.81399453e+01] [ 3.04935321e-01 6.08859378e-01 -7.32328279e-01 -4.96003751e+01] [ 9.16315397e-01 2.20177501e-02 3.99851612e-01 -9.05158213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:-49.59, Z:-9.03 [[ 2.57081281e-01 -7.94204194e-01 -5.50589605e-01 8.81437020e+01] [ 3.05069300e-01 6.07301078e-01 -7.33565351e-01 -4.95857732e+01] [ 9.16974338e-01 2.06179350e-02 3.98413056e-01 -9.02659634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:-49.57, Z:-9.00 [[ 2.53507595e-01 -7.95838007e-01 -5.49887049e-01 8.81462370e+01] [ 3.06454965e-01 6.05249905e-01 -7.34682181e-01 -4.95706630e+01] [ 9.17507086e-01 1.77318964e-02 3.97323956e-01 -9.00140431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-49.61, Z:-8.98 [[ 2.34313383e-01 -7.51997432e-01 -6.16114520e-01 8.82053359e+01] [ 2.88896179e-01 6.58989090e-01 -6.94458333e-01 -4.96116009e+01] [ 9.28243630e-01 -1.52722494e-02 3.71659148e-01 -8.97562895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.08, Y:-49.51, Z:-8.95 [[ 2.51526043e-01 -8.48952088e-01 -4.64774142e-01 8.80822227e+01] [ 3.13806950e-01 5.25804612e-01 -7.90604015e-01 -4.95052211e+01] [ 9.15565316e-01 5.30081437e-02 3.98660619e-01 -8.94615145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:-49.55, Z:-8.92 [[ 2.49565563e-01 -7.98268611e-01 -5.48164442e-01 8.81627818e+01] [ 3.13255109e-01 6.02190898e-01 -7.34327828e-01 -4.95506950e+01] [ 9.16290493e-01 1.15476262e-02 4.00347831e-01 -8.92107601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:-49.54, Z:-8.89 [[ 2.48796566e-01 -7.99556817e-01 -5.46634398e-01 8.81658437e+01] [ 3.16304399e-01 6.00510291e-01 -7.34396976e-01 -4.95408755e+01] [ 9.15451690e-01 9.81258091e-03 4.02308237e-01 -8.89489573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:-49.53, Z:-8.87 [[ 2.49672160e-01 -8.00535351e-01 -5.44799930e-01 8.81685107e+01] [ 3.19509707e-01 5.99214799e-01 -7.34067552e-01 -4.95281028e+01] [ 9.14099207e-01 9.20736565e-03 4.05386069e-01 -8.86992590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:-49.52, Z:-8.84 [[ 2.49327665e-01 -8.01347849e-01 -5.43762209e-01 8.81736989e+01] [ 3.19883036e-01 5.98126918e-01 -7.34791830e-01 -4.95177608e+01] [ 9.14062667e-01 9.26362498e-03 4.05467170e-01 -8.84409560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:-49.51, Z:-8.82 [[ 2.48033100e-01 -8.02232641e-01 -5.43049143e-01 8.81787798e+01] [ 3.19422124e-01 5.96942508e-01 -7.35954583e-01 -4.95068016e+01] [ 9.14575906e-01 9.07918608e-03 4.04312355e-01 -8.81924277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:-49.50, Z:-8.79 [[ 2.44152787e-01 -8.03585130e-01 -5.42807845e-01 8.81874985e+01] [ 3.18575887e-01 5.95146235e-01 -7.37773924e-01 -4.94975121e+01] [ 9.15914200e-01 7.20406930e-03 4.01309457e-01 -8.79391759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:-49.49, Z:-8.77 [[ 2.43660951e-01 -8.04557692e-01 -5.41586799e-01 8.81968776e+01] [ 3.19921682e-01 5.93837642e-01 -7.38245875e-01 -4.94904956e+01] [ 9.15576025e-01 6.61633241e-03 4.02090495e-01 -8.76792485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-49.48, Z:-8.74 [[ 2.42523810e-01 -8.05499758e-01 -5.40696164e-01 8.82054779e+01] [ 3.20076851e-01 5.92563566e-01 -7.39201752e-01 -4.94840044e+01] [ 9.15823679e-01 6.20969933e-03 4.01532600e-01 -8.74145668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-49.48, Z:-8.71 [[ 2.42085269e-01 -8.06296261e-01 -5.39704606e-01 8.82111972e+01] [ 3.20206732e-01 5.91478043e-01 -7.40014441e-01 -4.94766573e+01] [ 9.15894301e-01 6.32954698e-03 4.01369612e-01 -8.71467404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-49.46, Z:-8.69 [[ 2.44301992e-01 -8.06575681e-01 -5.38286362e-01 8.82084375e+01] [ 3.20466530e-01 5.91072061e-01 -7.40226331e-01 -4.94648426e+01] [ 9.15214587e-01 8.33600431e-03 4.02880591e-01 -8.68773990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-49.46, Z:-8.66 [[ 2.43885331e-01 -8.07385373e-01 -5.37260463e-01 8.82141900e+01] [ 3.20784934e-01 5.89965130e-01 -7.40971101e-01 -4.94553942e+01] [ 9.15214167e-01 8.36692027e-03 4.02880905e-01 -8.66147125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:-49.44, Z:-8.64 [[ 2.46175611e-01 -8.07536747e-01 -5.35986913e-01 8.82161451e+01] [ 3.20623560e-01 5.89721575e-01 -7.41234779e-01 -4.94442825e+01] [ 9.14657368e-01 1.06238926e-02 4.04090375e-01 -8.63589949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:-49.43, Z:-8.61 [[ 2.48257770e-01 -8.07553495e-01 -5.35000404e-01 8.82210547e+01] [ 3.18936760e-01 5.89637900e-01 -7.42028631e-01 -4.94335738e+01] [ 9.14684330e-01 1.35830780e-02 4.03940685e-01 -8.61088369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-49.42, Z:-8.59 [[ 2.49737048e-01 -8.07878858e-01 -5.33819406e-01 8.82276607e+01] [ 3.18643524e-01 5.89148846e-01 -7.42542889e-01 -4.94239832e+01] [ 9.14383788e-01 1.53423723e-02 4.04557660e-01 -8.58568029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.23, Y:-49.42, Z:-8.56 [[ 2.51974693e-01 -8.08114778e-01 -5.32408922e-01 8.82341180e+01] [ 3.18895765e-01 5.88768944e-01 -7.42735903e-01 -4.94151321e+01] [ 9.13681698e-01 1.73677013e-02 4.06059254e-01 -8.55961290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.40, Z:-8.53 [[ 2.52250690e-01 -8.08732325e-01 -5.31339455e-01 8.82367883e+01] [ 3.18958974e-01 5.87899938e-01 -7.43396823e-01 -4.94039304e+01] [ 9.13583473e-01 1.80468738e-02 4.06250598e-01 -8.53340205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.39, Z:-8.51 [[ 2.52147938e-01 -8.09365479e-01 -5.30423359e-01 8.82393968e+01] [ 3.18600701e-01 5.87008511e-01 -7.44254393e-01 -4.93919092e+01] [ 9.13736839e-01 1.86689569e-02 4.05877394e-01 -8.50832679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.38, Z:-8.48 [[ 2.50391838e-01 -8.10089759e-01 -5.30149516e-01 8.82419198e+01] [ 3.16382780e-01 5.85995948e-01 -7.45996438e-01 -4.93805177e+01] [ 9.14989543e-01 1.90612419e-02 4.03027053e-01 -8.48267923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.37, Z:-8.46 [[ 2.49927234e-01 -8.10638043e-01 -5.29530302e-01 8.82438245e+01] [ 3.14881689e-01 5.85205264e-01 -7.47251177e-01 -4.93689780e+01] [ 9.15634152e-01 2.00190238e-02 4.01513809e-01 -8.45675570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.36, Z:-8.43 [[ 2.51830481e-01 -8.10652192e-01 -5.28606122e-01 8.82417234e+01] [ 3.13108249e-01 5.85080719e-01 -7.48093428e-01 -4.93557732e+01] [ 9.15720827e-01 2.28817909e-02 4.01163047e-01 -8.43090169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.24, Y:-49.34, Z:-8.41 [[ 2.53715296e-01 -8.10881687e-01 -5.27351342e-01 8.82444142e+01] [ 3.12980058e-01 5.84682496e-01 -7.48458323e-01 -4.93446296e+01] [ 9.15244247e-01 2.48448710e-02 4.02132690e-01 -8.40515339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.33, Z:-8.38 [[ 2.55180331e-01 -8.11237582e-01 -5.26095604e-01 8.82484753e+01] [ 3.13104395e-01 5.84121859e-01 -7.48843970e-01 -4.93344852e+01] [ 9.14794314e-01 2.63674062e-02 4.03058462e-01 -8.37968965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.32, Z:-8.35 [[ 2.56993628e-01 -8.11427521e-01 -5.24918712e-01 8.82501527e+01] [ 3.12674349e-01 5.83760788e-01 -7.49305074e-01 -4.93224482e+01] [ 9.14433719e-01 2.84380129e-02 4.03735374e-01 -8.35383381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.31, Z:-8.33 [[ 2.57128504e-01 -8.12148251e-01 -5.23736719e-01 8.82511566e+01] [ 3.13525628e-01 5.82751043e-01 -7.49735221e-01 -4.93094758e+01] [ 9.14104268e-01 2.85734124e-02 4.04471194e-01 -8.32847672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.30, Z:-8.30 [[ 2.56156540e-01 -8.13025297e-01 -5.22851503e-01 8.82510662e+01] [ 3.13714576e-01 5.81542930e-01 -7.50593755e-01 -4.92959801e+01] [ 9.14312305e-01 2.82433622e-02 4.04023911e-01 -8.30283224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-49.33, Z:-8.28 [[ 2.37470115e-01 -7.60944914e-01 -6.03796971e-01 8.83219314e+01] [ 2.90641419e-01 6.48761140e-01 -7.03304023e-01 -4.93341278e+01] [ 9.26895631e-01 -8.47472147e-03 3.75223492e-01 -8.27915767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.16, Y:-49.22, Z:-8.25 [[ 2.58678343e-01 -8.68830820e-01 -4.22159356e-01 8.81607980e+01] [ 3.18587313e-01 4.89317330e-01 -8.11831679e-01 -4.92202074e+01] [ 9.11914272e-01 7.55086583e-02 4.03374272e-01 -8.24503956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.26, Z:-8.22 [[ 2.58570545e-01 -8.13317892e-01 -5.21205602e-01 8.82582363e+01] [ 3.13320061e-01 5.80996897e-01 -7.51181167e-01 -4.92604999e+01] [ 9.13767921e-01 3.09291522e-02 4.05057496e-01 -8.22395240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.25, Z:-8.20 [[ 2.60825134e-01 -8.13266374e-01 -5.20161566e-01 8.82565054e+01] [ 3.12023113e-01 5.80910089e-01 -7.51787899e-01 -4.92476030e+01] [ 9.13570920e-01 3.37827479e-02 4.05273857e-01 -8.19744883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.24, Z:-8.17 [[ 2.60617764e-01 -8.13756493e-01 -5.19498558e-01 8.82573304e+01] [ 3.10613057e-01 5.80159030e-01 -7.52950881e-01 -4.92357156e+01] [ 9.14110447e-01 3.48693403e-02 4.03963141e-01 -8.17165266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.22, Z:-8.15 [[ 2.60412480e-01 -8.14330546e-01 -5.18701361e-01 8.82590492e+01] [ 3.09863917e-01 5.79308448e-01 -7.53913838e-01 -4.92220456e+01] [ 9.14423148e-01 3.56017363e-02 4.03190803e-01 -8.14605515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.21, Z:-8.12 [[ 2.60921586e-01 -8.14991046e-01 -5.17406533e-01 8.82608500e+01] [ 3.11049964e-01 5.78364473e-01 -7.54150155e-01 -4.92099497e+01] [ 9.13875181e-01 3.58347714e-02 4.04410712e-01 -8.12025885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.19, Z:-8.09 [[ 2.61819359e-01 -8.15324586e-01 -5.16426609e-01 8.82582813e+01] [ 3.10426208e-01 5.77800222e-01 -7.54839369e-01 -4.91949381e+01] [ 9.13830505e-01 3.73192060e-02 4.04377404e-01 -8.09487678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.31, Y:-49.21, Z:-8.07 [[ 2.39758462e-01 -7.82044827e-01 -5.75258002e-01 8.83055519e+01] [ 2.83489904e-01 6.23112509e-01 -7.28947375e-01 -4.92147939e+01] [ 9.28519980e-01 1.16914662e-02 3.71098310e-01 -8.07095460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:-49.14, Z:-8.04 [[ 2.63261226e-01 -8.52716729e-01 -4.51184782e-01 8.81921701e+01] [ 3.13664120e-01 5.17929562e-01 -7.95841560e-01 -4.91391548e+01] [ 9.12309348e-01 6.79937470e-02 4.03817414e-01 -8.03698372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.16, Z:-8.01 [[ 2.62479641e-01 -8.16358084e-01 -5.14454971e-01 8.82527992e+01] [ 3.10901473e-01 5.76265321e-01 -7.55816481e-01 -4.91564458e+01] [ 9.13479454e-01 3.84416300e-02 4.05064845e-01 -8.01452333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.14, Z:-7.99 [[ 2.61736580e-01 -8.17261563e-01 -5.13397993e-01 8.82488748e+01] [ 3.11823464e-01 5.75020295e-01 -7.56384682e-01 -4.91402195e+01] [ 9.13378394e-01 3.78839997e-02 4.05345177e-01 -7.98941028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.13, Z:-7.96 [[ 2.60798553e-01 -8.18216784e-01 -5.12352817e-01 8.82503490e+01] [ 3.12822454e-01 5.73708870e-01 -7.56967797e-01 -4.91275307e+01] [ 9.13305112e-01 3.71406407e-02 4.05579025e-01 -7.96379211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.11, Z:-7.94 [[ 2.59302646e-01 -8.19532007e-01 -5.11008246e-01 8.82506502e+01] [ 3.15645139e-01 5.71961982e-01 -7.57117981e-01 -4.91145917e+01] [ 9.12759708e-01 3.50254266e-02 4.06992550e-01 -7.93853318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.10, Z:-7.91 [[ 2.56906049e-01 -8.20983872e-01 -5.09887011e-01 8.82496881e+01] [ 3.17955492e-01 5.70024858e-01 -7.57612015e-01 -4.91016957e+01] [ 9.12635517e-01 3.25137344e-02 4.07479165e-01 -7.91223591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.09, Z:-7.89 [[ 2.54466327e-01 -8.22266008e-01 -5.09043713e-01 8.82489826e+01] [ 3.18914683e-01 5.68275941e-01 -7.58522169e-01 -4.90886546e+01] [ 9.12984290e-01 3.06768356e-02 4.06839795e-01 -7.88663191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.08, Z:-7.86 [[ 2.48081702e-01 -8.24453413e-01 -5.08657094e-01 8.82480845e+01] [ 3.20275548e-01 5.65347562e-01 -7.60135321e-01 -4.90757652e+01] [ 9.14264208e-01 2.56652349e-02 4.04304655e-01 -7.86102103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-49.07, Z:-7.83 [[ 2.44935258e-01 -8.26187886e-01 -5.07366037e-01 8.82522047e+01] [ 3.23795960e-01 5.62966219e-01 -7.60411212e-01 -4.90654823e+01] [ 9.13872472e-01 2.19684433e-02 4.05406576e-01 -7.83494655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.06, Z:-7.81 [[ 2.41388011e-01 -8.27873676e-01 -5.06317099e-01 8.82560438e+01] [ 3.26369848e-01 5.60610679e-01 -7.61050845e-01 -4.90552835e+01] [ 9.13900733e-01 1.84619150e-02 4.05517703e-01 -7.80968497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-49.04, Z:-7.78 [[ 2.38750766e-01 -8.29513970e-01 -5.04880824e-01 8.82610244e+01] [ 3.30248638e-01 5.58285193e-01 -7.61087039e-01 -4.90448681e+01] [ 9.13199818e-01 1.49739091e-02 4.07236876e-01 -7.78459098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:-49.04, Z:-7.76 [[ 2.34047096e-01 -8.31207362e-01 -5.04297807e-01 8.82673347e+01] [ 3.31321473e-01 5.55846571e-01 -7.62404532e-01 -4.90354623e+01] [ 9.14028467e-01 1.13538747e-02 4.05491124e-01 -7.75916467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-49.03, Z:-7.73 [[ 2.26994592e-01 -8.33875063e-01 -5.03116125e-01 8.82751130e+01] [ 3.36839033e-01 5.51940921e-01 -7.62824151e-01 -4.90284928e+01] [ 9.13790414e-01 3.68780758e-03 4.06169273e-01 -7.73330760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-49.02, Z:-7.71 [[ 2.25801724e-01 -8.34907269e-01 -5.01939672e-01 8.82793993e+01] [ 3.38430159e-01 5.50385093e-01 -7.63243917e-01 -4.90193291e+01] [ 9.13498007e-01 2.47026921e-03 4.06835702e-01 -7.70764135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-49.01, Z:-7.68 [[ 2.25693513e-01 -8.35589575e-01 -5.00851775e-01 8.82820335e+01] [ 3.38923041e-01 5.49347936e-01 -7.63772229e-01 -4.90093156e+01] [ 9.13342001e-01 2.62823061e-03 4.07184825e-01 -7.68133821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-49.00, Z:-7.65 [[ 2.29526030e-01 -8.35461869e-01 -4.99320806e-01 8.82833268e+01] [ 3.38970880e-01 5.49515469e-01 -7.63630468e-01 -4.89981711e+01] [ 9.12368645e-01 6.01785670e-03 4.09325349e-01 -7.65499891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.29, Y:-48.99, Z:-7.63 [[ 2.29952484e-01 -8.35725776e-01 -4.98682547e-01 8.82891434e+01] [ 3.36958454e-01 5.49091058e-01 -7.64825477e-01 -4.89884118e+01] [ 9.13006492e-01 7.83821798e-03 4.07869719e-01 -7.62942211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-49.01, Z:-7.61 [[ 2.16652270e-01 -7.97894948e-01 -5.62517062e-01 8.83548870e+01] [ 3.15600783e-01 6.02506061e-01 -7.33063839e-01 -4.90100370e+01] [ 9.23827874e-01 -1.87108808e-02 3.82350576e-01 -7.61091229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.30, Y:-48.97, Z:-7.58 [[ 2.17245402e-01 -8.35939230e-01 -5.03994086e-01 8.83030398e+01] [ 3.14235216e-01 5.48732250e-01 -7.74692937e-01 -4.89734658e+01] [ 9.24154026e-01 9.92578799e-03 3.81891103e-01 -7.58183638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.26, Y:-48.94, Z:-7.55 [[ 2.17523803e-01 -8.65039697e-01 -4.52094810e-01 8.82582851e+01] [ 3.12106857e-01 5.00512264e-01 -8.07512714e-01 -4.89431813e+01] [ 9.24809551e-01 3.45513458e-02 3.78858152e-01 -7.54969978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.29, Y:-48.94, Z:-7.53 [[ 2.32740947e-01 -8.53319505e-01 -4.66559186e-01 8.82858604e+01] [ 3.40625465e-01 5.20869634e-01 -7.82731830e-01 -4.89432329e+01] [ 9.10936850e-01 2.32518078e-02 4.11890045e-01 -7.52500392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.32, Y:-48.95, Z:-7.50 [[ 2.32057085e-01 -8.37375836e-01 -4.94925467e-01 8.83183877e+01] [ 3.40673017e-01 5.46554873e-01 -7.64996514e-01 -4.89461192e+01] [ 9.11093521e-01 8.91510868e-03 4.12103283e-01 -7.50156173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.32, Y:-48.94, Z:-7.48 [[ 2.30309642e-01 -8.38377311e-01 -4.94045497e-01 8.83202790e+01] [ 3.41234749e-01 5.45034640e-01 -7.65830325e-01 -4.89362588e+01] [ 9.11326678e-01 7.79261653e-03 4.11610204e-01 -7.47537111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:-48.92, Z:-7.45 [[ 2.27552180e-01 -8.39478249e-01 -4.93453416e-01 8.83242927e+01] [ 3.41063238e-01 5.43357279e-01 -7.67097605e-01 -4.89242773e+01] [ 9.12083260e-01 6.25591251e-03 4.09957304e-01 -7.44986133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:-48.95, Z:-7.43 [[ 2.07826001e-01 -7.96094014e-01 -5.68368432e-01 8.84014657e+01] [ 3.19803645e-01 6.04422721e-01 -7.29656634e-01 -4.89509733e+01] [ 9.24410072e-01 -3.01246766e-02 3.80208524e-01 -7.43162026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:-48.87, Z:-7.39 [[ 2.24840524e-01 -8.89430435e-01 -3.97945022e-01 8.82477270e+01] [ 3.49070220e-01 4.54819588e-01 -8.19322357e-01 -4.88732136e+01] [ 9.09723431e-01 4.53061116e-02 4.12735552e-01 -7.38963907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-48.90, Z:-7.37 [[ 2.24669017e-01 -8.42022649e-01 -4.90430109e-01 8.83487022e+01] [ 3.51512674e-01 5.39441952e-01 -7.65141307e-01 -4.89013816e+01] [ 9.08824886e-01 -4.88853756e-04 4.17177525e-01 -7.37278611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:-48.89, Z:-7.35 [[ 2.22359712e-01 -8.43130627e-01 -4.89578293e-01 8.83552493e+01] [ 3.52353362e-01 5.37704366e-01 -7.65977234e-01 -4.88939275e+01] [ 9.09067251e-01 -2.18208061e-03 4.16643698e-01 -7.34663693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.36, Y:-48.89, Z:-7.32 [[ 2.16036663e-01 -8.44925048e-01 -4.89315669e-01 8.83638086e+01] [ 3.53200810e-01 5.34838929e-01 -7.67591368e-01 -4.88863708e+01] [ 9.10262241e-01 -6.99881290e-03 4.13973029e-01 -7.32107086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-48.88, Z:-7.30 [[ 2.13787736e-01 -8.45975455e-01 -4.88487803e-01 8.83706488e+01] [ 3.53815407e-01 5.33153402e-01 -7.68480389e-01 -4.88768641e+01] [ 9.10554480e-01 -8.54282820e-03 4.13300809e-01 -7.29570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-48.87, Z:-7.27 [[ 2.12165887e-01 -8.46887048e-01 -4.87614566e-01 8.83769335e+01] [ 3.54330514e-01 5.31686765e-01 -7.69258781e-01 -4.88672190e+01] [ 9.10733508e-01 -9.56624832e-03 4.12883717e-01 -7.26983583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-48.86, Z:-7.24 [[ 2.10790337e-01 -8.47724508e-01 -4.86755167e-01 8.83837626e+01] [ 3.54597018e-01 5.30337153e-01 -7.70067178e-01 -4.88581063e+01] [ 9.10949169e-01 -1.02792105e-02 4.12390530e-01 -7.24457564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.39, Y:-48.85, Z:-7.22 [[ 2.11566637e-01 -8.48356259e-01 -4.85315585e-01 8.83919334e+01] [ 3.56329297e-01 5.29330682e-01 -7.69960039e-01 -4.88494338e+01] [ 9.10092847e-01 -1.00343053e-02 4.14282901e-01 -7.21891553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:-48.84, Z:-7.19 [[ 2.13557583e-01 -8.48734891e-01 -4.83779126e-01 8.84005712e+01] [ 3.57796646e-01 5.28746619e-01 -7.69680825e-01 -4.88445071e+01] [ 9.09051549e-01 -8.72337162e-03 4.16592348e-01 -7.19272433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:-48.84, Z:-7.17 [[ 2.14411135e-01 -8.49367400e-01 -4.82289212e-01 8.84048738e+01] [ 3.59755483e-01 5.27733217e-01 -7.69463218e-01 -4.88368248e+01] [ 9.08077011e-01 -8.52470671e-03 4.18716458e-01 -7.16664122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:-48.83, Z:-7.14 [[ 2.12810965e-01 -8.50221443e-01 -4.81492462e-01 8.84096060e+01] [ 3.59842578e-01 5.26342744e-01 -7.70374347e-01 -4.88277004e+01] [ 9.08418853e-01 -9.31738055e-03 4.17957384e-01 -7.14024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:-48.82, Z:-7.12 [[ 2.11295202e-01 -8.51255860e-01 -4.80330927e-01 8.84168418e+01] [ 3.61663175e-01 5.24638135e-01 -7.70684485e-01 -4.88189312e+01] [ 9.08049605e-01 -1.08760742e-02 4.18721418e-01 -7.11501952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:-48.81, Z:-7.09 [[ 2.08488387e-01 -8.52305179e-01 -4.79696231e-01 8.84273931e+01] [ 3.61743914e-01 5.22892809e-01 -7.71831880e-01 -4.88100762e+01] [ 9.08666018e-01 -1.26092090e-02 4.17333290e-01 -7.09075112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-48.84, Z:-7.07 [[ 1.89023344e-01 -8.17671841e-01 -5.43767354e-01 8.84977125e+01] [ 3.38921419e-01 5.74046437e-01 -7.45387791e-01 -4.88355532e+01] [ 9.21630320e-01 -4.33987104e-02 3.85634678e-01 -7.07089176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:-48.76, Z:-7.03 [[ 2.03734135e-01 -8.94065415e-01 -3.98922844e-01 8.83709370e+01] [ 3.64237751e-01 4.47439035e-01 -8.16779757e-01 -4.87637776e+01] [ 9.08748185e-01 2.11031579e-02 4.16810981e-01 -7.03355983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:-48.79, Z:-7.01 [[ 2.05662268e-01 -8.53793030e-01 -4.78268223e-01 8.84544014e+01] [ 3.64779324e-01 5.20376710e-01 -7.72103701e-01 -4.87862594e+01] [ 9.08096403e-01 -1.56697615e-02 4.18467899e-01 -7.01337289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:-48.78, Z:-6.99 [[ 2.03394066e-01 -8.54734719e-01 -4.77555666e-01 8.84592945e+01] [ 3.65238949e-01 5.18779821e-01 -7.72960547e-01 -4.87769775e+01] [ 9.08422459e-01 -1.72063412e-02 4.17699147e-01 -6.98714782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:-48.77, Z:-6.96 [[ 2.01967864e-01 -8.55551358e-01 -4.76697867e-01 8.84657445e+01] [ 3.65590786e-01 5.17404572e-01 -7.73715637e-01 -4.87676886e+01] [ 9.08599119e-01 -1.80106530e-02 4.17280790e-01 -6.96162875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:-48.76, Z:-6.94 [[ 1.99799966e-01 -8.56412552e-01 -4.76064612e-01 8.84753923e+01] [ 3.65333251e-01 5.15938168e-01 -7.74815735e-01 -4.87599627e+01] [ 9.09181824e-01 -1.91140750e-02 4.15960410e-01 -6.93634272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:-48.76, Z:-6.91 [[ 1.99041793e-01 -8.57123196e-01 -4.75102297e-01 8.84934722e+01] [ 3.65787430e-01 5.14744122e-01 -7.75395412e-01 -4.87575792e+01] [ 9.09165508e-01 -1.94503548e-02 4.15980484e-01 -6.91141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-48.75, Z:-6.89 [[ 1.99965425e-01 -8.57689217e-01 -4.73690866e-01 8.85021511e+01] [ 3.67408693e-01 5.13816693e-01 -7.75243999e-01 -4.87512395e+01] [ 9.08308693e-01 -1.90161459e-02 4.17868048e-01 -6.88511758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-48.74, Z:-6.86 [[ 2.00222077e-01 -8.58269686e-01 -4.72529645e-01 8.85081759e+01] [ 3.68175636e-01 5.12858171e-01 -7.75514795e-01 -4.87437135e+01] [ 9.07941530e-01 -1.86987196e-02 4.18679515e-01 -6.85886885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:-48.73, Z:-6.83 [[ 2.02674954e-01 -8.57966967e-01 -4.72033416e-01 8.85150703e+01] [ 3.64366311e-01 5.13499126e-01 -7.76888563e-01 -4.87341236e+01] [ 9.08933471e-01 -1.45372204e-02 4.16687671e-01 -6.83352469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:-48.72, Z:-6.81 [[ 2.04849188e-01 -8.57940037e-01 -4.71142975e-01 8.85229319e+01] [ 3.62941335e-01 5.13615873e-01 -7.77478181e-01 -4.87236920e+01] [ 9.09016170e-01 -1.17314868e-02 4.16595697e-01 -6.80825364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:-48.71, Z:-6.78 [[ 2.06067532e-01 -8.58038496e-01 -4.70431835e-01 8.85309225e+01] [ 3.60803497e-01 5.13501169e-01 -7.78548255e-01 -4.87142760e+01] [ 9.09591672e-01 -9.29993410e-03 4.15399208e-01 -6.78338541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.54, Y:-48.71, Z:-6.76 [[ 2.08242598e-01 -8.57993468e-01 -4.69555354e-01 8.85386655e+01] [ 3.58903524e-01 5.13622791e-01 -7.79345809e-01 -4.87058699e+01] [ 9.09847944e-01 -6.23207542e-03 4.14895023e-01 -6.75731585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:-48.75, Z:-6.74 [[ 1.91726395e-01 -8.08198140e-01 -5.56827403e-01 8.86224877e+01] [ 3.34320490e-01 5.87202376e-01 -7.37172422e-01 -4.87455194e+01] [ 9.22751754e-01 -4.48233987e-02 3.82779393e-01 -6.73717815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:-48.64, Z:-6.69 [[ 2.16396381e-01 -9.19395033e-01 -3.28459100e-01 8.84233141e+01] [ 3.57862321e-01 3.87710705e-01 -8.49479234e-01 -4.86408808e+01] [ 9.08354097e-01 6.62810957e-02 4.12916033e-01 -6.69279482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:-48.74, Z:-6.68 [[ 2.01311231e-01 -8.02789956e-01 -5.61250456e-01 8.86426683e+01] [ 3.30245526e-01 5.95059335e-01 -7.32695217e-01 -4.87392032e+01] [ 9.22177684e-01 -3.78506762e-02 3.84909918e-01 -6.67995843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.46, Y:-48.63, Z:-6.64 [[ 2.22388243e-01 -9.10699701e-01 -3.48094132e-01 8.84553091e+01] [ 3.58339592e-01 4.08394880e-01 -8.39527462e-01 -4.86330341e+01] [ 9.06717269e-01 6.19651282e-02 4.17161979e-01 -6.64208161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-48.69, Z:-6.63 [[ 2.09244331e-01 -8.33235426e-01 -5.11796380e-01 8.86070489e+01] [ 3.27841625e-01 5.52867594e-01 -7.66066115e-01 -4.86911051e+01] [ 9.21269059e-01 -7.49316521e-03 3.88853666e-01 -6.62626349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-48.68, Z:-6.60 [[ 2.17423596e-01 -8.36801830e-01 -5.02483509e-01 8.86059997e+01] [ 3.36439209e-01 5.47500331e-01 -7.66193217e-01 -4.86760794e+01] [ 9.16261774e-01 -2.46667006e-03 4.00572437e-01 -6.60396505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.51, Y:-48.61, Z:-6.57 [[ 2.33145751e-01 -8.91642882e-01 -3.88092809e-01 8.85088255e+01] [ 3.55929387e-01 4.49642239e-01 -8.19228984e-01 -4.86124783e+01] [ 9.04962613e-01 5.28661212e-02 4.22194082e-01 -6.57199044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:-48.64, Z:-6.55 [[ 2.33920009e-01 -8.53598058e-01 -4.65458682e-01 8.85890127e+01] [ 3.53666446e-01 5.20649619e-01 -7.77074012e-01 -4.86370221e+01] [ 9.05649753e-01 1.71560421e-02 4.23679355e-01 -6.55003780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-48.67, Z:-6.53 [[ 2.19804514e-01 -8.10951274e-01 -5.42258248e-01 8.86613583e+01] [ 3.31278160e-01 5.84869677e-01 -7.40393302e-01 -4.86698361e+01] [ 9.17573297e-01 -1.68965250e-02 3.97207441e-01 -6.52583881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:-48.58, Z:-6.49 [[ 2.35855630e-01 -8.95972954e-01 -3.76303850e-01 8.85182351e+01] [ 3.57273875e-01 4.40055559e-01 -8.23836442e-01 -4.85834132e+01] [ 9.03729772e-01 5.98629283e-02 4.23897310e-01 -6.49195995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-48.61, Z:-6.47 [[ 2.35125338e-01 -8.54213452e-01 -4.63719154e-01 8.86077871e+01] [ 3.53473799e-01 5.19575675e-01 -7.77880063e-01 -4.86093092e+01] [ 9.05412806e-01 1.89867417e-02 4.24107480e-01 -6.47231225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-48.60, Z:-6.45 [[ 2.35100479e-01 -8.54654255e-01 -4.62918858e-01 8.86143319e+01] [ 3.52506915e-01 5.18815275e-01 -7.78825774e-01 -4.85986141e+01] [ 9.05796136e-01 1.99202141e-02 4.23245254e-01 -6.44783173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.65, Y:-48.61, Z:-6.42 [[ 2.19308451e-01 -8.36789029e-01 -5.01685085e-01 8.86505658e+01] [ 3.28258158e-01 5.47509911e-01 -7.69726886e-01 -4.86073422e+01] [ 9.18776570e-01 4.12538920e-03 3.94756376e-01 -6.42212515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.60, Y:-48.57, Z:-6.39 [[ 2.35562998e-01 -8.69721605e-01 -4.33698518e-01 8.85973900e+01] [ 3.55477479e-01 4.92440082e-01 -7.94442275e-01 -4.85679036e+01] [ 9.04514144e-01 3.29711485e-02 4.25167105e-01 -6.39445046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-48.60, Z:-6.37 [[ 2.22661344e-01 -8.28909511e-01 -5.13157820e-01 8.86685099e+01] [ 3.33912354e-01 5.59377479e-01 -7.58682658e-01 -4.85976177e+01] [ 9.15928199e-01 -2.42043519e-03 4.01334867e-01 -6.37038328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:-48.53, Z:-6.34 [[ 2.39348049e-01 -8.83274366e-01 -4.03161141e-01 8.85752117e+01] [ 3.56350422e-01 4.66167048e-01 -8.09754692e-01 -4.85349736e+01] [ 9.03176001e-01 5.01465633e-02 4.26331366e-01 -6.33957194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:-48.55, Z:-6.32 [[ 2.38227729e-01 -8.55689405e-01 -4.59394374e-01 8.86360671e+01] [ 3.52957711e-01 5.16949605e-01 -7.79861501e-01 -4.85477975e+01] [ 9.04802964e-01 2.36378478e-02 4.25173905e-01 -6.31767376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:-48.56, Z:-6.29 [[ 2.19412322e-01 -8.35118687e-01 -5.04415515e-01 8.86775401e+01] [ 3.27785211e-01 5.50060530e-01 -7.68108240e-01 -4.85591171e+01] [ 9.18920610e-01 3.19246651e-03 3.94429613e-01 -6.29300822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:-48.51, Z:-6.26 [[ 2.34332191e-01 -8.75273454e-01 -4.23065958e-01 8.86098968e+01] [ 3.60644907e-01 4.82397472e-01 -7.98265576e-01 -4.85110002e+01] [ 9.02786617e-01 3.44827384e-02 4.28704170e-01 -6.26493763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-48.56, Z:-6.24 [[ 2.17047801e-01 -8.10979216e-01 -5.43325835e-01 8.87206566e+01] [ 3.37873333e-01 5.84603748e-01 -7.37617834e-01 -4.85608384e+01] [ 9.15823052e-01 -2.34769817e-02 4.00895209e-01 -6.24267343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:-48.47, Z:-6.21 [[ 2.32716816e-01 -9.05499964e-01 -3.54841793e-01 8.85528104e+01] [ 3.67830183e-01 4.19705908e-01 -8.29787869e-01 -4.84683508e+01] [ 9.00302083e-01 6.25840693e-02 4.30742840e-01 -6.20653739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-48.52, Z:-6.19 [[ 2.12911622e-01 -8.34234572e-01 -5.08646558e-01 8.86949641e+01] [ 3.35694025e-01 5.51349678e-01 -7.63755887e-01 -4.85240724e+01] [ 9.17593681e-01 -8.13710553e-03 3.97436315e-01 -6.18813584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.62, Y:-48.47, Z:-6.16 [[ 2.30278191e-01 -8.82323446e-01 -4.10459853e-01 8.86157264e+01] [ 3.68575497e-01 4.69451299e-01 -8.02351283e-01 -4.84701466e+01] [ 9.00624260e-01 3.34785579e-02 4.33307198e-01 -6.15975625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-48.47, Z:-6.14 [[ 2.28100804e-01 -8.61670447e-01 -4.53314531e-01 8.86613985e+01] [ 3.67587601e-01 5.07345731e-01 -7.79409818e-01 -4.84748011e+01] [ 9.01581599e-01 1.11512050e-02 4.32465342e-01 -6.13800550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-48.46, Z:-6.11 [[ 2.25501578e-01 -8.62911981e-01 -4.52252088e-01 8.86639769e+01] [ 3.69543414e-01 5.05278910e-01 -7.79827473e-01 -4.84590556e+01] [ 9.01435912e-01 8.72554500e-03 4.32824631e-01 -6.11461270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-48.45, Z:-6.09 [[ 2.23815970e-01 -8.63868453e-01 -4.51262348e-01 8.86681426e+01] [ 3.70563938e-01 5.03662500e-01 -7.80388656e-01 -4.84490230e+01] [ 9.01437063e-01 7.44189090e-03 4.32846207e-01 -6.08935648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:-48.44, Z:-6.06 [[ 2.22098101e-01 -8.64863834e-01 -4.50203267e-01 8.86720707e+01] [ 3.71932933e-01 5.01970965e-01 -7.80827153e-01 -4.84402967e+01] [ 9.01298134e-01 5.97480595e-03 4.33158141e-01 -6.06331825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:-48.47, Z:-6.04 [[ 2.07099100e-01 -8.20041692e-01 -5.33518121e-01 8.87493341e+01] [ 3.50052114e-01 5.71349980e-01 -7.42309045e-01 -4.84715833e+01] [ 9.13549933e-01 -3.30276108e-02 4.05383395e-01 -6.04029224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:-48.38, Z:-6.00 [[ 2.19512185e-01 -9.07705613e-01 -3.57610012e-01 8.85891029e+01] [ 3.74648390e-01 4.16874503e-01 -8.28163168e-01 -4.83848180e+01] [ 9.00806852e-01 4.78138915e-02 4.31579480e-01 -6.00441223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:-48.41, Z:-5.99 [[ 2.19644688e-01 -8.66498407e-01 -4.48259659e-01 8.86804695e+01] [ 3.74452186e-01 4.99165501e-01 -7.81421374e-01 -4.84085322e+01] [ 9.00856133e-01 3.78324457e-03 4.34101273e-01 -5.98550775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.68, Y:-48.40, Z:-5.96 [[ 2.19086424e-01 -8.67298666e-01 -4.46983402e-01 8.86834899e+01] [ 3.76246191e-01 4.97778921e-01 -7.81444143e-01 -4.83973877e+01] [ 9.00244379e-01 3.02800033e-03 4.35374424e-01 -5.96042692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-48.39, Z:-5.94 [[ 2.16346775e-01 -8.68521929e-01 -4.45941399e-01 8.86875548e+01] [ 3.78131126e-01 4.95650454e-01 -7.81887127e-01 -4.83859607e+01] [ 9.00117173e-01 5.34434456e-04 4.35647553e-01 -5.93549239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-48.38, Z:-5.91 [[ 2.13779899e-01 -8.69564350e-01 -4.45147163e-01 8.86928036e+01] [ 3.78696681e-01 4.93818101e-01 -7.82772321e-01 -4.83751274e+01] [ 9.00492631e-01 -1.23476539e-03 4.34869517e-01 -5.91036394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.70, Y:-48.37, Z:-5.89 [[ 2.09786114e-01 -8.71217286e-01 -4.43813279e-01 8.87004296e+01] [ 3.82701107e-01 4.90865048e-01 -7.82682162e-01 -4.83650489e+01] [ 8.99738656e-01 -5.65198366e-03 4.36392491e-01 -5.88564797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:-48.35, Z:-5.86 [[ 2.07281765e-01 -8.72302627e-01 -4.42857084e-01 8.87052951e+01] [ 3.84069837e-01 4.88905170e-01 -7.83238211e-01 -4.83544907e+01] [ 8.99735867e-01 -7.73704959e-03 4.36366254e-01 -5.85993478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:-48.34, Z:-5.83 [[ 2.04222745e-01 -8.73409951e-01 -4.42095157e-01 8.87085594e+01] [ 3.84831937e-01 4.86883073e-01 -7.84123239e-01 -4.83432143e+01] [ 9.00109688e-01 -9.99653542e-03 4.35548641e-01 -5.83392130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:-48.33, Z:-5.81 [[ 2.02166089e-01 -8.74413172e-01 -4.41056092e-01 8.87121962e+01] [ 3.86397061e-01 4.85037931e-01 -7.84496983e-01 -4.83329154e+01] [ 8.99903430e-01 -1.18240910e-02 4.35928901e-01 -5.80826627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-48.33, Z:-5.78 [[ 2.00109761e-01 -8.75537657e-01 -4.39761179e-01 8.87199240e+01] [ 3.89202054e-01 4.82941487e-01 -7.84403774e-01 -4.83253687e+01] [ 8.99153961e-01 -1.41891024e-02 4.37402360e-01 -5.78279312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.73, Y:-48.32, Z:-5.76 [[ 1.99366187e-01 -8.76261323e-01 -4.38656148e-01 8.87281031e+01] [ 3.90361696e-01 4.81608741e-01 -7.84646906e-01 -4.83168554e+01] [ 8.98816372e-01 -1.48024959e-02 4.38075355e-01 -5.75745715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:-48.31, Z:-5.73 [[ 1.98520684e-01 -8.76779406e-01 -4.38003894e-01 8.87361116e+01] [ 3.89458092e-01 4.80670732e-01 -7.85670441e-01 -4.83059607e+01] [ 8.99395315e-01 -1.46123272e-02 4.36891918e-01 -5.73299445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-48.34, Z:-5.71 [[ 1.78241893e-01 -8.25055733e-01 -5.36202262e-01 8.88289017e+01] [ 3.60049347e-01 5.61824040e-01 -7.44794076e-01 -4.83430022e+01] [ 9.15747943e-01 -6.03057682e-02 3.97201359e-01 -5.71236229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:-48.24, Z:-5.68 [[ 1.92929924e-01 -9.28065811e-01 -3.18546534e-01 8.86386272e+01] [ 3.86104692e-01 3.70260653e-01 -8.44884735e-01 -4.82412107e+01] [ 9.02053885e-01 4.00112368e-02 4.29764924e-01 -5.67558486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-48.28, Z:-5.66 [[ 1.93666285e-01 -8.78139775e-01 -4.37451603e-01 8.87595261e+01] [ 3.88395098e-01 4.78089808e-01 -7.87768610e-01 -4.82753392e+01] [ 9.00912103e-01 -1.73398374e-02 4.33655061e-01 -5.65783921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:-48.27, Z:-5.63 [[ 1.93045620e-01 -8.78737840e-01 -4.36523995e-01 8.87644481e+01] [ 3.88641216e-01 4.76984910e-01 -7.88316815e-01 -4.82669754e+01] [ 9.00939173e-01 -1.74701081e-02 4.33593590e-01 -5.63135738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:-48.26, Z:-5.61 [[ 1.92941054e-01 -8.79266956e-01 -4.35503581e-01 8.87698884e+01] [ 3.89080577e-01 4.76015919e-01 -7.88685710e-01 -4.82580805e+01] [ 9.00771921e-01 -1.72761323e-02 4.33948708e-01 -5.60550113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:-48.25, Z:-5.58 [[ 1.93355788e-01 -8.79653349e-01 -4.34538290e-01 8.87761758e+01] [ 3.88918152e-01 4.75332277e-01 -7.89177989e-01 -4.82489414e+01] [ 9.00753135e-01 -1.64076968e-02 4.34021401e-01 -5.58004141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:-48.24, Z:-5.56 [[ 1.93736700e-01 -8.80243309e-01 -4.33171801e-01 8.87879029e+01] [ 3.90766744e-01 4.74238243e-01 -7.88922963e-01 -4.82405294e+01] [ 8.99870792e-01 -1.64258028e-02 4.35847164e-01 -5.55544521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.86, Y:-48.27, Z:-5.53 [[ 1.79621500e-01 -8.40625170e-01 -5.10965205e-01 8.88624708e+01] [ 3.66534722e-01 5.39202124e-01 -7.58230418e-01 -4.82696256e+01] [ 9.12901098e-01 -5.10920047e-02 4.04970607e-01 -5.53270750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.73, Y:-48.19, Z:-5.50 [[ 1.92913975e-01 -9.16464882e-01 -3.50537186e-01 8.87272845e+01] [ 3.93088654e-01 3.99511274e-01 -8.28173926e-01 -4.81927214e+01] [ 8.99035877e-01 2.19741333e-02 4.37323255e-01 -5.50044822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:-48.22, Z:-5.48 [[ 1.94734210e-01 -8.81250840e-01 -4.30668717e-01 8.88115136e+01] [ 3.93832102e-01 4.72375939e-01 -7.88515851e-01 -4.82157579e+01] [ 8.98317796e-01 -1.60601547e-02 4.39052627e-01 -5.47907795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-48.21, Z:-5.45 [[ 1.95318160e-01 -8.81615742e-01 -4.29656257e-01 8.88181084e+01] [ 3.93889732e-01 4.71724499e-01 -7.88876971e-01 -4.82075762e+01] [ 8.98165739e-01 -1.51551891e-02 4.39395750e-01 -5.45298645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:-48.20, Z:-5.43 [[ 1.96241048e-01 -8.81878107e-01 -4.28696227e-01 8.88224881e+01] [ 3.93477996e-01 4.71276062e-01 -7.89350328e-01 -4.81968224e+01] [ 8.98145043e-01 -1.37795966e-02 4.39483339e-01 -5.42699650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-48.19, Z:-5.40 [[ 1.95799779e-01 -8.82434113e-01 -4.27752829e-01 8.88276124e+01] [ 3.93697012e-01 4.70235012e-01 -7.89861821e-01 -4.81858909e+01] [ 8.98145372e-01 -1.37502408e-02 4.39483585e-01 -5.40122000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-48.17, Z:-5.38 [[ 1.96035578e-01 -8.82762178e-01 -4.26967199e-01 8.88327690e+01] [ 3.93081372e-01 4.69643997e-01 -7.90519798e-01 -4.81746290e+01] [ 8.98363561e-01 -1.28628470e-02 4.39064301e-01 -5.37637315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.84, Y:-48.17, Z:-5.35 [[ 1.96876360e-01 -8.83001681e-01 -4.26084182e-01 8.88395319e+01] [ 3.92321674e-01 4.69231244e-01 -7.91142051e-01 -4.81652303e+01] [ 8.98511771e-01 -1.14048921e-02 4.38801237e-01 -5.35131070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-48.17, Z:-5.33 [[ 1.82822607e-01 -8.69440347e-01 -4.58965551e-01 8.88751657e+01] [ 3.63854212e-01 4.93521981e-01 -7.89965927e-01 -4.81706250e+01] [ 9.13337838e-01 -2.25729188e-02 4.06576508e-01 -5.32691254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-48.13, Z:-5.30 [[ 1.97563317e-01 -8.98808525e-01 -3.91295248e-01 8.88257756e+01] [ 3.89935511e-01 4.38278699e-01 -8.09853122e-01 -4.81321521e+01] [ 8.99399262e-01 7.41735670e-03 4.37065155e-01 -5.29861421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-48.15, Z:-5.27 [[ 1.85787882e-01 -8.73557393e-01 -4.49867030e-01 8.88795082e+01] [ 3.66665815e-01 4.86402584e-01 -7.93075473e-01 -4.81467953e+01] [ 9.11613428e-01 -1.76070484e-02 4.10671340e-01 -5.27459351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-48.12, Z:-5.25 [[ 1.99431496e-01 -8.94257028e-01 -4.00663757e-01 8.88453445e+01] [ 3.93073193e-01 4.47545607e-01 -8.03241181e-01 -4.81163092e+01] [ 8.97619375e-01 2.70140802e-03 4.40763155e-01 -5.24772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:-48.13, Z:-5.22 [[ 1.84734571e-01 -8.69315510e-01 -4.58436127e-01 8.88976014e+01] [ 3.66840211e-01 4.93744268e-01 -7.88444581e-01 -4.81317603e+01] [ 9.11757313e-01 -2.25198340e-02 4.10111521e-01 -5.22345018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-48.09, Z:-5.20 [[ 1.98247767e-01 -9.00491447e-01 -3.87056812e-01 8.88455667e+01] [ 3.91132806e-01 4.34771661e-01 -8.11165046e-01 -4.80898199e+01] [ 8.98728519e-01 9.42104203e-03 4.38404257e-01 -5.19557970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:-48.09, Z:-5.17 [[ 1.98364596e-01 -8.84392898e-01 -4.22493420e-01 8.88850660e+01] [ 3.90381250e-01 4.66682760e-01 -7.93605495e-01 -4.80925604e+01] [ 8.99029458e-01 -7.51027615e-03 4.37823742e-01 -5.17260669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:-48.08, Z:-5.15 [[ 1.99259715e-01 -8.84658908e-01 -4.21514155e-01 8.88895620e+01] [ 3.89995126e-01 4.66198099e-01 -7.94080055e-01 -4.80807853e+01] [ 8.98999092e-01 -6.16030066e-03 4.37907162e-01 -5.14805258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-48.10, Z:-5.12 [[ 1.84333477e-01 -8.52759478e-01 -4.88694630e-01 8.89476991e+01] [ 3.62694535e-01 5.21140773e-01 -7.72570365e-01 -4.81045069e+01] [ 9.13495399e-01 -3.48362902e-02 4.05354893e-01 -5.12354594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:-48.03, Z:-5.09 [[ 2.01375637e-01 -9.16617604e-01 -3.45340443e-01 8.88266872e+01] [ 3.92219403e-01 3.98521874e-01 -8.29062275e-01 -4.80345378e+01] [ 8.97558796e-01 3.15037212e-02 4.39767806e-01 -5.09231583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:-48.05, Z:-5.07 [[ 2.00560780e-01 -8.85134215e-01 -4.19896172e-01 8.89021738e+01] [ 3.89701886e-01 4.65316494e-01 -7.94740839e-01 -4.80515873e+01] [ 8.98836923e-01 -4.24048758e-03 4.38262712e-01 -5.07121168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-48.04, Z:-5.05 [[ 1.99094452e-01 -8.85690922e-01 -4.19419825e-01 8.89079484e+01] [ 3.88012228e-01 4.64256126e-01 -7.96186385e-01 -4.80394985e+01] [ 8.99893277e-01 -4.22372857e-03 4.36089727e-01 -5.04626141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-48.03, Z:-5.02 [[ 1.97749278e-01 -8.86410418e-01 -4.18535295e-01 8.89133883e+01] [ 3.88225013e-01 4.62874217e-01 -7.96886942e-01 -4.80279864e+01] [ 9.00098085e-01 -4.90205313e-03 4.35659739e-01 -5.02093315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-48.02, Z:-4.99 [[ 1.98580196e-01 -8.87053769e-01 -4.16775139e-01 8.89168021e+01] [ 3.91689586e-01 4.61636897e-01 -7.95908691e-01 -4.80186175e+01] [ 8.98412586e-01 -5.19477779e-03 4.39121669e-01 -4.99437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.92, Y:-48.01, Z:-4.97 [[ 1.99384170e-01 -8.87479643e-01 -4.15482653e-01 8.89206024e+01] [ 3.92804312e-01 4.60824679e-01 -7.95829999e-01 -4.80076882e+01] [ 8.97747584e-01 -4.52747360e-03 4.40486977e-01 -4.96861382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-48.00, Z:-4.94 [[ 2.00038591e-01 -8.87791549e-01 -4.14500577e-01 8.89242753e+01] [ 3.92493766e-01 4.60233259e-01 -7.96325304e-01 -4.79966858e+01] [ 8.97737827e-01 -3.39310024e-03 4.40517061e-01 -4.94269465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:-47.99, Z:-4.92 [[ 2.01665089e-01 -8.88028100e-01 -4.13203684e-01 8.89276932e+01] [ 3.93226181e-01 4.59785207e-01 -7.96222792e-01 -4.79853977e+01] [ 8.97053155e-01 -1.91216622e-03 4.41918523e-01 -4.91733357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.93, Y:-47.97, Z:-4.89 [[ 2.02495354e-01 -8.88300866e-01 -4.12210145e-01 8.89314964e+01] [ 3.92913608e-01 4.59261542e-01 -7.96679191e-01 -4.79734852e+01] [ 8.97003082e-01 -6.39140707e-04 4.42023826e-01 -4.89239606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:-47.96, Z:-4.87 [[ 2.04089976e-01 -8.88388863e-01 -4.11232915e-01 8.89363758e+01] [ 3.92090229e-01 4.59089432e-01 -7.97183885e-01 -4.79612782e+01] [ 8.97001970e-01 1.45683181e-03 4.42024144e-01 -4.86799865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.96, Y:-47.96, Z:-4.84 [[ 1.89121227e-01 -8.77709769e-01 -4.40293906e-01 8.89624835e+01] [ 3.65200269e-01 4.79091541e-01 -7.98185479e-01 -4.79621275e+01] [ 9.11516278e-01 -9.84163580e-03 4.11146224e-01 -4.84232557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:-47.93, Z:-4.82 [[ 2.01250686e-01 -8.99776009e-01 -3.87170886e-01 8.89249127e+01] [ 3.92131026e-01 4.36208998e-01 -8.09910469e-01 -4.79299719e+01] [ 8.97625434e-01 1.11733211e-02 4.40617449e-01 -4.81557198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-47.93, Z:-4.79 [[ 1.99745138e-01 -8.90264007e-01 -4.09306582e-01 8.89508464e+01] [ 3.93002090e-01 4.55442989e-01 -7.98824787e-01 -4.79278746e+01] [ 8.97580769e-01 -1.29697446e-03 4.40848138e-01 -4.79101094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-47.92, Z:-4.76 [[ 1.97737143e-01 -8.91635389e-01 -4.07291486e-01 8.89540666e+01] [ 3.99146337e-01 4.52727549e-01 -7.97320493e-01 -4.79180030e+01] [ 8.95311244e-01 -4.90902847e-03 4.45414052e-01 -4.76462324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.96, Y:-47.91, Z:-4.74 [[ 1.96466149e-01 -8.92584142e-01 -4.05825826e-01 8.89597167e+01] [ 4.02189491e-01 4.50831642e-01 -7.96865386e-01 -4.79083850e+01] [ 8.94228531e-01 -6.66180848e-03 4.47561119e-01 -4.73891233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:-47.90, Z:-4.71 [[ 1.94781816e-01 -8.93404771e-01 -4.04830779e-01 8.89656574e+01] [ 4.03186361e-01 4.49182728e-01 -7.97292691e-01 -4.78981697e+01] [ 8.94148088e-01 -7.92413058e-03 4.47701246e-01 -4.71321209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:-47.89, Z:-4.69 [[ 1.92019906e-01 -8.94283580e-01 -4.04209395e-01 8.89721308e+01] [ 4.02902512e-01 4.47398983e-01 -7.98438298e-01 -4.78874639e+01] [ 8.94873132e-01 -9.54093378e-03 4.46218611e-01 -4.68839480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:-47.88, Z:-4.66 [[ 1.86623842e-01 -8.95467105e-01 -4.04116575e-01 8.89828347e+01] [ 4.01274561e-01 4.44945177e-01 -8.00626327e-01 -4.78770563e+01] [ 8.96744260e-01 -1.27457406e-02 4.42365548e-01 -4.66437104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.90, Z:-4.64 [[ 1.74962404e-01 -8.59405989e-01 -4.80426377e-01 8.90593990e+01] [ 3.82704569e-01 5.08944532e-01 -7.71046481e-01 -4.79019399e+01] [ 9.07152341e-01 -4.89572239e-02 4.17944757e-01 -4.63992531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:-47.86, Z:-4.61 [[ 1.73946843e-01 -8.97231119e-01 -4.05855658e-01 8.89986728e+01] [ 3.82551732e-01 4.41337131e-01 -8.11711592e-01 -4.78601138e+01] [ 9.07412072e-01 -1.40661160e-02 4.20006519e-01 -4.61471111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-47.86, Z:-4.59 [[ 1.72041865e-01 -8.90313775e-01 -4.21595753e-01 8.90207452e+01] [ 3.81813061e-01 4.54789058e-01 -8.04602821e-01 -4.78598596e+01] [ 9.08086110e-01 -2.25453953e-02 4.18176185e-01 -4.58957229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-47.82, Z:-4.56 [[ 1.83637900e-01 -9.25792312e-01 -3.30432621e-01 8.89490270e+01] [ 4.07677313e-01 3.77605408e-01 -8.31392425e-01 -4.78172853e+01] [ 8.94469860e-01 1.79652758e-02 4.46767186e-01 -4.56045251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-47.86, Z:-4.54 [[ 1.77858014e-01 -8.72098385e-01 -4.55862845e-01 8.90663721e+01] [ 3.89076483e-01 4.87823090e-01 -7.81439776e-01 -4.78578447e+01] [ 9.03872788e-01 -3.83801860e-02 4.26076218e-01 -4.53723836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:-48.29, Z:-4.03 [[ 1.97091079e-01 -3.16330124e-01 9.27949546e-01 8.78256716e+01] [ 4.39371279e-01 -8.17639555e-01 -3.72046285e-01 -4.82890837e+01] [ 8.76417700e-01 4.81041383e-01 -2.21630913e-02 -4.02635466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.90, Z:-4.50 [[ 2.02329942e-01 -8.70639580e-01 -4.48385233e-01 8.90632362e+01] [ 4.41588621e-01 4.89775237e-01 -7.51744442e-01 -4.78971168e+01] [ 8.74106449e-01 -4.59014075e-02 4.83560727e-01 -4.50309045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-47.83, Z:-4.48 [[ 2.14305986e-01 -9.27743357e-01 -3.05557208e-01 8.89467043e+01] [ 4.61847885e-01 3.71891807e-01 -8.05228548e-01 -4.78272413e+01] [ 8.60679659e-01 3.14443480e-02 5.08174948e-01 -4.47582248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-47.84, Z:-4.45 [[ 2.22718691e-01 -9.00015462e-01 -3.74657916e-01 8.90188321e+01] [ 4.57921247e-01 4.35856817e-01 -7.74814150e-01 -4.78434709e+01] [ 8.60641921e-01 1.00177311e-03 5.09209662e-01 -4.45292494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:-47.83, Z:-4.43 [[ 2.24729256e-01 -8.99717793e-01 -3.74171959e-01 8.90223368e+01] [ 4.55508758e-01 4.36454418e-01 -7.75899035e-01 -4.78314952e+01] [ 8.61399172e-01 3.92860840e-03 5.07913411e-01 -4.42798256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:-47.82, Z:-4.40 [[ 2.26129364e-01 -8.99580143e-01 -3.73659038e-01 8.90252303e+01] [ 4.53462160e-01 4.36710984e-01 -7.76952757e-01 -4.78196534e+01] [ 8.62112278e-01 6.25159837e-03 5.06678732e-01 -4.40282444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:-47.81, Z:-4.38 [[ 2.30282716e-01 -8.98822875e-01 -3.72944112e-01 8.90298342e+01] [ 4.50923109e-01 4.38176485e-01 -7.77605117e-01 -4.78058258e+01] [ 8.62344607e-01 1.08998998e-02 5.06204476e-01 -4.37908828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-47.81, Z:-4.35 [[ 2.19561485e-01 -8.83117599e-01 -4.14603499e-01 8.90659537e+01] [ 4.25007435e-01 4.69110234e-01 -7.74147446e-01 -4.78086333e+01] [ 8.78157978e-01 -6.23660692e-03 4.78330085e-01 -4.35390905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:-47.77, Z:-4.33 [[ 2.34761685e-01 -9.09801979e-01 -3.42267894e-01 8.90097251e+01] [ 4.51666007e-01 4.13886301e-01 -7.90377092e-01 -4.77660555e+01] [ 8.60746635e-01 3.09594847e-02 5.08091272e-01 -4.32919546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-47.78, Z:-4.31 [[ 2.24791721e-01 -8.79574173e-01 -4.19306519e-01 8.90762317e+01] [ 4.25727177e-01 4.75730128e-01 -7.69699432e-01 -4.77841579e+01] [ 8.76484485e-01 -5.48812011e-03 4.81398824e-01 -4.30556884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:-47.74, Z:-4.28 [[ 2.42452931e-01 -9.11938781e-01 -3.31035097e-01 8.90037157e+01] [ 4.50973959e-01 4.08048930e-01 -7.93800075e-01 -4.77350733e+01] [ 8.58975590e-01 4.31709469e-02 5.10193301e-01 -4.27909989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-47.74, Z:-4.26 [[ 2.44020381e-01 -8.96848053e-01 -3.68941219e-01 8.90425754e+01] [ 4.49170030e-01 4.41698256e-01 -7.76626638e-01 -4.77356084e+01] [ 8.59476782e-01 2.37953897e-02 5.10620643e-01 -4.25645082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-47.72, Z:-4.23 [[ 2.45024981e-01 -8.96826499e-01 -3.68327286e-01 8.90435832e+01] [ 4.47809910e-01 4.41643877e-01 -7.77442583e-01 -4.77199901e+01] [ 8.59900601e-01 2.55522456e-02 5.09821577e-01 -4.23247022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-47.70, Z:-4.21 [[ 2.46369232e-01 -8.96690638e-01 -3.67760930e-01 8.90436591e+01] [ 4.46082716e-01 4.41789591e-01 -7.78352213e-01 -4.77041776e+01] [ 8.60414093e-01 2.77102421e-02 5.08841558e-01 -4.20868158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-47.69, Z:-4.18 [[ 2.47674934e-01 -8.96611105e-01 -3.67077177e-01 8.90448927e+01] [ 4.44898861e-01 4.41826514e-01 -7.79008559e-01 -4.76891686e+01] [ 8.60652154e-01 2.96286756e-02 5.08330612e-01 -4.18450456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-47.67, Z:-4.16 [[ 2.49084622e-01 -8.96440576e-01 -3.66539418e-01 8.90465247e+01] [ 4.42991344e-01 4.42013667e-01 -7.79988838e-01 -4.76739002e+01] [ 8.61229075e-01 3.19094361e-02 5.07214222e-01 -4.16111591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-47.66, Z:-4.14 [[ 2.50650603e-01 -8.96456009e-01 -3.65432483e-01 8.90493674e+01] [ 4.43623471e-01 4.41878311e-01 -7.79706210e-01 -4.76610613e+01] [ 8.60449006e-01 3.33194056e-02 5.08445991e-01 -4.13678365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-47.66, Z:-4.11 [[ 2.37493003e-01 -8.85235628e-01 -3.99943693e-01 8.90766137e+01] [ 4.18816220e-01 4.64803511e-01 -7.80096577e-01 -4.76603389e+01] [ 8.76464516e-01 1.77645729e-02 4.81138621e-01 -4.11071895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.03, Y:-47.63, Z:-4.08 [[ 2.50737027e-01 -9.05718615e-01 -3.41767076e-01 8.90315901e+01] [ 4.46951618e-01 4.21474449e-01 -7.89045968e-01 -4.76255033e+01] [ 8.58699711e-01 4.50896926e-02 5.10491651e-01 -4.08479682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-47.62, Z:-4.06 [[ 2.49389157e-01 -8.98207090e-01 -3.61979381e-01 8.90521816e+01] [ 4.50538194e-01 4.38488478e-01 -7.77652358e-01 -4.76185915e+01] [ 8.57216649e-01 3.08525296e-02 5.14030872e-01 -4.06087420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.61, Z:-4.04 [[ 2.47598770e-01 -8.98910327e-01 -3.61462410e-01 8.90560335e+01] [ 4.50183042e-01 4.37099839e-01 -7.78639171e-01 -4.76057065e+01] [ 8.57921953e-01 3.00658535e-02 5.12899568e-01 -4.03643839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.59, Z:-4.01 [[ 2.47443160e-01 -8.99251822e-01 -3.60718787e-01 8.90587349e+01] [ 4.50016618e-01 4.36369184e-01 -7.79145030e-01 -4.75916933e+01] [ 8.58054151e-01 3.04646602e-02 5.12654834e-01 -4.01193235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.58, Z:-3.99 [[ 2.47113242e-01 -8.99490862e-01 -3.60348769e-01 8.90603792e+01] [ 4.48252633e-01 4.35814353e-01 -7.80471285e-01 -4.75758464e+01] [ 8.59071955e-01 3.13375052e-02 5.10894644e-01 -3.98790630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.56, Z:-3.96 [[ 2.48199145e-01 -8.99272876e-01 -3.60146469e-01 8.90573819e+01] [ 4.45054811e-01 4.36076627e-01 -7.82153048e-01 -4.75558029e+01] [ 8.60420478e-01 3.38447996e-02 5.08459566e-01 -3.96498172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.54, Z:-3.94 [[ 2.48508683e-01 -8.99627877e-01 -3.59044728e-01 8.90600849e+01] [ 4.46267243e-01 4.35325894e-01 -7.81880370e-01 -4.75416405e+01] [ 8.59702845e-01 3.40741605e-02 5.09656717e-01 -3.94097642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.53, Z:-3.92 [[ 2.49659532e-01 -8.99785809e-01 -3.57848595e-01 8.90627044e+01] [ 4.47492109e-01 4.34929901e-01 -7.81400533e-01 -4.75297607e+01] [ 8.58732164e-01 3.49496688e-02 5.11231445e-01 -3.91538347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.52, Z:-3.89 [[ 2.49762439e-01 -9.00143645e-01 -3.56875527e-01 8.90642573e+01] [ 4.48246232e-01 4.34169083e-01 -7.81391402e-01 -4.75174135e+01] [ 8.58308825e-01 3.51941123e-02 5.11925127e-01 -3.88968193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.50, Z:-3.86 [[ 2.48655479e-01 -9.00883758e-01 -3.55779297e-01 8.90642131e+01] [ 4.50137436e-01 4.32720702e-01 -7.81107600e-01 -4.75039152e+01] [ 8.57640217e-01 3.40771035e-02 5.13119878e-01 -3.86461213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:-47.49, Z:-3.84 [[ 2.44083144e-01 -9.02562267e-01 -3.54689686e-01 8.90603452e+01] [ 4.53632423e-01 4.29534316e-01 -7.80844349e-01 -4.74865581e+01] [ 8.57112037e-01 2.96922022e-02 5.14273594e-01 -3.84091637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-47.47, Z:-3.82 [[ 2.43787403e-01 -9.02960523e-01 -3.53878503e-01 8.90655383e+01] [ 4.53802578e-01 4.28684908e-01 -7.81212180e-01 -4.74734497e+01] [ 8.57106133e-01 2.98587114e-02 5.14273793e-01 -3.81619612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-47.46, Z:-3.79 [[ 2.41279332e-01 -9.03844695e-01 -3.53339853e-01 8.90695930e+01] [ 4.55164697e-01 4.26963163e-01 -7.81362628e-01 -4.74591033e+01] [ 8.57093567e-01 2.76988256e-02 5.14415583e-01 -3.79287159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.07, Y:-47.45, Z:-3.77 [[ 2.38266962e-01 -9.04949857e-01 -3.52554409e-01 8.90737688e+01] [ 4.56464249e-01 4.24762472e-01 -7.81803832e-01 -4.74456597e+01] [ 8.57245148e-01 2.53495400e-02 5.14284120e-01 -3.76856810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-47.43, Z:-3.74 [[ 2.33538579e-01 -9.06322560e-01 -3.52191922e-01 8.90780568e+01] [ 4.56637258e-01 4.22009260e-01 -7.83192569e-01 -4.74315323e+01] [ 8.58453346e-01 2.20817259e-02 5.12416091e-01 -3.74425507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-47.42, Z:-3.72 [[ 2.25173797e-01 -9.08645031e-01 -3.51654615e-01 8.90793527e+01] [ 4.59226558e-01 4.17296553e-01 -7.84203134e-01 -4.74155868e+01] [ 8.59306540e-01 1.50928595e-02 5.11238179e-01 -3.72070598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.08, Y:-47.40, Z:-3.70 [[ 2.21304069e-01 -9.09826189e-01 -3.51056712e-01 8.90831899e+01] [ 4.59964697e-01 4.14808092e-01 -7.85090265e-01 -4.74016124e+01] [ 8.59916849e-01 1.22699763e-02 5.10286646e-01 -3.69701164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-47.39, Z:-3.67 [[ 2.17456241e-01 -9.11144061e-01 -3.50041831e-01 8.90880836e+01] [ 4.62590564e-01 4.11994359e-01 -7.85029056e-01 -4.73880172e+01] [ 8.59489822e-01 8.78342003e-03 5.11077389e-01 -3.67278565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-47.38, Z:-3.65 [[ 2.13204961e-01 -9.12475870e-01 -3.49186814e-01 8.90924500e+01] [ 4.64611117e-01 4.09097420e-01 -7.85350757e-01 -4.73750771e+01] [ 8.59465040e-01 5.20460179e-03 5.11168033e-01 -3.64792286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:-47.36, Z:-3.62 [[ 2.06961964e-01 -9.14179119e-01 -3.48487136e-01 8.90915123e+01] [ 4.66798513e-01 4.05310423e-01 -7.86016927e-01 -4.73614162e+01] [ 8.59805730e-01 2.32974370e-06 5.10621294e-01 -3.62214870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-47.37, Z:-3.60 [[ 1.88316969e-01 -8.93208857e-01 -4.08307061e-01 8.91453500e+01] [ 4.33747752e-01 4.48643314e-01 -7.81397507e-01 -4.73660536e+01] [ 8.81135408e-01 -2.99518594e-02 4.71914483e-01 -3.60162139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.05, Y:-47.32, Z:-3.57 [[ 2.01300264e-01 -9.34386030e-01 -2.93940387e-01 8.90517424e+01] [ 4.69901937e-01 3.55416809e-01 -8.08004370e-01 -4.73226127e+01] [ 8.59459349e-01 2.45283355e-02 5.10615303e-01 -3.56906584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:-47.33, Z:-3.55 [[ 1.98463710e-01 -9.17269563e-01 -3.45295097e-01 8.91137933e+01] [ 4.77252253e-01 3.98157905e-01 -7.83390432e-01 -4.73276550e+01] [ 8.56062172e-01 -9.31829122e-03 5.16788861e-01 -3.54902368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-47.32, Z:-3.52 [[ 1.96587405e-01 -9.18059132e-01 -3.44268531e-01 8.91190446e+01] [ 4.79100064e-01 3.96291669e-01 -7.83208811e-01 -4.73160575e+01] [ 8.55462752e-01 -1.09700874e-02 5.17748140e-01 -3.52426479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-47.34, Z:-3.51 [[ 1.78587378e-01 -8.79665705e-01 -4.40788834e-01 8.92085535e+01] [ 4.53649427e-01 4.71147602e-01 -7.56453657e-01 -4.73384060e+01] [ 8.73102941e-01 -6.48705267e-02 4.83200857e-01 -3.51030872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.00, Y:-47.26, Z:-3.46 [[ 1.92077548e-01 -9.59297668e-01 -2.07012560e-01 8.89998215e+01] [ 4.80551719e-01 2.75858771e-01 -8.32449388e-01 -4.72620024e+01] [ 8.55672987e-01 6.04145958e-02 5.13978420e-01 -3.46129200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:-47.28, Z:-3.45 [[ 1.94767411e-01 -9.18482428e-01 -3.44173918e-01 8.91383548e+01] [ 4.80163234e-01 3.95256494e-01 -7.83080821e-01 -4.72770094e+01] [ 8.55282950e-01 -1.27410375e-02 5.18004577e-01 -3.45354301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-47.26, Z:-3.43 [[ 1.93680405e-01 -9.18847053e-01 -3.43813896e-01 8.91462363e+01] [ 4.78750364e-01 3.94409964e-01 -7.84371640e-01 -4.72637353e+01] [ 8.56321196e-01 -1.26836111e-02 5.16287842e-01 -3.43029469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-47.25, Z:-3.41 [[ 1.95005419e-01 -9.18731972e-01 -3.43372173e-01 8.91519722e+01] [ 4.76642758e-01 3.94742307e-01 -7.85487232e-01 -4.72515928e+01] [ 8.57195758e-01 -1.04915931e-02 5.14883830e-01 -3.40620243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:-47.24, Z:-3.38 [[ 1.95544634e-01 -9.18902094e-01 -3.42609453e-01 8.91567023e+01] [ 4.76326303e-01 3.94370728e-01 -7.85865753e-01 -4.72392446e+01] [ 8.57248826e-01 -9.52206298e-03 5.14814317e-01 -3.38138058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:-47.23, Z:-3.36 [[ 1.96663805e-01 -9.19067355e-01 -3.41523857e-01 8.91623890e+01] [ 4.77185243e-01 3.94009126e-01 -7.85525972e-01 -4.72280047e+01] [ 8.56514793e-01 -8.48561810e-03 5.16052713e-01 -3.35674157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.17, Y:-47.22, Z:-3.33 [[ 1.97090700e-01 -9.19387050e-01 -3.40415494e-01 8.91688270e+01] [ 4.78471282e-01 3.93269866e-01 -7.85114033e-01 -4.72169329e+01] [ 8.55698830e-01 -8.14036338e-03 5.17410134e-01 -3.33221417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-47.20, Z:-3.31 [[ 1.96605721e-01 -9.19761940e-01 -3.39682447e-01 8.91738595e+01] [ 4.78433367e-01 3.92393809e-01 -7.85575338e-01 -4.72038009e+01] [ 8.55831586e-01 -8.06681096e-03 5.17191669e-01 -3.30797992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:-47.19, Z:-3.28 [[ 1.95731198e-01 -9.20175010e-01 -3.39068207e-01 8.91776853e+01] [ 4.78000561e-01 3.91422092e-01 -7.86323222e-01 -4.71883261e+01] [ 8.56273766e-01 -8.16680659e-03 5.16457686e-01 -3.28490235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.18, Y:-47.17, Z:-3.26 [[ 1.96075623e-01 -9.20389593e-01 -3.38285896e-01 8.91818515e+01] [ 4.77818665e-01 3.90932691e-01 -7.86677160e-01 -4.71739612e+01] [ 8.56296487e-01 -7.39110102e-03 5.16431698e-01 -3.26157352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:-47.16, Z:-3.24 [[ 1.96471841e-01 -9.20751213e-01 -3.37069755e-01 8.91858768e+01] [ 4.79603574e-01 3.90083226e-01 -7.86012398e-01 -4.71626663e+01] [ 8.55207126e-01 -7.23055616e-03 5.18235942e-01 -3.23654933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:-47.15, Z:-3.21 [[ 1.95368212e-01 -9.21196376e-01 -3.36494427e-01 8.91901959e+01] [ 4.79088790e-01 3.89025974e-01 -7.86849873e-01 -4.71495597e+01] [ 8.55748323e-01 -7.48525509e-03 5.17338166e-01 -3.21234874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:-47.14, Z:-3.19 [[ 1.93444670e-01 -9.21728124e-01 -3.36149409e-01 8.91938133e+01] [ 4.77840624e-01 3.87751098e-01 -7.88236909e-01 -4.71353835e+01] [ 8.56882429e-01 -8.14561468e-03 5.15447525e-01 -3.18840181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-47.12, Z:-3.16 [[ 1.91961347e-01 -9.22176063e-01 -3.35770979e-01 8.91973908e+01] [ 4.76511215e-01 3.86678429e-01 -7.89567511e-01 -4.71206706e+01] [ 8.57955654e-01 -8.43219445e-03 5.13654548e-01 -3.16465470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-47.11, Z:-3.14 [[ 1.91542417e-01 -9.22677385e-01 -3.34631059e-01 8.91997558e+01] [ 4.78536769e-01 3.85467383e-01 -7.88934381e-01 -4.71055279e+01] [ 8.56921270e-01 -9.01886713e-03 5.15368409e-01 -3.14151675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-47.09, Z:-3.12 [[ 1.90649284e-01 -9.23233711e-01 -3.33605105e-01 8.92032568e+01] [ 4.79948470e-01 3.84115378e-01 -7.88736232e-01 -4.70931701e+01] [ 8.56330729e-01 -9.74126197e-03 5.16335928e-01 -3.11638724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-47.08, Z:-3.09 [[ 1.90057476e-01 -9.23774941e-01 -3.32442497e-01 8.92060851e+01] [ 4.81885003e-01 3.82794692e-01 -7.88197353e-01 -4.70803033e+01] [ 8.55374187e-01 -1.03962541e-02 5.17906284e-01 -3.09119359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.21, Y:-47.07, Z:-3.07 [[ 1.89027063e-01 -9.24150680e-01 -3.31985375e-01 8.92096590e+01] [ 4.80760148e-01 3.81886532e-01 -7.89323987e-01 -4.70670158e+01] [ 8.56235043e-01 -1.04017429e-02 5.16481708e-01 -3.06704558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:-47.05, Z:-3.04 [[ 1.86032259e-01 -9.24946706e-01 -3.31459785e-01 8.92152845e+01] [ 4.80797354e-01 3.79896098e-01 -7.90261260e-01 -4.70534090e+01] [ 8.56869828e-01 -1.23509001e-02 5.15384859e-01 -3.04374571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:-47.04, Z:-3.02 [[ 1.84138574e-01 -9.25583764e-01 -3.30738086e-01 8.92214298e+01] [ 4.81269622e-01 3.78299604e-01 -7.90739503e-01 -4.70410568e+01] [ 8.57013732e-01 -1.35685493e-02 5.15114898e-01 -3.01927441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:-47.03, Z:-2.99 [[ 1.80135725e-01 -9.26673348e-01 -3.29890325e-01 8.92297958e+01] [ 4.83186596e-01 3.75486320e-01 -7.90911333e-01 -4.70294191e+01] [ 8.56785757e-01 -1.69271966e-02 5.15394641e-01 -2.99472812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:-47.02, Z:-2.97 [[ 1.79589751e-01 -9.27185042e-01 -3.28748261e-01 8.92354372e+01] [ 4.85096792e-01 3.74193022e-01 -7.90354784e-01 -4.70165793e+01] [ 8.55820439e-01 -1.75351080e-02 5.16975721e-01 -2.97020757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:-47.00, Z:-2.95 [[ 1.79093925e-01 -9.27557136e-01 -3.27968178e-01 8.92404237e+01] [ 4.85323731e-01 3.73268091e-01 -7.90652774e-01 -4.70034904e+01] [ 8.55795678e-01 -1.75696314e-02 5.17015537e-01 -2.94647063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:-46.99, Z:-2.92 [[ 1.78982081e-01 -9.27915077e-01 -3.27015329e-01 8.92433073e+01] [ 4.86197935e-01 3.72380538e-01 -7.90534189e-01 -4.69912079e+01] [ 8.55322736e-01 -1.75027231e-02 5.17799837e-01 -2.92167543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:-46.98, Z:-2.90 [[ 1.78318107e-01 -9.28209048e-01 -3.26543436e-01 8.92475883e+01] [ 4.85041585e-01 3.71659747e-01 -7.91583030e-01 -4.69775547e+01] [ 8.56117582e-01 -1.72335581e-02 5.16493651e-01 -2.89726852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:-46.96, Z:-2.87 [[ 1.77996664e-01 -9.28489690e-01 -3.25920364e-01 8.92527953e+01] [ 4.84416270e-01 3.70975398e-01 -7.92286647e-01 -4.69634814e+01] [ 8.56538420e-01 -1.68567469e-02 5.15807895e-01 -2.87345551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-46.95, Z:-2.85 [[ 1.76006538e-01 -9.29035079e-01 -3.25446647e-01 8.92622324e+01] [ 4.83755180e-01 3.69563147e-01 -7.93349863e-01 -4.69493782e+01] [ 8.57322940e-01 -1.78017387e-02 5.14471062e-01 -2.85079364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-46.94, Z:-2.83 [[ 1.74734196e-01 -9.29505383e-01 -3.24788708e-01 8.92691742e+01] [ 4.83681303e-01 3.68351137e-01 -7.93958334e-01 -4.69369078e+01] [ 8.57624835e-01 -1.83625547e-02 5.13947915e-01 -2.82626478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-46.93, Z:-2.80 [[ 1.73042305e-01 -9.30147980e-01 -3.23853510e-01 8.92747968e+01] [ 4.85056773e-01 3.66655582e-01 -7.93904032e-01 -4.69261121e+01] [ 8.57190929e-01 -1.97083551e-02 5.14621504e-01 -2.80112468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-46.92, Z:-2.78 [[ 1.71502699e-01 -9.30679274e-01 -3.23145344e-01 8.92789065e+01] [ 4.85339464e-01 3.65255845e-01 -7.94376342e-01 -4.69153026e+01] [ 8.57340323e-01 -2.05975008e-02 5.14337743e-01 -2.77533898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.28, Y:-46.90, Z:-2.75 [[ 1.69351669e-01 -9.31259753e-01 -3.22607013e-01 8.92826417e+01] [ 4.85012100e-01 3.63704119e-01 -7.95287732e-01 -4.69029044e+01] [ 8.57952956e-01 -2.17850002e-02 5.13266148e-01 -2.75043594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:-46.89, Z:-2.73 [[ 1.66981696e-01 -9.31766482e-01 -3.22379182e-01 8.92901970e+01] [ 4.83290503e-01 3.62346173e-01 -7.96953913e-01 -4.68882105e+01] [ 8.59387807e-01 -2.27260816e-02 5.10819070e-01 -2.72811171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-46.90, Z:-2.71 [[ 1.51719354e-01 -9.00396693e-01 -4.07758547e-01 8.93710979e+01] [ 4.48359033e-01 4.30342915e-01 -7.83440587e-01 -4.69023697e+01] [ 8.80883315e-01 -6.39591276e-02 4.68992340e-01 -2.70923475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:-46.84, Z:-2.67 [[ 1.69572978e-01 -9.57892691e-01 -2.31703685e-01 8.92197322e+01] [ 4.86788220e-01 2.85837089e-01 -8.25429820e-01 -4.68443635e+01] [ 8.56902698e-01 2.71799684e-02 5.14761124e-01 -2.67250108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-46.85, Z:-2.66 [[ 1.73277756e-01 -9.31666575e-01 -3.19330882e-01 8.93080491e+01] [ 4.89729088e-01 3.62816709e-01 -7.92798496e-01 -4.68516068e+01] [ 8.54482439e-01 -1.90112779e-02 5.19132288e-01 -2.65548279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:-46.87, Z:-2.64 [[ 1.62497250e-01 -8.93654516e-01 -4.18301626e-01 8.93984105e+01] [ 4.61619596e-01 4.43533719e-01 -7.68235113e-01 -4.68718663e+01] [ 8.72067653e-01 -6.82601344e-02 4.84601446e-01 -2.63575781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-46.82, Z:-2.60 [[ 1.63937965e-01 -9.45321844e-01 -2.81941404e-01 8.92736612e+01] [ 4.55311785e-01 3.26053886e-01 -8.28480562e-01 -4.68221467e+01] [ 8.75108863e-01 7.44817363e-03 4.83868787e-01 -2.59975365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:-46.80, Z:-2.58 [[ 1.73881340e-01 -9.48938026e-01 -2.63214555e-01 8.92716894e+01] [ 4.86757733e-01 3.15171880e-01 -8.14698469e-01 -4.68040523e+01] [ 8.56056184e-01 1.35391416e-02 5.16705431e-01 -2.57545208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:-46.80, Z:-2.56 [[ 1.74435418e-01 -9.31946223e-01 -3.17881303e-01 8.93311759e+01] [ 4.87524801e-01 3.62225495e-01 -7.94425742e-01 -4.68028045e+01] [ 8.55506782e-01 -1.63990327e-02 5.17531852e-01 -2.55621641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:-46.79, Z:-2.53 [[ 1.76320444e-01 -9.32058471e-01 -3.16509254e-01 8.93329294e+01] [ 4.89613248e-01 3.61993024e-01 -7.93246442e-01 -4.67890526e+01] [ 8.53926208e-01 -1.51015587e-02 5.20174946e-01 -2.53223171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-46.78, Z:-2.51 [[ 1.77196112e-01 -9.32297019e-01 -3.15315406e-01 8.93366954e+01] [ 4.91250611e-01 3.61404027e-01 -7.92502345e-01 -4.67753822e+01] [ 8.52803831e-01 -1.44705518e-02 5.22030869e-01 -2.50783492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:-46.76, Z:-2.48 [[ 1.77640652e-01 -9.32384915e-01 -3.14804971e-01 8.93424957e+01] [ 4.89798735e-01 3.61224541e-01 -7.93482218e-01 -4.67624715e+01] [ 8.53546131e-01 -1.32363780e-02 5.20849114e-01 -2.48351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:-46.75, Z:-2.46 [[ 1.78176736e-01 -9.32501210e-01 -3.14156877e-01 8.93495688e+01] [ 4.88983896e-01 3.60963200e-01 -7.94103468e-01 -4.67494351e+01] [ 8.53901517e-01 -1.21268897e-02 5.20293319e-01 -2.46002045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:-46.74, Z:-2.44 [[ 1.80603264e-01 -9.31973596e-01 -3.14336885e-01 8.93546727e+01] [ 4.83378884e-01 3.62437250e-01 -7.96858892e-01 -4.67364536e+01] [ 8.56578843e-01 -8.02849608e-03 5.15953707e-01 -2.43629289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-46.76, Z:-2.42 [[ 1.68807143e-01 -8.91840268e-01 -4.19672593e-01 8.94509824e+01] [ 4.58100695e-01 4.47991008e-01 -7.67755046e-01 -4.67565271e+01] [ 8.72724413e-01 -6.26497704e-02 4.84176729e-01 -2.41949769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:-46.69, Z:-2.37 [[ 1.86677140e-01 -9.65557940e-01 -1.81244337e-01 8.92326605e+01] [ 4.85170397e-01 2.51028645e-01 -8.37612264e-01 -4.66862374e+01] [ 8.54260693e-01 6.84286747e-02 5.15321439e-01 -2.37316157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:-46.70, Z:-2.36 [[ 1.90369079e-01 -9.30568337e-01 -3.12733407e-01 8.93604266e+01] [ 4.84561917e-01 3.66118124e-01 -7.94454069e-01 -4.66964138e+01] [ 8.53791170e-01 -2.99210047e-04 5.20615547e-01 -2.36313214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:-46.68, Z:-2.34 [[ 1.93888857e-01 -9.30391110e-01 -3.11094027e-01 8.93644614e+01] [ 4.87143927e-01 3.66562129e-01 -7.92668278e-01 -4.66831395e+01] [ 8.51526808e-01 2.14198010e-03 5.24306691e-01 -2.33874772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:-46.69, Z:-2.32 [[ 1.85638582e-01 -9.03904217e-01 -3.85351117e-01 8.94349154e+01] [ 4.65789668e-01 4.26256182e-01 -7.75464798e-01 -4.66912197e+01] [ 8.65204197e-01 -3.55363834e-02 5.00158838e-01 -2.31963425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-46.66, Z:-2.29 [[ 1.87086144e-01 -9.33033062e-01 -3.07324064e-01 8.93656152e+01] [ 4.67414062e-01 3.59713853e-01 -8.07545689e-01 -4.66572214e+01] [ 8.64015549e-01 7.43302035e-03 5.03410251e-01 -2.29031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-46.63, Z:-2.26 [[ 1.93423838e-01 -9.51094857e-01 -2.40843914e-01 8.93119821e+01] [ 4.88541195e-01 3.06249498e-01 -8.17030444e-01 -4.66296325e+01] [ 8.50831781e-01 4.03709905e-02 5.23884972e-01 -2.25931101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.38, Y:-46.63, Z:-2.24 [[ 1.91764360e-01 -9.31499866e-01 -3.09086445e-01 8.93808839e+01] [ 4.86995607e-01 3.63737464e-01 -7.94059403e-01 -4.66295540e+01] [ 8.52092547e-01 1.74855244e-03 5.23388224e-01 -2.24168124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:-46.62, Z:-2.22 [[ 1.86996265e-01 -9.32784596e-01 -3.08131942e-01 8.93851064e+01] [ 4.89571364e-01 3.60426457e-01 -7.93985295e-01 -4.66167104e+01] [ 8.51676157e-01 -2.38029069e-03 5.24063028e-01 -2.21690507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:-46.60, Z:-2.19 [[ 1.85421774e-01 -9.33429212e-01 -3.07129732e-01 8.93893318e+01] [ 4.91127199e-01 3.58743016e-01 -7.93786824e-01 -4.66047561e+01] [ 8.51124456e-01 -3.65440356e-03 5.24951241e-01 -2.19193628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:-46.59, Z:-2.17 [[ 1.82582878e-01 -9.34232153e-01 -3.06388280e-01 8.93938818e+01] [ 4.91906524e-01 3.56620023e-01 -7.94260745e-01 -4.65915614e+01] [ 8.51288121e-01 -5.69598127e-03 5.24667601e-01 -2.16770418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-46.59, Z:-2.15 [[ 1.74037564e-01 -9.15893617e-01 -3.61731682e-01 8.94481084e+01] [ 4.75664220e-01 3.99830135e-01 -7.83504571e-01 -4.65919267e+01] [ 8.62238062e-01 -3.57035912e-02 5.05243286e-01 -2.14804697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:-46.56, Z:-2.12 [[ 1.72825670e-01 -9.37175687e-01 -3.03039635e-01 8.93988709e+01] [ 4.75941210e-01 3.48826096e-01 -8.07341513e-01 -4.65627769e+01] [ 8.62328970e-01 -4.69971274e-03 5.06326634e-01 -2.12153285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-46.54, Z:-2.09 [[ 1.77948458e-01 -9.50524760e-01 -2.54631160e-01 8.93663658e+01] [ 4.93989781e-01 3.10081744e-01 -8.12295148e-01 -4.65374786e+01] [ 8.51063125e-01 1.87614781e-02 5.24728086e-01 -2.09335287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:-46.55, Z:-2.08 [[ 1.73198197e-01 -9.14863170e-01 -3.64729714e-01 8.94721594e+01] [ 4.78848625e-01 4.01830879e-01 -7.80535675e-01 -4.65532328e+01] [ 8.60643003e-01 -3.94629508e-02 5.07677355e-01 -2.07568813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.37, Y:-46.51, Z:-2.04 [[ 1.79666150e-01 -9.53075840e-01 -2.43652452e-01 8.93656694e+01] [ 4.98392460e-01 3.01731362e-01 -8.12750356e-01 -4.65127795e+01] [ 8.48130315e-01 2.45891827e-02 5.29216724e-01 -2.04004331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:-46.51, Z:-2.02 [[ 1.80067018e-01 -9.36007764e-01 -3.02432363e-01 8.94282655e+01] [ 4.98422492e-01 3.51886813e-01 -7.92307194e-01 -4.65149066e+01] [ 8.48027646e-01 -8.07069881e-03 5.29890532e-01 -2.01962106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:-46.50, Z:-2.00 [[ 1.77578973e-01 -9.36620290e-01 -3.02006855e-01 8.94350550e+01] [ 4.97879501e-01 3.50218037e-01 -7.93387250e-01 -4.65018935e+01] [ 8.48870844e-01 -9.47412953e-03 5.28515402e-01 -1.99602055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:-46.49, Z:-1.97 [[ 1.75479803e-01 -9.37258944e-01 -3.01251575e-01 8.94407244e+01] [ 4.98477393e-01 3.48464385e-01 -7.93783888e-01 -4.64878749e+01] [ 8.48956493e-01 -1.08740595e-02 5.28350857e-01 -1.97213152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-46.47, Z:-1.95 [[ 1.73445827e-01 -9.37946331e-01 -3.00288571e-01 8.94458795e+01] [ 5.00138520e-01 3.46553518e-01 -7.93575529e-01 -4.64732061e+01] [ 8.48397316e-01 -1.25435180e-02 5.29211351e-01 -1.94849816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.45, Y:-46.46, Z:-1.93 [[ 1.71166409e-01 -9.38764254e-01 -2.99038018e-01 8.94530811e+01] [ 5.03282009e-01 3.44240614e-01 -7.92594234e-01 -4.64594622e+01] [ 8.47000165e-01 -1.48349452e-02 5.31385589e-01 -1.92524194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-46.45, Z:-1.90 [[ 1.69437886e-01 -9.39295891e-01 -2.98352193e-01 8.94583647e+01] [ 5.03502481e-01 3.42742388e-01 -7.93103340e-01 -4.64459568e+01] [ 8.47216651e-01 -1.58393163e-02 5.31011357e-01 -1.90091372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-46.43, Z:-1.88 [[ 1.68149481e-01 -9.39712152e-01 -2.97769748e-01 8.94619842e+01] [ 5.03068584e-01 3.41577402e-01 -7.93880897e-01 -4.64326414e+01] [ 8.47730943e-01 -1.63079448e-02 5.30175725e-01 -1.87610410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:-46.42, Z:-1.85 [[ 1.66775878e-01 -9.40086000e-01 -2.97361932e-01 8.94655694e+01] [ 5.01797275e-01 3.40532731e-01 -7.95133293e-01 -4.64194335e+01] [ 8.48755148e-01 -1.66063538e-02 5.28525239e-01 -1.85212326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:-46.41, Z:-1.83 [[ 1.68173053e-01 -9.40212233e-01 -2.96173565e-01 8.94731368e+01] [ 5.03337460e-01 3.40236355e-01 -7.94286235e-01 -4.64073945e+01] [ 8.47566649e-01 -1.54977089e-02 5.30462624e-01 -1.82734769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.48, Y:-46.40, Z:-1.80 [[ 1.68269614e-01 -9.40539066e-01 -2.95078975e-01 8.94805272e+01] [ 5.04874336e-01 3.39335232e-01 -7.93696104e-01 -4.63950156e+01] [ 8.46632885e-01 -1.54228641e-02 5.31953845e-01 -1.80275494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:-46.41, Z:-1.78 [[ 1.61510260e-01 -9.13834081e-01 -3.72587854e-01 8.95553498e+01] [ 4.87943042e-01 4.02113608e-01 -7.74736235e-01 -4.64059222e+01] [ 8.57803021e-01 -5.66738003e-02 5.10844455e-01 -1.78160049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.41, Y:-46.35, Z:-1.74 [[ 1.65308639e-01 -9.63909276e-01 -2.08691069e-01 8.94112239e+01] [ 5.09546643e-01 2.64646115e-01 -8.18733566e-01 -4.63533438e+01] [ 8.44414160e-01 2.90058975e-02 5.34905024e-01 -1.74443238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:-46.35, Z:-1.73 [[ 1.64870151e-01 -9.41627787e-01 -2.93521625e-01 8.94961762e+01] [ 5.08052105e-01 3.36153740e-01 -7.93021892e-01 -4.63545353e+01] [ 8.45399841e-01 -1.83786408e-02 5.33817697e-01 -1.72849089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:-46.34, Z:-1.71 [[ 1.61852194e-01 -9.42164755e-01 -2.93478179e-01 8.95028955e+01] [ 5.05637294e-01 3.34571563e-01 -7.95231285e-01 -4.63401618e+01] [ 8.47428342e-01 -1.96835838e-02 5.30544779e-01 -1.70577825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:-46.33, Z:-1.68 [[ 1.60212637e-01 -9.42554142e-01 -2.93127277e-01 8.95105440e+01] [ 5.04231953e-01 3.33443374e-01 -7.96596293e-01 -4.63252610e+01] [ 8.48576483e-01 -2.01793468e-02 5.28687758e-01 -1.68275058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:-46.31, Z:-1.66 [[ 1.59843125e-01 -9.42811070e-01 -2.92502071e-01 8.95174477e+01] [ 5.03674005e-01 3.32733552e-01 -7.97245809e-01 -4.63116198e+01] [ 8.48977427e-01 -1.98914285e-02 5.28054599e-01 -1.65883552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:-46.30, Z:-1.63 [[ 1.62087691e-01 -9.42995191e-01 -2.90667595e-01 8.95222803e+01] [ 5.08198886e-01 3.32267671e-01 -7.94564086e-01 -4.63037639e+01] [ 8.45849557e-01 -1.89278902e-02 5.33085605e-01 -1.63190693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.60, Y:-46.32, Z:-1.61 [[ 1.57216784e-01 -9.15865477e-01 -3.69422942e-01 8.95959409e+01] [ 4.90566816e-01 3.97085073e-01 -7.75672382e-01 -4.63154674e+01] [ 8.57103892e-01 -5.92779193e-02 5.11721649e-01 -1.60881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-46.27, Z:-1.57 [[ 1.61829738e-01 -9.64130957e-01 -2.10386868e-01 8.94572448e+01] [ 5.10614569e-01 2.64248751e-01 -8.18196406e-01 -4.62651746e+01] [ 8.44442951e-01 2.49819104e-02 5.35062619e-01 -1.57252456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:-46.27, Z:-1.56 [[ 1.62695236e-01 -9.43397837e-01 -2.89016924e-01 8.95366087e+01] [ 5.09646506e-01 3.31168958e-01 -7.94095436e-01 -4.62655370e+01] [ 8.44861349e-01 -1.81009209e-02 5.34679023e-01 -1.55629286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:-46.25, Z:-1.54 [[ 1.59437592e-01 -9.43904560e-01 -2.89177861e-01 8.95485618e+01] [ 5.06232848e-01 3.29651864e-01 -7.96905234e-01 -4.62483201e+01] [ 8.47530506e-01 -1.93346807e-02 5.30394393e-01 -1.53551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:-46.24, Z:-1.51 [[ 1.58736609e-01 -9.44283373e-01 -2.88325510e-01 8.95570649e+01] [ 5.06925941e-01 3.28545935e-01 -7.96921363e-01 -4.62356592e+01] [ 8.47247767e-01 -1.96590857e-02 5.30834005e-01 -1.51153900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-46.25, Z:-1.49 [[ 1.52755348e-01 -9.16446736e-01 -3.69852922e-01 8.96363099e+01] [ 4.88121593e-01 3.95374985e-01 -7.78084784e-01 -4.62490872e+01] [ 8.59303854e-01 -6.16765852e-02 5.07733085e-01 -1.48869679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-46.20, Z:-1.45 [[ 1.60349285e-01 -9.65349953e-01 -2.05882431e-01 8.94948519e+01] [ 5.11945902e-01 2.59670473e-01 -8.18830043e-01 -4.61974332e+01] [ 8.43919131e-01 2.58981455e-02 5.35844927e-01 -1.45405179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.57, Y:-46.20, Z:-1.44 [[ 1.64773099e-01 -9.44048128e-01 -2.85697317e-01 8.95729105e+01] [ 5.11081696e-01 3.29457094e-01 -7.93885082e-01 -4.62007360e+01] [ 8.43590734e-01 -1.52037645e-02 5.36771385e-01 -1.43601568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:-46.21, Z:-1.42 [[ 1.56665465e-01 -9.12590274e-01 -3.77670390e-01 8.96591749e+01] [ 4.86722010e-01 4.04072472e-01 -7.74485069e-01 -4.62132864e+01] [ 8.59393750e-01 -6.24854274e-02 5.07481974e-01 -1.41674867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-46.15, Z:-1.38 [[ 1.68855862e-01 -9.68675748e-01 -1.82085128e-01 8.94898644e+01] [ 5.09636074e-01 2.43932063e-01 -8.25086796e-01 -4.61510479e+01] [ 8.43657970e-01 4.65235923e-02 5.34861463e-01 -1.38098934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-46.16, Z:-1.37 [[ 1.73385827e-01 -9.42822282e-01 -2.84646272e-01 8.95929386e+01] [ 5.08449373e-01 3.33221119e-01 -7.94004358e-01 -4.61579293e+01] [ 8.43455150e-01 -7.05911646e-03 5.37153218e-01 -1.36509929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:-46.17, Z:-1.34 [[ 1.68891469e-01 -9.17121525e-01 -3.61059248e-01 8.96641390e+01] [ 4.82959175e-01 3.96335085e-01 -7.80812997e-01 -4.61719069e+01] [ 8.59200854e-01 -4.25042223e-02 5.09869869e-01 -1.34225697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:-46.12, Z:-1.31 [[ 1.80769911e-01 -9.62619341e-01 -2.01708312e-01 8.95263948e+01] [ 5.07761614e-01 2.66983998e-01 -8.19083444e-01 -4.61191980e+01] [ 8.42318457e-01 4.56459030e-02 5.37043824e-01 -1.30713762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-46.12, Z:-1.29 [[ 1.82858624e-01 -9.41363660e-01 -2.83543969e-01 8.96055294e+01] [ 5.05275949e-01 3.37387867e-01 -7.94270509e-01 -4.61217013e+01] [ 8.43361689e-01 1.97126457e-03 5.37342698e-01 -1.28975577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-46.11, Z:-1.27 [[ 1.85509555e-01 -9.41171891e-01 -2.82456505e-01 8.96081763e+01] [ 5.05786620e-01 3.37899802e-01 -7.93727673e-01 -4.61060028e+01] [ 8.42476172e-01 4.38134653e-03 5.38715791e-01 -1.26705920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-46.09, Z:-1.24 [[ 1.88710643e-01 -9.41006485e-01 -2.80882695e-01 8.96094112e+01] [ 5.08515749e-01 3.38324391e-01 -7.91800694e-01 -4.60898493e+01] [ 8.40119055e-01 6.58794406e-03 5.42362031e-01 -1.24424084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-46.08, Z:-1.22 [[ 1.90300825e-01 -9.41067036e-01 -2.79604059e-01 8.96135999e+01] [ 5.10344613e-01 3.38130659e-01 -7.90706035e-01 -4.60758834e+01] [ 8.38650089e-01 7.77758510e-03 5.44615036e-01 -1.22058878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-46.06, Z:-1.20 [[ 1.90604813e-01 -9.41082934e-01 -2.79343366e-01 8.96167411e+01] [ 5.07638658e-01 3.38049461e-01 -7.92480634e-01 -4.60642630e+01] [ 8.40221875e-01 9.24513136e-03 5.42163932e-01 -1.19502338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-46.05, Z:-1.17 [[ 1.89454951e-01 -9.41421590e-01 -2.78984250e-01 8.96199533e+01] [ 5.05981186e-01 3.37104921e-01 -7.93941630e-01 -4.60498104e+01] [ 8.41480755e-01 9.25539123e-03 5.40207809e-01 -1.17096414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:-46.05, Z:-1.15 [[ 1.73644926e-01 -9.23403763e-01 -3.42305318e-01 8.96725002e+01] [ 4.68736243e-01 3.83184761e-01 -7.95899349e-01 -4.60532895e+01] [ 8.66102635e-01 -2.22470255e-02 4.99370900e-01 -1.14945648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-46.02, Z:-1.12 [[ 1.79414323e-01 -9.47365233e-01 -2.65159604e-01 8.96050875e+01] [ 4.78296586e-01 3.19533475e-01 -8.18004116e-01 -4.60180289e+01] [ 8.59676030e-01 1.99367212e-02 5.10450438e-01 -1.12238020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-46.00, Z:-1.10 [[ 1.90226037e-01 -9.51750252e-01 -2.40801813e-01 8.95911927e+01] [ 5.10045443e-01 3.05389727e-01 -8.04108674e-01 -4.59986242e+01] [ 8.38849033e-01 3.01425388e-02 5.43528957e-01 -1.09714683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.99, Z:-1.08 [[ 1.91228038e-01 -9.42054446e-01 -2.75617957e-01 8.96251632e+01] [ 5.11157343e-01 3.35297168e-01 -7.91387377e-01 -4.59909584e+01] [ 8.37943917e-01 1.04513129e-02 5.45656267e-01 -1.07541817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.98, Z:-1.05 [[ 1.90872111e-01 -9.42345486e-01 -2.74868738e-01 8.96279071e+01] [ 5.11157562e-01 3.34473050e-01 -7.91735894e-01 -4.59756445e+01] [ 8.38024931e-01 1.06190674e-02 5.45528598e-01 -1.05213373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.96, Z:-1.03 [[ 1.89324623e-01 -9.42819072e-01 -2.74314389e-01 8.96296921e+01] [ 5.10592301e-01 3.33154720e-01 -7.92655937e-01 -4.59591650e+01] [ 8.38720269e-01 1.00064713e-02 5.44470551e-01 -1.02913759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.94, Z:-1.01 [[ 1.88458944e-01 -9.43192004e-01 -2.73627611e-01 8.96309298e+01] [ 5.10414796e-01 3.32102887e-01 -7.93211452e-01 -4.59433825e+01] [ 8.39023219e-01 9.82421128e-03 5.44006914e-01 -1.00524408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.93, Z:-0.98 [[ 1.88017522e-01 -9.43517322e-01 -2.72808496e-01 8.96324835e+01] [ 5.10755365e-01 3.31177323e-01 -7.93379189e-01 -4.59278740e+01] [ 8.38914995e-01 9.83078644e-03 5.44173673e-01 -9.81355054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:-45.91, Z:-0.96 [[ 1.87500542e-01 -9.43854633e-01 -2.71996284e-01 8.96311369e+01] [ 5.11088136e-01 3.30216271e-01 -7.93565455e-01 -4.59143607e+01] [ 8.38828030e-01 9.77987876e-03 5.44308635e-01 -9.56423764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:-45.92, Z:-0.94 [[ 1.79428767e-01 -9.24084098e-01 -3.37452067e-01 8.96894910e+01] [ 4.91363867e-01 3.81349953e-01 -7.83028584e-01 -4.59171695e+01] [ 8.52271593e-01 -2.53138993e-02 5.22486688e-01 -9.35649370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:-45.88, Z:-0.90 [[ 1.86335005e-01 -9.61018616e-01 -2.04260829e-01 8.95698147e+01] [ 5.14956358e-01 2.72587376e-01 -8.12721399e-01 -4.58759588e+01] [ 8.36719317e-01 4.62530335e-02 5.45675216e-01 -8.99431910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:-45.88, Z:-0.89 [[ 1.80568661e-01 -9.30188024e-01 -3.19601623e-01 8.96757077e+01] [ 4.98369286e-01 3.66669699e-01 -7.85608927e-01 -4.58813198e+01] [ 8.47952247e-01 -1.74232807e-02 5.29786199e-01 -8.86449275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-45.84, Z:-0.86 [[ 1.83283565e-01 -9.57617100e-01 -2.22208517e-01 8.95889371e+01] [ 5.11977977e-01 2.85947072e-01 -8.10007915e-01 -4.58422443e+01] [ 8.39217305e-01 3.46952716e-02 5.42688265e-01 -8.56658899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-45.83, Z:-0.84 [[ 1.82533065e-01 -9.45235525e-01 -2.70576204e-01 8.96416194e+01] [ 5.10427030e-01 3.26311484e-01 -7.95603583e-01 -4.58347558e+01] [ 8.40324894e-01 7.11455225e-03 5.42036398e-01 -8.38594183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-45.82, Z:-0.82 [[ 1.80419426e-01 -9.45804783e-01 -2.70003969e-01 8.96482416e+01] [ 5.10062989e-01 3.24680588e-01 -7.96503775e-01 -4.58209100e+01] [ 8.41002127e-01 5.98572270e-03 5.40998700e-01 -8.15339782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-45.81, Z:-0.79 [[ 1.77651960e-01 -9.46674795e-01 -2.68787301e-01 8.96508168e+01] [ 5.13171158e-01 3.22172814e-01 -7.95525010e-01 -4.58096059e+01] [ 8.39699437e-01 3.39268679e-03 5.43040832e-01 -7.89426237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-45.80, Z:-0.76 [[ 1.75707470e-01 -9.47336180e-01 -2.67733164e-01 8.96534351e+01] [ 5.15184987e-01 3.20235972e-01 -7.95005252e-01 -4.57968536e+01] [ 8.38875029e-01 1.75625488e-03 5.44321230e-01 -7.64315985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:-45.78, Z:-0.74 [[ 1.75391602e-01 -9.47617190e-01 -2.66944654e-01 8.96576547e+01] [ 5.15293422e-01 3.19402476e-01 -7.95270236e-01 -4.57824091e+01] [ 8.38874529e-01 1.92889661e-03 5.44321416e-01 -7.40168717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:-45.77, Z:-0.72 [[ 1.74815626e-01 -9.47957055e-01 -2.66114482e-01 8.96618319e+01] [ 5.17289859e-01 3.18395908e-01 -7.94377270e-01 -4.57694182e+01] [ 8.37765300e-01 1.21123686e-03 5.46029152e-01 -7.16223569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.67, Y:-45.76, Z:-0.69 [[ 1.73777695e-01 -9.48424521e-01 -2.65126838e-01 8.96668104e+01] [ 5.18734954e-01 3.17002725e-01 -7.93992015e-01 -4.57556339e+01] [ 8.37087427e-01 4.47544232e-04 5.47068953e-01 -6.92057290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.74, Y:-45.76, Z:-0.67 [[ 1.61820383e-01 -9.26465574e-01 -3.39817161e-01 8.97356737e+01] [ 4.90590134e-01 3.74314276e-01 -7.86899068e-01 -4.57579879e+01] [ 8.56233312e-01 -3.93746386e-02 5.15086550e-01 -6.74030781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:-45.71, Z:-0.64 [[ 1.70384511e-01 -9.67016126e-01 -1.89338138e-01 8.96052696e+01] [ 5.18615254e-01 2.51385997e-01 -8.17216800e-01 -4.57139678e+01] [ 8.37858781e-01 4.10474385e-02 5.44341594e-01 -6.38011674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:-45.71, Z:-0.62 [[ 1.70302888e-01 -9.49287690e-01 -2.64291144e-01 8.96831450e+01] [ 5.17555504e-01 3.14406259e-01 -7.95792061e-01 -4.57096949e+01] [ 8.38530397e-01 -1.25964968e-03 5.44853362e-01 -6.22999175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.69, Y:-45.70, Z:-0.60 [[ 1.68672373e-01 -9.49770422e-01 -2.63601546e-01 8.96934841e+01] [ 5.17655016e-01 3.12940194e-01 -7.96305042e-01 -4.56985566e+01] [ 8.38798495e-01 -2.14000148e-03 5.44437788e-01 -5.98697218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.70, Y:-45.69, Z:-0.57 [[ 1.68369743e-01 -9.50119968e-01 -2.62533190e-01 8.96995024e+01] [ 5.19316183e-01 3.11875618e-01 -7.95640812e-01 -4.56861300e+01] [ 8.37831923e-01 -2.37589530e-03 5.45923093e-01 -5.74267683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.70, Y:-45.67, Z:-0.55 [[ 1.67103522e-01 -9.50582561e-01 -2.61666216e-01 8.97047801e+01] [ 5.20200233e-01 3.10455727e-01 -7.95618602e-01 -4.56725132e+01] [ 8.37536943e-01 -3.16815589e-03 5.46371515e-01 -5.50232110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-45.66, Z:-0.53 [[ 1.65458317e-01 -9.51074247e-01 -2.60923977e-01 8.97107793e+01] [ 5.20572425e-01 3.08934808e-01 -7.95967107e-01 -4.56581169e+01] [ 8.37632316e-01 -4.13044982e-03 5.46218860e-01 -5.26481606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.72, Y:-45.65, Z:-0.50 [[ 1.63730567e-01 -9.51571659e-01 -2.60199307e-01 8.97219521e+01] [ 5.20929162e-01 3.07383702e-01 -7.96334143e-01 -4.56452128e+01] [ 8.37750028e-01 -5.16116630e-03 5.46029535e-01 -5.03482071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:-45.63, Z:-0.48 [[ 1.62622915e-01 -9.52043017e-01 -2.59167671e-01 8.97302915e+01] [ 5.22666349e-01 3.05904412e-01 -7.95765279e-01 -4.56334514e+01] [ 8.36883311e-01 -6.04855108e-03 5.47347915e-01 -4.79313141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:-45.62, Z:-0.45 [[ 1.62290330e-01 -9.52321782e-01 -2.58350677e-01 8.97370416e+01] [ 5.23055581e-01 3.05036936e-01 -7.95842527e-01 -4.56214498e+01] [ 8.36704672e-01 -5.97421744e-03 5.47621768e-01 -4.54867057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-45.61, Z:-0.43 [[ 1.61870388e-01 -9.52702393e-01 -2.57208334e-01 8.97452612e+01] [ 5.25143887e-01 3.03837514e-01 -7.94925571e-01 -4.56111517e+01] [ 8.35477035e-01 -6.39647361e-03 5.49488134e-01 -4.29883180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.75, Y:-45.60, Z:-0.41 [[ 1.62806396e-01 -9.52780338e-01 -2.56327338e-01 8.97523557e+01] [ 5.25419979e-01 3.03614536e-01 -7.94828320e-01 -4.55986461e+01] [ 8.35121502e-01 -5.27637076e-03 5.50040214e-01 -4.06140286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:-45.59, Z:-0.38 [[ 1.63944158e-01 -9.52805164e-01 -2.55508577e-01 8.97605002e+01] [ 5.25317872e-01 3.03557410e-01 -7.94917626e-01 -4.55851528e+01] [ 8.34963141e-01 -3.90112084e-03 5.50292045e-01 -3.82981381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-45.57, Z:-0.36 [[ 1.65033807e-01 -9.52792973e-01 -2.54851708e-01 8.97682950e+01] [ 5.24384453e-01 3.03611611e-01 -7.95513001e-01 -4.55711721e+01] [ 8.35335135e-01 -2.35373476e-03 5.49736002e-01 -3.60127427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-45.56, Z:-0.34 [[ 1.65854982e-01 -9.52782044e-01 -2.54359002e-01 8.97761207e+01] [ 5.22682896e-01 3.03653905e-01 -7.96615902e-01 -4.55551067e+01] [ 8.36238432e-01 -8.26383569e-04 5.48365391e-01 -3.37782920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:-45.54, Z:-0.32 [[ 1.66826118e-01 -9.52740584e-01 -2.53878762e-01 8.97854940e+01] [ 5.20798431e-01 3.03783829e-01 -7.97799711e-01 -4.55404870e+01] [ 8.37220425e-01 8.74167818e-04 5.46864879e-01 -3.15896400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:-45.53, Z:-0.29 [[ 1.66939012e-01 -9.52970016e-01 -2.52941722e-01 8.97905201e+01] [ 5.21588176e-01 3.03062170e-01 -7.97558208e-01 -4.55285312e+01] [ 8.36706126e-01 1.21216779e-03 5.47650792e-01 -2.90675608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:-45.52, Z:-0.27 [[ 1.66201840e-01 -9.53269661e-01 -2.52297251e-01 8.97949922e+01] [ 5.21061285e-01 3.02118338e-01 -7.98260388e-01 -4.55163980e+01] [ 8.37181035e-01 1.21001582e-03 5.46924538e-01 -2.66061811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.80, Y:-45.50, Z:-0.24 [[ 1.64620932e-01 -9.53735220e-01 -2.51573206e-01 8.97996408e+01] [ 5.21211496e-01 3.00647631e-01 -7.98717459e-01 -4.55033383e+01] [ 8.37399860e-01 3.62765022e-04 5.46590654e-01 -2.41286664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:-45.49, Z:-0.22 [[ 1.64218747e-01 -9.54047514e-01 -2.50650242e-01 8.98096357e+01] [ 5.22072792e-01 2.99655243e-01 -7.98527855e-01 -4.54893150e+01] [ 8.36942174e-01 2.75572476e-04 5.47291258e-01 -2.18706684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-45.47, Z:-0.20 [[ 1.63774302e-01 -9.54289884e-01 -2.50017590e-01 8.98174100e+01] [ 5.21374451e-01 2.98882113e-01 -7.99273523e-01 -4.54746310e+01] [ 8.37464423e-01 5.47680014e-04 5.46491574e-01 -1.95692476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-45.46, Z:-0.17 [[ 1.64891851e-01 -9.54360222e-01 -2.49012539e-01 8.98231571e+01] [ 5.22194042e-01 2.98653180e-01 -7.98823923e-01 -4.54602705e+01] [ 8.36734163e-01 1.68669080e-03 5.47606697e-01 -1.72534180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.83, Y:-45.45, Z:-0.15 [[ 1.65157755e-01 -9.54514536e-01 -2.48243666e-01 8.98267723e+01] [ 5.22003954e-01 2.98154735e-01 -7.99134298e-01 -4.54465026e+01] [ 8.36800327e-01 2.39905113e-03 5.47502929e-01 -1.48440193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.45, Z:-0.13 [[ 1.63548301e-01 -9.37969341e-01 -3.05721228e-01 8.98791923e+01] [ 5.07099079e-01 3.45748752e-01 -7.89498781e-01 -4.54488735e+01] [ 8.46228384e-01 -2.59097683e-02 5.32190009e-01 -1.26428350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-45.42, Z:-0.10 [[ 1.66793568e-01 -9.57505960e-01 -2.35291824e-01 8.98189838e+01] [ 5.08488147e-01 2.87985464e-01 -8.11482703e-01 -4.54176728e+01] [ 8.44760150e-01 1.57069916e-02 5.34914554e-01 -9.86157589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.80, Y:-45.40, Z:-0.07 [[ 1.70392500e-01 -9.62514276e-01 -2.11027641e-01 8.98046024e+01] [ 5.23246360e-01 2.69852264e-01 -8.08327287e-01 -4.53979628e+01] [ 8.34972840e-01 2.73134622e-02 5.49612893e-01 -7.36063603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-45.39, Z:-0.05 [[ 1.70719190e-01 -9.54031343e-01 -2.46331394e-01 8.98418618e+01] [ 5.20900130e-01 2.99596171e-01 -7.99315450e-01 -4.53899686e+01] [ 8.36371934e-01 8.14443142e-03 5.48101866e-01 -5.29001301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-45.39, Z:-0.03 [[ 1.63074173e-01 -9.41941348e-01 -2.93518844e-01 8.98862759e+01] [ 4.92692108e-01 3.35498771e-01 -8.02929051e-01 -4.53878994e+01] [ 8.54787284e-01 -1.36774271e-02 5.18798252e-01 -3.14681844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-45.35, Z:-0.00 [[ 1.73245880e-01 -9.62911780e-01 -2.06849627e-01 8.98171120e+01] [ 5.22086502e-01 2.67877382e-01 -8.09732914e-01 -4.53538376e+01] [ 8.35111698e-01 3.22894931e-02 5.49131896e-01 -4.71444074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-45.37, Z:0.02 [[ 1.69820248e-01 -9.32360402e-01 -3.19163226e-01 8.99204416e+01] [ 5.04872489e-01 3.60448871e-01 -7.84334356e-01 -4.53678281e+01] [ 8.46324319e-01 -2.79408768e-02 5.31934633e-01 1.66794986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:-45.32, Z:0.05 [[ 1.76967913e-01 -9.69445333e-01 -1.69876729e-01 8.97839603e+01] [ 5.28447638e-01 2.39203596e-01 -8.14570275e-01 -4.53227844e+01] [ 8.30316477e-01 5.43818455e-02 5.54632458e-01 4.99479433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.85, Y:-45.32, Z:0.07 [[ 1.77728936e-01 -9.53831368e-01 -2.42111848e-01 8.98532558e+01] [ 5.27256262e-01 3.00033031e-01 -7.94972336e-01 -4.53201162e+01] [ 8.30911102e-01 1.36345994e-02 5.56238113e-01 6.88126538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.30, Z:0.09 [[ 1.76860179e-01 -9.54172625e-01 -2.41402315e-01 8.98574534e+01] [ 5.27204444e-01 2.98956211e-01 -7.95412257e-01 -4.53045393e+01] [ 8.31129323e-01 1.34083811e-02 5.55917498e-01 9.14635046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.29, Z:0.11 [[ 1.76219865e-01 -9.54371310e-01 -2.41084967e-01 8.98620737e+01] [ 5.24953224e-01 2.98298146e-01 -7.97146366e-01 -4.52884274e+01] [ 8.32688821e-01 1.39146943e-02 5.53566355e-01 1.14238247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.27, Z:0.14 [[ 1.75934430e-01 -9.54617979e-01 -2.40315605e-01 8.98624004e+01] [ 5.25023592e-01 2.97498201e-01 -7.97398927e-01 -4.52726497e+01] [ 8.32704812e-01 1.41185637e-02 5.53537137e-01 1.37659728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.26, Z:0.16 [[ 1.76965613e-01 -9.54736555e-01 -2.39084256e-01 8.98621985e+01] [ 5.27215803e-01 2.97082562e-01 -7.96106431e-01 -4.52585971e+01] [ 8.31099675e-01 1.48344646e-02 5.55925597e-01 1.61947484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.24, Z:0.19 [[ 1.76935007e-01 -9.54964504e-01 -2.38194877e-01 8.98622926e+01] [ 5.27848253e-01 2.96335421e-01 -7.95965791e-01 -4.52438174e+01] [ 8.30704656e-01 1.51034629e-02 5.56508455e-01 1.86269144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:-45.23, Z:0.21 [[ 1.76600328e-01 -9.55227453e-01 -2.37387525e-01 8.98622812e+01] [ 5.28155934e-01 2.95481238e-01 -7.96079235e-01 -4.52282417e+01] [ 8.30580300e-01 1.52102237e-02 5.56691131e-01 2.10167330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-45.23, Z:0.23 [[ 1.63760252e-01 -9.37234247e-01 -3.07854747e-01 8.99249921e+01] [ 4.95423573e-01 3.47994154e-01 -7.95899210e-01 -4.52310562e+01] [ 8.53075649e-01 -2.21818435e-02 5.21315550e-01 2.31297806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-45.20, Z:0.26 [[ 1.68670470e-01 -9.63264196e-01 -2.08979333e-01 8.98399289e+01] [ 5.05712704e-01 2.66556232e-01 -8.20489145e-01 -4.51957131e+01] [ 8.46052560e-01 3.27087861e-02 5.32095106e-01 2.60555614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:-45.18, Z:0.28 [[ 1.73823942e-01 -9.62068199e-01 -2.10261785e-01 8.98512883e+01] [ 5.32315639e-01 2.71423959e-01 -8.01853537e-01 -4.51802910e+01] [ 8.28507874e-01 2.74557063e-02 5.59303930e-01 2.83016086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.17, Z:0.30 [[ 1.71795295e-01 -9.56577488e-01 -2.35469501e-01 8.98784956e+01] [ 5.29130999e-01 2.91217364e-01 -7.97002404e-01 -4.51693557e+01] [ 8.30967366e-01 1.23270508e-02 5.56184575e-01 3.04707362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.15, Z:0.33 [[ 1.70258325e-01 -9.56945036e-01 -2.35092112e-01 8.98804201e+01] [ 5.27411841e-01 2.90022111e-01 -7.98576186e-01 -4.51531415e+01] [ 8.32375428e-01 1.19738805e-02 5.54082822e-01 3.27746515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.14, Z:0.35 [[ 1.70169087e-01 -9.57100929e-01 -2.34521415e-01 8.98810426e+01] [ 5.26289303e-01 2.89479513e-01 -7.99513090e-01 -4.51363513e+01] [ 8.33103866e-01 1.26263005e-02 5.52972445e-01 3.50084451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.12, Z:0.37 [[ 1.70470481e-01 -9.57267615e-01 -2.33620481e-01 8.98812219e+01] [ 5.26915833e-01 2.88904004e-01 -7.99308565e-01 -4.51209568e+01] [ 8.32646095e-01 1.31601858e-02 5.53649067e-01 3.74290304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.11, Z:0.40 [[ 1.73018539e-01 -9.57106928e-01 -2.32402481e-01 8.98799273e+01] [ 5.28658194e-01 2.89335550e-01 -7.98000910e-01 -4.51075211e+01] [ 8.31014500e-01 1.52074757e-02 5.56042835e-01 3.99883995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.88, Y:-45.09, Z:0.42 [[ 1.73702631e-01 -9.57236068e-01 -2.31357959e-01 8.98838892e+01] [ 5.29979692e-01 2.88872013e-01 -7.97291970e-01 -4.50936066e+01] [ 8.30029470e-01 1.58766932e-02 5.57493506e-01 4.23955003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-45.08, Z:0.45 [[ 1.72767720e-01 -9.57651767e-01 -2.30335423e-01 8.98884625e+01] [ 5.31648585e-01 2.87528500e-01 -7.96666269e-01 -4.50790520e+01] [ 8.29156859e-01 1.51807129e-02 5.58809851e-01 4.47701510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-45.06, Z:0.47 [[ 1.69220808e-01 -9.58388356e-01 -2.29904494e-01 8.98936533e+01] [ 5.30803913e-01 2.85170687e-01 -7.98075739e-01 -4.50622548e+01] [ 8.30428518e-01 1.30168160e-02 5.56973104e-01 4.69546952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-45.07, Z:0.49 [[ 1.59156844e-01 -9.37277198e-01 -3.10129898e-01 8.99675194e+01] [ 5.08606847e-01 3.47082651e-01 -7.87942072e-01 -4.50660829e+01] [ 8.46160844e-01 -3.23278164e-02 5.31946180e-01 4.89787202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:-45.02, Z:0.53 [[ 1.64626466e-01 -9.75892730e-01 -1.43288195e-01 8.98199445e+01] [ 5.34499387e-01 2.10355620e-01 -8.18572488e-01 -4.50235975e+01] [ 8.28980417e-01 5.81712436e-02 5.56244168e-01 5.26891610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-45.02, Z:0.54 [[ 1.63109707e-01 -9.59858392e-01 -2.28182142e-01 8.99011041e+01] [ 5.35447300e-01 2.80377544e-01 -7.96670962e-01 -4.50214819e+01] [ 8.28668457e-01 7.76525588e-03 5.59685884e-01 5.43964741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-45.01, Z:0.57 [[ 1.61463087e-01 -9.60339509e-01 -2.27327296e-01 8.99044529e+01] [ 5.36423029e-01 2.78753416e-01 -7.96584501e-01 -4.50071332e+01] [ 8.28359828e-01 6.67539524e-03 5.60156615e-01 5.67828449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:-44.99, Z:0.59 [[ 1.59002352e-01 -9.60975192e-01 -2.26373434e-01 8.99096840e+01] [ 5.38182095e-01 2.76593609e-01 -7.96150745e-01 -4.49915381e+01] [ 8.27694560e-01 4.75971187e-03 5.61158676e-01 5.90037067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-44.98, Z:0.61 [[ 1.56369420e-01 -9.61522180e-01 -2.25884265e-01 8.99153573e+01] [ 5.37401818e-01 2.74707645e-01 -7.97329917e-01 -4.49758792e+01] [ 8.28702535e-01 3.28740212e-03 5.59679642e-01 6.12534474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-44.96, Z:0.64 [[ 1.52901914e-01 -9.62171546e-01 -2.25492617e-01 8.99234253e+01] [ 5.36248347e-01 2.72441556e-01 -7.98882538e-01 -4.49602309e+01] [ 8.30095606e-01 1.23062547e-03 5.57619736e-01 6.35056859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-44.95, Z:0.66 [[ 1.51459270e-01 -9.62621240e-01 -2.24544956e-01 8.99280022e+01] [ 5.37689645e-01 2.70851082e-01 -7.98454468e-01 -4.49472418e+01] [ 8.29427474e-01 1.97833068e-04 5.58614380e-01 6.59126623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-44.93, Z:0.68 [[ 1.50154586e-01 -9.63030685e-01 -2.23663810e-01 8.99317604e+01] [ 5.38690761e-01 2.69391005e-01 -7.98273606e-01 -4.49347112e+01] [ 8.29014996e-01 -6.21185186e-04 5.59226027e-01 6.83625599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-44.92, Z:0.71 [[ 1.49184834e-01 -9.63460325e-01 -2.22459180e-01 8.99333068e+01] [ 5.41459038e-01 2.67846513e-01 -7.96919290e-01 -4.49227576e+01] [ 8.27385034e-01 -1.56426117e-03 5.61632939e-01 7.09671076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-44.91, Z:0.73 [[ 1.46612603e-01 -9.63959657e-01 -2.22005687e-01 8.99367371e+01] [ 5.40383896e-01 2.66032276e-01 -7.98255644e-01 -4.49082963e+01] [ 8.28546914e-01 -2.93396054e-03 5.59911960e-01 7.33502005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-44.89, Z:0.76 [[ 1.44904766e-01 -9.64315996e-01 -2.21579035e-01 8.99421765e+01] [ 5.38955312e-01 2.64730191e-01 -7.99653111e-01 -4.48926048e+01] [ 8.29776946e-01 -3.54765057e-03 5.58083895e-01 7.56213924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:-44.88, Z:0.78 [[ 1.44422021e-01 -9.64561116e-01 -2.20826024e-01 8.99458692e+01] [ 5.39084906e-01 2.63835967e-01 -7.99861267e-01 -4.48776506e+01] [ 8.29776924e-01 -3.52639573e-03 5.58084062e-01 7.80117949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.95, Y:-44.86, Z:0.80 [[ 1.42402144e-01 -9.64991141e-01 -2.20258319e-01 8.99535842e+01] [ 5.38772900e-01 2.62241029e-01 -8.00595657e-01 -4.48612099e+01] [ 8.30328484e-01 -4.66267550e-03 5.57254760e-01 8.01935810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-44.85, Z:0.82 [[ 1.40622234e-01 -9.65475056e-01 -2.19279053e-01 8.99674308e+01] [ 5.40516226e-01 2.60425851e-01 -8.00012866e-01 -4.48460777e+01] [ 8.29498401e-01 -6.02428958e-03 5.58476598e-01 8.23338679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.04, Y:-44.85, Z:0.84 [[ 1.33076178e-01 -9.45228928e-01 -2.98048661e-01 9.00442268e+01] [ 5.19693833e-01 3.22614891e-01 -7.91099205e-01 -4.48509902e+01] [ 8.43924790e-01 -4.96175926e-02 5.34162001e-01 8.43794847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.91, Y:-44.81, Z:0.88 [[ 1.37036695e-01 -9.80828021e-01 -1.38554456e-01 8.99067037e+01] [ 5.42573563e-01 1.91348039e-01 -8.17924114e-01 -4.48095843e+01] [ 8.28755014e-01 3.69096327e-02 5.58393057e-01 8.77518902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:-44.81, Z:0.90 [[ 1.36835946e-01 -9.66409841e-01 -2.17549863e-01 8.99848193e+01] [ 5.43361151e-01 2.56853682e-01 -7.99240168e-01 -4.48079154e+01] [ 8.28272047e-01 -8.84335985e-03 5.60256380e-01 8.96502001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-44.79, Z:0.92 [[ 1.36029855e-01 -9.66597415e-01 -2.17221812e-01 8.99964200e+01] [ 5.41085695e-01 2.56156023e-01 -8.01005845e-01 -4.47944820e+01] [ 8.29892854e-01 -8.57490609e-03 5.57856900e-01 9.19841110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-44.78, Z:0.94 [[ 1.36510778e-01 -9.66671840e-01 -2.16587997e-01 9.00049083e+01] [ 5.40268511e-01 2.55906315e-01 -8.01637009e-01 -4.47805758e+01] [ 8.30346159e-01 -7.58358282e-03 5.57196326e-01 9.42766016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:-44.77, Z:0.97 [[ 1.38559522e-01 -9.66590298e-01 -2.15648915e-01 9.00111082e+01] [ 5.40804841e-01 2.56264827e-01 -8.01160697e-01 -4.47678186e+01] [ 8.29657389e-01 -5.61553405e-03 5.58244645e-01 9.66716650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:-44.75, Z:0.99 [[ 1.44249373e-01 -9.65903734e-01 -2.14993243e-01 9.00133422e+01] [ 5.38663497e-01 2.58901433e-01 -8.01755378e-01 -4.47542104e+01] [ 8.30080572e-01 -1.56301874e-04 5.57643452e-01 9.91687512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:-44.74, Z:1.01 [[ 1.47170095e-01 -9.65635351e-01 -2.14217953e-01 9.00170899e+01] [ 5.38216513e-01 2.59886705e-01 -8.01736793e-01 -4.47384120e+01] [ 8.29857788e-01 2.69604026e-03 5.57968443e-01 1.01469244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:-44.72, Z:1.04 [[ 1.49377371e-01 -9.65456440e-01 -2.13495350e-01 9.00236167e+01] [ 5.37295076e-01 2.60514334e-01 -8.02151035e-01 -4.47218264e+01] [ 8.30060481e-01 5.11321268e-03 5.57649937e-01 1.03617549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-44.72, Z:1.05 [[ 1.43888533e-01 -9.51852705e-01 -2.70688970e-01 9.00811074e+01] [ 5.15530629e-01 3.05586221e-01 -8.00528095e-01 -4.47216297e+01] [ 8.44703652e-01 -2.43616418e-02 5.34679577e-01 1.05412966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.98, Y:-44.68, Z:1.08 [[ 1.53229995e-01 -9.77738254e-01 -1.43347395e-01 8.99786940e+01] [ 5.37605974e-01 2.04195301e-01 -8.18097852e-01 -4.46825042e+01] [ 8.29156430e-01 4.82927137e-02 5.56926771e-01 1.08479486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:-44.68, Z:1.11 [[ 1.52944603e-01 -9.65181204e-01 -2.12210255e-01 9.00469036e+01] [ 5.37663905e-01 2.61443964e-01 -8.01601259e-01 -4.46808460e+01] [ 8.29171558e-01 8.50279183e-03 5.58929539e-01 1.10610406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.68, Z:1.13 [[ 1.44112121e-01 -9.52143375e-01 -2.69545339e-01 9.00991034e+01] [ 5.17560954e-01 3.04685881e-01 -7.99560613e-01 -4.46833466e+01] [ 8.43422999e-01 -2.42797672e-02 5.36701162e-01 1.12779175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:-44.64, Z:1.16 [[ 1.50901588e-01 -9.78135083e-01 -1.43109996e-01 8.99914788e+01] [ 5.39815770e-01 2.02812391e-01 -8.16985966e-01 -4.46440405e+01] [ 8.28147115e-01 4.60314467e-02 5.58617455e-01 1.15894742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:-44.64, Z:1.18 [[ 1.51177511e-01 -9.65779708e-01 -2.10748467e-01 9.00553627e+01] [ 5.41199976e-01 2.59272655e-01 -7.99925170e-01 -4.46423624e+01] [ 8.27192811e-01 6.87363081e-03 5.61876149e-01 1.18030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.64, Z:1.20 [[ 1.43159600e-01 -9.54980392e-01 -2.59841837e-01 9.00987463e+01] [ 5.14172540e-01 2.96099847e-01 -8.04954334e-01 -4.46387295e+01] [ 8.45654733e-01 -1.83665967e-02 5.33414230e-01 1.20159547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.01, Y:-44.60, Z:1.23 [[ 1.54113304e-01 -9.75733778e-01 -1.55539977e-01 9.00139498e+01] [ 5.42363629e-01 2.15125147e-01 -8.12134758e-01 -4.46014788e+01] [ 8.25887876e-01 4.08015440e-02 5.62356160e-01 1.22853603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:-44.60, Z:1.25 [[ 1.56973405e-01 -9.65126548e-01 -2.09499632e-01 9.00734679e+01] [ 5.40439848e-01 2.61494083e-01 -7.99715959e-01 -4.45959082e+01] [ 8.26610017e-01 1.23121878e-02 5.62640462e-01 1.24889957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-44.58, Z:1.27 [[ 1.57558513e-01 -9.65166736e-01 -2.08874335e-01 9.00772531e+01] [ 5.39382035e-01 2.61289010e-01 -8.00496767e-01 -4.45812989e+01] [ 8.27189419e-01 1.34620163e-02 5.61761905e-01 1.27247602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-44.57, Z:1.30 [[ 1.57223383e-01 -9.65321396e-01 -2.08411635e-01 9.00783675e+01] [ 5.39405854e-01 2.60716880e-01 -8.00667243e-01 -4.45667534e+01] [ 8.27237652e-01 1.34651562e-02 5.61690802e-01 1.29631906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-44.55, Z:1.32 [[ 1.56171318e-01 -9.65683491e-01 -2.07523289e-01 9.00803975e+01] [ 5.40366351e-01 2.59402788e-01 -8.00446376e-01 -4.45517432e+01] [ 8.26809970e-01 1.28681630e-02 5.62334139e-01 1.32046166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:-44.54, Z:1.34 [[ 1.56746940e-01 -9.65815487e-01 -2.06472374e-01 9.00857937e+01] [ 5.41926119e-01 2.58882065e-01 -7.99559978e-01 -4.45382908e+01] [ 8.25679404e-01 1.34358077e-02 5.63979610e-01 1.34394669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:-44.54, Z:1.37 [[ 1.48142793e-01 -9.53600390e-01 -2.62106867e-01 9.01365955e+01] [ 5.16277891e-01 3.00621636e-01 -8.01925041e-01 -4.45401936e+01] [ 8.43511027e-01 -1.65205654e-02 5.36857727e-01 1.36635555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.04, Y:-44.50, Z:1.39 [[ 1.58221100e-01 -9.76177833e-01 -1.48468588e-01 9.00422164e+01] [ 5.46130058e-01 2.11786307e-01 -8.10486594e-01 -4.45024076e+01] [ 8.22622661e-01 4.71529222e-02 5.66629120e-01 1.39431475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:-44.49, Z:1.41 [[ 1.60360228e-01 -9.65586437e-01 -2.04761885e-01 9.00946724e+01] [ 5.41551106e-01 2.59503873e-01 -7.99612493e-01 -4.44947675e+01] [ 8.25231480e-01 1.73370170e-02 5.64528504e-01 1.41400291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.48, Z:1.44 [[ 1.59751723e-01 -9.65781728e-01 -2.04316034e-01 9.00972995e+01] [ 5.39746056e-01 2.58751934e-01 -8.01075297e-01 -4.44789988e+01] [ 8.26531053e-01 1.76943850e-02 5.62612946e-01 1.43655225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.46, Z:1.46 [[ 1.59997201e-01 -9.65897821e-01 -2.03573806e-01 9.01008206e+01] [ 5.39529243e-01 2.58270065e-01 -8.01376796e-01 -4.44631221e+01] [ 8.26625121e-01 1.83840230e-02 5.62452608e-01 1.45950878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.45, Z:1.48 [[ 1.60229895e-01 -9.66041769e-01 -2.02705899e-01 9.01027955e+01] [ 5.40064547e-01 2.57693630e-01 -8.01201771e-01 -4.44476491e+01] [ 8.26230395e-01 1.89022063e-02 5.63015133e-01 1.48219113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.43, Z:1.51 [[ 1.62999744e-01 -9.65790525e-01 -2.01692203e-01 9.00996119e+01] [ 5.40851964e-01 2.58440276e-01 -8.00429745e-01 -4.44311649e+01] [ 8.25172853e-01 2.13842195e-02 5.64475401e-01 1.50505148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.42, Z:1.53 [[ 1.64054250e-01 -9.65828805e-01 -2.00651248e-01 9.00996120e+01] [ 5.42259677e-01 2.58214157e-01 -7.99549806e-01 -4.44159670e+01] [ 8.24039226e-01 2.23644628e-02 5.66091145e-01 1.52877914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:-44.41, Z:1.55 [[ 1.58686396e-01 -9.55914690e-01 -2.47074348e-01 9.01400741e+01] [ 5.28457094e-01 2.93615006e-01 -7.96569726e-01 -4.44110340e+01] [ 8.33997438e-01 -4.16341262e-03 5.51752607e-01 1.55012183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:-44.38, Z:1.58 [[ 1.61541797e-01 -9.75797164e-01 -1.47391119e-01 9.00532085e+01] [ 5.41224383e-01 2.12488768e-01 -8.13587543e-01 -4.43780775e+01] [ 8.25215375e-01 5.16567265e-02 5.62451036e-01 1.57949127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.37, Z:1.60 [[ 1.60910312e-01 -9.66522007e-01 -1.99857651e-01 9.01026137e+01] [ 5.40691477e-01 2.55731646e-01 -8.01407545e-01 -4.43708983e+01] [ 8.25687955e-01 2.08934093e-02 5.63740070e-01 1.60043703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.36, Z:1.62 [[ 1.59785632e-01 -9.66923023e-01 -1.98817556e-01 9.01022145e+01] [ 5.42731429e-01 2.54282881e-01 -8.00489108e-01 -4.43562650e+01] [ 8.24567249e-01 2.00021220e-02 5.65410264e-01 1.62471147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:-44.35, Z:1.65 [[ 1.54525802e-01 -9.53871071e-01 -2.57394166e-01 9.01536919e+01] [ 5.30645125e-01 2.99886128e-01 -7.92769867e-01 -4.43532776e+01] [ 8.33389181e-01 -1.40815605e-02 5.52507178e-01 1.64728061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.05, Y:-44.32, Z:1.68 [[ 1.51833550e-01 -9.78199967e-01 -1.41673563e-01 9.00500650e+01] [ 5.47577117e-01 2.02576324e-01 -8.11863371e-01 -4.43181384e+01] [ 8.22864433e-01 4.56908964e-02 5.66397800e-01 1.67633586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-44.31, Z:1.69 [[ 1.50130727e-01 -9.68783713e-01 -1.97278689e-01 9.01049488e+01] [ 5.45262103e-01 2.47583676e-01 -8.00869255e-01 -4.43082797e+01] [ 8.24712073e-01 1.26664909e-02 5.65410962e-01 1.69496429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.232320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.11, Y:-44.29, Z:1.72 [[ 1.46635109e-01 -9.69429397e-01 -1.96735329e-01 9.01096030e+01] [ 5.44737603e-01 2.45148714e-01 -8.01974471e-01 -4.42921079e+01] [ 8.25687040e-01 1.04284821e-02 5.64032054e-01 1.71751469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:-44.28, Z:1.74 [[ 1.41902143e-01 -9.70398456e-01 -1.95424201e-01 9.01161464e+01] [ 5.49333747e-01 2.41430831e-01 -7.99964742e-01 -4.42783504e+01] [ 8.23465977e-01 6.16360229e-03 5.67332173e-01 1.74175083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:-44.26, Z:1.77 [[ 1.39179473e-01 -9.70957276e-01 -1.94604837e-01 9.01200324e+01] [ 5.50343803e-01 2.39215451e-01 -7.99936039e-01 -4.42636173e+01] [ 8.23256201e-01 4.23511037e-03 5.67654200e-01 1.76564463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-44.26, Z:1.79 [[ 1.32216072e-01 -9.58752741e-01 -2.51618940e-01 9.01725560e+01] [ 5.32937461e-01 2.82793348e-01 -7.97499583e-01 -4.42614309e+01] [ 8.35761074e-01 -2.86548966e-02 5.48345077e-01 1.78650772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.352320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:90.07, Y:-44.23, Z:1.82 [[ 1.37613804e-01 -9.81916140e-01 -1.30012057e-01 9.00690442e+01] [ 5.53106562e-01 1.85069947e-01 -8.12294433e-01 -4.42271378e+01] [ 8.21666339e-01 3.98724049e-02 5.68572440e-01 1.81808300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.13, Y:-44.22, Z:1.84 [[ 1.38793375e-01 -9.71283016e-01 -1.93250360e-01 9.01306460e+01] [ 5.51802148e-01 2.37888139e-01 -7.99326981e-01 -4.42203706e+01] [ 8.22344690e-01 4.30532564e-03 5.68973352e-01 1.83788918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-44.20, Z:1.86 [[ 1.39664209e-01 -9.71334862e-01 -1.92360324e-01 9.01331015e+01] [ 5.52460413e-01 2.37655986e-01 -7.98941252e-01 -4.42049443e+01] [ 8.21755074e-01 5.31203448e-03 5.69816094e-01 1.86117040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.17, Y:-44.20, Z:1.88 [[ 1.37583703e-01 -9.63262957e-01 -2.30640848e-01 9.01687594e+01] [ 5.38419935e-01 2.68180563e-01 -7.98863667e-01 -4.41972294e+01] [ 8.31369171e-01 -1.42710089e-02 5.55537254e-01 1.88229159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:-44.17, Z:1.91 [[ 1.40206761e-01 -9.77620809e-01 -1.56842652e-01 9.01073445e+01] [ 5.51318416e-01 2.08662569e-01 -8.07779633e-01 -4.41688537e+01] [ 8.22429370e-01 2.67859235e-02 5.68236259e-01 1.90942014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.15, Y:-44.16, Z:1.93 [[ 1.39480268e-01 -9.71646807e-01 -1.90912906e-01 9.01486448e+01] [ 5.50107419e-01 2.36342268e-01 -8.00952033e-01 -4.41564935e+01] [ 8.23363275e-01 6.69439791e-03 5.67475200e-01 1.92844683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.14, Z:1.95 [[ 1.38530032e-01 -9.71937763e-01 -1.90122107e-01 9.01550797e+01] [ 5.50523993e-01 2.35153825e-01 -8.01015613e-01 -4.41417200e+01] [ 8.23245263e-01 6.29793678e-03 5.67650925e-01 1.95163603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.13, Z:1.98 [[ 1.39140946e-01 -9.71996654e-01 -1.89373446e-01 9.01578030e+01] [ 5.50255515e-01 2.34881680e-01 -8.01279892e-01 -4.41277917e+01] [ 8.23321727e-01 7.28705918e-03 5.67528178e-01 1.97625638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59232058799999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.15, Y:-44.12, Z:2.00 [[ 1.43343625e-01 -9.71581119e-01 -1.88368616e-01 9.01532175e+01] [ 5.50826192e-01 2.36452161e-01 -8.00425438e-01 -4.41150893e+01] [ 8.22218408e-01 1.09775161e-02 5.69066238e-01 2.00280642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.15, Y:-44.10, Z:2.03 [[ 1.45730536e-01 -9.71427823e-01 -1.87324841e-01 9.01531435e+01] [ 5.52118057e-01 2.36975095e-01 -7.99380044e-01 -4.40991163e+01] [ 8.20931338e-01 1.30686547e-02 5.70877350e-01 2.02661858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.08, Z:2.05 [[ 1.46545455e-01 -9.71443167e-01 -1.86608152e-01 9.01550839e+01] [ 5.51657850e-01 2.36843828e-01 -7.99736593e-01 -4.40838474e+01] [ 8.21095638e-01 1.42539106e-02 5.70612636e-01 2.05020670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.07, Z:2.07 [[ 1.47845346e-01 -9.71428946e-01 -1.85654401e-01 9.01592002e+01] [ 5.52624304e-01 2.36821100e-01 -7.99075807e-01 -4.40672632e+01] [ 8.20212248e-01 1.55425044e-02 5.71848143e-01 2.07229947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.05, Z:2.10 [[ 1.49414785e-01 -9.71318464e-01 -1.84974764e-01 9.01637613e+01] [ 5.51753673e-01 2.37144208e-01 -7.99581459e-01 -4.40515017e+01] [ 8.20513928e-01 1.74087864e-02 5.71361381e-01 2.09542356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.04, Z:2.12 [[ 1.48410038e-01 -9.71599921e-01 -1.84304244e-01 9.01646673e+01] [ 5.51419725e-01 2.36009466e-01 -8.00147373e-01 -4.40361854e+01] [ 8.20920671e-01 1.71209071e-02 5.70785535e-01 2.11896447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.02, Z:2.14 [[ 1.48038429e-01 -9.71805360e-01 -1.83518299e-01 9.01637676e+01] [ 5.51676611e-01 2.35154811e-01 -8.00221926e-01 -4.40202663e+01] [ 8.20815168e-01 1.72208438e-02 5.70934237e-01 2.14276139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-44.00, Z:2.17 [[ 1.46607829e-01 -9.72138121e-01 -1.82903301e-01 9.01632544e+01] [ 5.51053691e-01 2.33816731e-01 -8.01042799e-01 -4.40030640e+01] [ 8.21490094e-01 1.66496070e-02 5.69979663e-01 2.16575648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-43.99, Z:2.19 [[ 1.45874576e-01 -9.72376781e-01 -1.82219660e-01 9.01602931e+01] [ 5.50741770e-01 2.32827967e-01 -8.01545158e-01 -4.39856603e+01] [ 8.21829734e-01 1.65690818e-02 5.69492190e-01 2.18872142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.16, Y:-43.97, Z:2.21 [[ 1.45111914e-01 -9.72642856e-01 -1.81406745e-01 9.01608161e+01] [ 5.51232318e-01 2.31732043e-01 -8.01525540e-01 -4.39697678e+01] [ 8.21635846e-01 1.63136450e-02 5.69779256e-01 2.21147714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-43.95, Z:2.24 [[ 1.43546703e-01 -9.73073802e-01 -1.80337793e-01 9.01605629e+01] [ 5.53738386e-01 2.30003876e-01 -8.00294956e-01 -4.39548203e+01] [ 8.20224447e-01 1.50197443e-02 5.71844615e-01 2.23543315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-43.94, Z:2.26 [[ 1.40508666e-01 -9.73667775e-01 -1.79522640e-01 9.01629611e+01] [ 5.54852243e-01 2.27610449e-01 -8.00207768e-01 -4.39400674e+01] [ 8.19997746e-01 1.28275863e-02 5.72222989e-01 2.25953662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.92, Z:2.28 [[ 1.40014719e-01 -9.73878698e-01 -1.78762859e-01 9.01659682e+01] [ 5.54977910e-01 2.26704708e-01 -8.00377720e-01 -4.39246009e+01] [ 8.19997194e-01 1.28552239e-02 5.72223160e-01 2.28321216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.91, Z:2.31 [[ 1.37334958e-01 -9.74375387e-01 -1.78133978e-01 9.01685293e+01] [ 5.55050125e-01 2.24653000e-01 -8.00905980e-01 -4.39089406e+01] [ 8.20401407e-01 1.11191021e-02 5.71679891e-01 2.30563421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.89, Z:2.33 [[ 1.33224282e-01 -9.75050675e-01 -1.77559771e-01 9.01708165e+01] [ 5.54725397e-01 2.21825738e-01 -8.01918372e-01 -4.38929108e+01] [ 8.21298377e-01 8.33808457e-03 5.70437948e-01 2.32790514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.88, Z:2.35 [[ 1.28491097e-01 -9.75783875e-01 -1.77019396e-01 9.01703406e+01] [ 5.54307575e-01 2.18678261e-01 -8.03070937e-01 -4.38757048e+01] [ 8.22333965e-01 5.06427311e-03 5.68982603e-01 2.35048361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.86, Z:2.37 [[ 1.26439090e-01 -9.76190465e-01 -1.76253604e-01 9.01712504e+01] [ 5.54852348e-01 2.16882566e-01 -8.03181689e-01 -4.38607706e+01] [ 8.22284640e-01 3.75883582e-03 5.69064006e-01 2.37468637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.85, Z:2.40 [[ 1.25961272e-01 -9.76402097e-01 -1.75421499e-01 9.01718278e+01] [ 5.55422479e-01 2.15928483e-01 -8.03044681e-01 -4.38465754e+01] [ 8.21973009e-01 3.71948582e-03 5.69514300e-01 2.39895283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.83, Z:2.42 [[ 1.26434496e-01 -9.76504773e-01 -1.74507155e-01 9.01727190e+01] [ 5.56387127e-01 2.15451445e-01 -8.02504853e-01 -4.38315112e+01] [ 8.21247638e-01 4.37076254e-03 5.70555180e-01 2.42280569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.81, Z:2.44 [[ 1.25826457e-01 -9.76709470e-01 -1.73799637e-01 9.01738567e+01] [ 5.56205663e-01 2.14521896e-01 -8.02879578e-01 -4.38134151e+01] [ 8.21463915e-01 4.35514989e-03 5.70243868e-01 2.44496528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.80, Z:2.47 [[ 1.23997956e-01 -9.77063360e-01 -1.73123361e-01 9.01766091e+01] [ 5.56092468e-01 2.12922522e-01 -8.03383574e-01 -4.37972545e+01] [ 8.21818516e-01 3.34532412e-03 5.69739533e-01 2.46769630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.78, Z:2.49 [[ 1.22541565e-01 -9.77374898e-01 -1.72400329e-01 9.01794408e+01] [ 5.56238967e-01 2.11498516e-01 -8.03658254e-01 -4.37817809e+01] [ 8.21937818e-01 2.58575925e-03 5.69571363e-01 2.49106017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.77, Z:2.52 [[ 1.20227488e-01 -9.77827258e-01 -1.71461962e-01 9.01806419e+01] [ 5.58066451e-01 2.09411400e-01 -8.02937545e-01 -4.37687813e+01] [ 8.21040308e-01 8.47995706e-04 5.70869594e-01 2.51638173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.75, Z:2.54 [[ 1.19136675e-01 -9.78090622e-01 -1.70719616e-01 9.01821273e+01] [ 5.58212934e-01 2.08179213e-01 -8.03156109e-01 -4.37541557e+01] [ 8.21099734e-01 3.87450361e-04 5.70784615e-01 2.53962163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.74, Z:2.56 [[ 1.16917956e-01 -9.78479996e-01 -1.70020847e-01 9.01840316e+01] [ 5.58358232e-01 2.06339346e-01 -8.03529812e-01 -4.37384050e+01] [ 8.21319838e-01 -9.85476048e-04 5.70467135e-01 2.56298565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.72, Z:2.58 [[ 1.14702995e-01 -9.78879699e-01 -1.69226941e-01 9.01859056e+01] [ 5.59105836e-01 2.04422412e-01 -8.03499933e-01 -4.37216743e+01] [ 8.21123552e-01 -2.45192182e-03 5.70745215e-01 2.58492532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.71, Z:2.61 [[ 1.13523041e-01 -9.79173912e-01 -1.68318057e-01 9.01889985e+01] [ 5.60422899e-01 2.02998418e-01 -8.02943222e-01 -4.37062076e+01] [ 8.20389355e-01 -3.17673739e-03 5.71796480e-01 2.60822707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.70, Z:2.63 [[ 1.07739427e-01 -9.64840510e-01 -2.39739455e-01 9.02553201e+01] [ 5.39330111e-01 2.59298084e-01 -8.01178840e-01 -4.37016973e+01] [ 8.35173782e-01 -4.29801574e-02 5.48304167e-01 2.62634320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:-43.67, Z:2.66 [[ 1.11374794e-01 -9.89893143e-01 -8.77907773e-02 9.01219011e+01] [ 5.60978085e-01 1.35543844e-01 -8.16658714e-01 -4.36716068e+01] [ 8.20304360e-01 4.17064938e-02 5.70404527e-01 2.66253078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.67, Z:2.67 [[ 1.07451653e-01 -9.64809780e-01 -2.39992146e-01 9.02627606e+01] [ 5.39188140e-01 2.59358412e-01 -8.01254869e-01 -4.36716135e+01] [ 8.35302515e-01 -4.33047582e-02 5.48082481e-01 2.67486467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-43.64, Z:2.71 [[ 1.10922229e-01 -9.89569104e-01 -9.19197839e-02 9.01326401e+01] [ 5.60514260e-01 1.38668075e-01 -8.16452650e-01 -4.36416477e+01] [ 8.20682657e-01 3.90403981e-02 5.70048967e-01 2.70980738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.64, Z:2.72 [[ 1.06417644e-01 -9.67582447e-01 -2.29040373e-01 9.02574944e+01] [ 5.42798781e-01 2.49528707e-01 -8.01938219e-01 -4.36408377e+01] [ 8.33093493e-01 -3.89824593e-02 5.51756830e-01 2.71983141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-43.61, Z:2.76 [[ 1.12887117e-01 -9.89726787e-01 -8.77347523e-02 9.01301756e+01] [ 5.63289442e-01 1.36486105e-01 -8.14908920e-01 -4.36121270e+01] [ 8.18511761e-01 4.25726592e-02 5.72910173e-01 2.75796706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.61, Z:2.77 [[ 1.07117117e-01 -9.61658955e-01 -2.52463815e-01 9.02794695e+01] [ 5.43471516e-01 2.69265203e-01 -7.95069155e-01 -4.36146211e+01] [ 8.32565093e-01 -5.20413769e-02 5.51477162e-01 2.76837148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.11, Y:-43.58, Z:2.81 [[ 1.12870010e-01 -9.91781696e-01 -6.02447425e-02 9.01130808e+01] [ 5.67650312e-01 1.14127424e-01 -8.15320829e-01 -4.35822820e+01] [ 8.15495852e-01 5.78273233e-02 5.75866752e-01 2.81027378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.57, Z:2.82 [[ 1.12868093e-01 -9.79654818e-01 -1.65943459e-01 9.02177297e+01] [ 5.67734440e-01 2.00648027e-01 -7.98384604e-01 -4.35717865e+01] [ 8.15437551e-01 -4.09966907e-03 5.78830539e-01 2.82293161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.56, Z:2.85 [[ 1.09421590e-01 -9.80101660e-01 -1.65612955e-01 9.02228022e+01] [ 5.65568641e-01 1.98403178e-01 -8.00480038e-01 -4.35560484e+01] [ 8.17409951e-01 -6.07569567e-03 5.76024355e-01 2.84596401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.55, Z:2.87 [[ 1.01548612e-01 -9.73164634e-01 -2.06490859e-01 9.02591538e+01] [ 5.52220609e-01 2.27790580e-01 -8.01974969e-01 -4.35455530e+01] [ 8.27490349e-01 -3.25890630e-02 5.60533384e-01 2.86705594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.52, Z:2.90 [[ 1.01097499e-01 -9.86803469e-01 -1.26484025e-01 9.01917877e+01] [ 5.65411824e-01 1.61597520e-01 -8.08823659e-01 -4.35212863e+01] [ 8.18589497e-01 1.02544856e-02 5.74287455e-01 2.89647205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.51, Z:2.92 [[ 9.94991285e-02 -9.81367091e-01 -1.64373225e-01 9.02344046e+01] [ 5.67534027e-01 1.91659225e-01 -8.00732084e-01 -4.35080566e+01] [ 8.17315760e-01 -1.36152535e-02 5.76029142e-01 2.91591109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.49, Z:2.94 [[ 9.71421817e-02 -9.81721533e-01 -1.63664990e-01 9.02427215e+01] [ 5.67886138e-01 1.89720018e-01 -8.00944223e-01 -4.34929136e+01] [ 8.17354715e-01 -1.51376100e-02 5.75935867e-01 2.93896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.48, Z:2.96 [[ 9.79882080e-02 -9.81755321e-01 -1.62956435e-01 9.02518683e+01] [ 5.67697991e-01 1.89631636e-01 -8.01098517e-01 -4.34785519e+01] [ 8.17384427e-01 -1.40118330e-02 5.75922188e-01 2.96247010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.46, Z:2.99 [[ 9.87184331e-02 -9.81777687e-01 -1.62379936e-01 9.02552628e+01] [ 5.66585776e-01 1.89598771e-01 -8.01893300e-01 -4.34640392e+01] [ 8.18067986e-01 -1.28405119e-02 5.74978166e-01 2.98664301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.45, Z:3.01 [[ 9.94801388e-02 -9.81835090e-01 -1.61565959e-01 9.02587001e+01] [ 5.67163196e-01 1.89362935e-01 -8.01540758e-01 -4.34497472e+01] [ 8.17575446e-01 -1.18968797e-02 5.75698579e-01 3.01102703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.44, Z:3.04 [[ 1.00018016e-01 -9.81927502e-01 -1.60669778e-01 9.02626021e+01] [ 5.68314157e-01 1.88924947e-01 -8.00828560e-01 -4.34360675e+01] [ 8.16710117e-01 -1.12136261e-02 5.76939199e-01 3.03509003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.42, Z:3.06 [[ 1.00159563e-01 -9.82039241e-01 -1.59896811e-01 9.02666804e+01] [ 5.68649510e-01 1.88371692e-01 -8.00720825e-01 -4.34219693e+01] [ 8.16459305e-01 -1.07253952e-02 5.77303360e-01 3.05897872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.41, Z:3.08 [[ 9.63930345e-02 -9.75131724e-01 -1.99565789e-01 9.03070208e+01] [ 5.41616805e-01 2.19603756e-01 -8.11434179e-01 -4.34119575e+01] [ 8.35080606e-01 -2.98715823e-02 5.49316001e-01 3.07884897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.40, Z:3.10 [[ 9.74970797e-02 -9.77060282e-01 -1.89334428e-01 9.03037576e+01] [ 5.46858782e-01 2.11541893e-01 -8.10058948e-01 -4.33951314e+01] [ 8.31528588e-01 -2.45608129e-02 5.54938712e-01 3.09953614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.37, Z:3.13 [[ 1.03337632e-01 -9.91614210e-01 -7.76053582e-02 9.02097648e+01] [ 5.68216986e-01 1.22892376e-01 -8.13650368e-01 -4.33672572e+01] [ 8.16364374e-01 3.99840195e-02 5.76151445e-01 3.13119966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.36, Z:3.15 [[ 1.03920952e-01 -9.81843667e-01 -1.58692941e-01 9.02907654e+01] [ 5.69095535e-01 1.89556648e-01 -8.00124084e-01 -4.33584801e+01] [ 8.15678066e-01 -7.16178835e-03 5.78461754e-01 3.14878921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.34, Z:3.17 [[ 1.03040018e-01 -9.82058698e-01 -1.57935015e-01 9.02948680e+01] [ 5.69471359e-01 1.88426494e-01 -8.00123632e-01 -4.33446169e+01] [ 8.15527514e-01 -7.49471462e-03 5.78669771e-01 3.17242311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.33, Z:3.20 [[ 1.04498825e-01 -9.82058235e-01 -1.56976492e-01 9.02988829e+01] [ 5.70889943e-01 1.88478846e-01 -7.99099742e-01 -4.33312918e+01] [ 8.14349230e-01 -6.11131589e-03 5.80342987e-01 3.19681365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.32, Z:3.22 [[ 1.00488650e-01 -9.78335766e-01 -1.81000445e-01 9.03216085e+01] [ 5.47958780e-01 2.06264968e-01 -8.10676223e-01 -4.33225982e+01] [ 8.30447594e-01 -1.77170234e-02 5.56814960e-01 3.22067647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.30, Z:3.25 [[ 1.09507441e-01 -9.85050059e-01 -1.32983085e-01 9.02833578e+01] [ 5.71989506e-01 1.71866064e-01 -8.02053652e-01 -4.33009621e+01] [ 8.12918277e-01 1.17659140e-02 5.82258910e-01 3.24587661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.28, Z:3.27 [[ 1.12089401e-01 -9.81471415e-01 -1.55402147e-01 9.03054763e+01] [ 5.68874200e-01 1.91604575e-01 -7.99793618e-01 -4.32838750e+01] [ 8.14750337e-01 1.24411601e-03 5.79810608e-01 3.26592622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.27, Z:3.29 [[ 1.15196960e-01 -9.81169656e-01 -1.55034727e-01 9.03068426e+01] [ 5.65442966e-01 1.93090467e-01 -8.01866774e-01 -4.32650681e+01] [ 8.16703075e-01 4.70931914e-03 5.77038915e-01 3.28748091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.25, Z:3.31 [[ 1.17915322e-01 -9.80952338e-01 -1.54364787e-01 9.03074669e+01] [ 5.64370951e-01 1.94103986e-01 -8.02377138e-01 -4.32482367e+01] [ 8.17056550e-01 7.49355654e-03 5.76508838e-01 3.30991256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.23, Z:3.33 [[ 1.24403344e-01 -9.80349344e-01 -1.53097914e-01 9.03047547e+01] [ 5.67123802e-01 1.96862139e-01 -7.99759896e-01 -4.32341779e+01] [ 8.14183273e-01 1.26673342e-02 5.80469756e-01 3.33442675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.23, Z:3.36 [[ 1.19869283e-01 -9.73956378e-01 -1.92458642e-01 9.03369470e+01] [ 5.40784815e-01 2.26628074e-01 -8.10056480e-01 -4.32263699e+01] [ 8.32576206e-01 -6.97782148e-03 5.53866564e-01 3.35703268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.20, Z:3.38 [[ 1.26240689e-01 -9.84994819e-01 -1.17679631e-01 9.02725332e+01] [ 5.69327104e-01 1.69086787e-01 -8.04534839e-01 -4.32030046e+01] [ 8.12360719e-01 3.45668290e-02 5.82129880e-01 3.38481816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.19, Z:3.41 [[ 1.24258045e-01 -9.80696332e-01 -1.50978950e-01 9.03016883e+01] [ 5.69691589e-01 1.95091445e-01 -7.98367598e-01 -4.31900751e+01] [ 8.12410876e-01 1.31921591e-02 5.82936133e-01 3.40644136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.18, Z:3.43 [[ 1.15569102e-01 -9.78071966e-01 -1.73259954e-01 9.03203391e+01] [ 5.45525823e-01 2.08266036e-01 -8.11804678e-01 -4.31764720e+01] [ 8.30087561e-01 -6.98241385e-04 5.57632633e-01 3.42789113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.16, Z:3.45 [[ 1.11318176e-01 -9.74746223e-01 -1.93592523e-01 9.03417481e+01] [ 5.51688350e-01 2.22642273e-01 -8.03785035e-01 -4.31636006e+01] [ 8.26588306e-01 -1.73268557e-02 5.62540267e-01 3.44659515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.14, Z:3.48 [[ 1.10003750e-01 -9.88644877e-01 -1.02374225e-01 9.02593382e+01] [ 5.47079521e-01 1.46219110e-01 -8.24211119e-01 -4.31381270e+01] [ 8.29821169e-01 3.46594716e-02 5.56952016e-01 3.47847010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.12, Z:3.50 [[ 1.07646740e-01 -9.86850957e-01 -1.20571011e-01 9.02771983e+01] [ 5.74531693e-01 1.60723695e-01 -8.02546714e-01 -4.31231170e+01] [ 8.11372610e-01 1.71196703e-02 5.84278533e-01 3.50136829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.11, Z:3.52 [[ 1.05436571e-01 -9.83278489e-01 -1.48480784e-01 9.03018856e+01] [ 5.76240534e-01 1.82101603e-01 -7.96734494e-01 -4.31098924e+01] [ 8.10450478e-01 -1.55569334e-03 5.85805090e-01 3.52271890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.09, Z:3.55 [[ 1.01764334e-01 -9.83766465e-01 -1.47809211e-01 9.03018439e+01] [ 5.76456937e-01 1.79407063e-01 -7.97189128e-01 -4.30934744e+01] [ 8.10765947e-01 -4.08022446e-03 5.85356243e-01 3.54517585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.08, Z:3.57 [[ 9.55079158e-02 -9.84440414e-01 -1.47496808e-01 9.03076755e+01] [ 5.74344066e-01 1.75520311e-01 -7.99575834e-01 -4.30761094e+01] [ 8.13023451e-01 -8.34809514e-03 5.82171090e-01 3.56600326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.06, Z:3.59 [[ 9.26296803e-02 -9.84841404e-01 -1.46653169e-01 9.03150889e+01] [ 5.75778397e-01 1.73143796e-01 -7.99062240e-01 -4.30604103e+01] [ 8.12341664e-01 -1.04228469e-02 5.83088659e-01 3.58845966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.05, Z:3.61 [[ 8.90804571e-02 -9.85277301e-01 -1.45922283e-01 9.03219715e+01] [ 5.76538414e-01 1.70472946e-01 -7.99088501e-01 -4.30458202e+01] [ 8.12199563e-01 -1.29466326e-02 5.83236020e-01 3.61143312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.03, Z:3.64 [[ 8.23664888e-02 -9.85990751e-01 -1.45044825e-01 9.03230181e+01] [ 5.79040479e-01 1.65800059e-01 -7.98262153e-01 -4.30333654e+01] [ 8.11127540e-01 -1.82367740e-02 5.84584925e-01 3.63654673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.02, Z:3.66 [[ 7.78553537e-02 -9.86439659e-01 -1.44483022e-01 9.03236756e+01] [ 5.78705088e-01 1.62723740e-01 -7.99137914e-01 -4.30181391e+01] [ 8.11812149e-01 -2.13958949e-02 5.83526564e-01 3.65953705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.00, Z:3.68 [[ 7.35585713e-02 -9.86863668e-01 -1.43837539e-01 9.03266283e+01] [ 5.79035222e-01 1.59690386e-01 -7.99510595e-01 -4.30026532e+01] [ 8.11977431e-01 -2.44761444e-02 5.83175420e-01 3.68207774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-42.99, Z:3.70 [[ 6.97266998e-02 -9.87226559e-01 -1.43254698e-01 9.03327374e+01] [ 5.78823072e-01 1.56996846e-01 -8.00197377e-01 -4.29866809e+01] [ 8.12466639e-01 -2.71240020e-02 5.82376381e-01 3.70458794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-42.97, Z:3.73 [[ 6.24348830e-02 -9.87816624e-01 -1.42548949e-01 9.03483761e+01] [ 5.80153013e-01 1.52139115e-01 -8.00172588e-01 -4.29714225e+01] [ 8.12111056e-01 -3.27415202e-02 5.82583578e-01 3.72583292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-42.96, Z:3.75 [[ 6.19759494e-02 -9.87943768e-01 -1.41866463e-01 9.03508549e+01] [ 5.80200696e-01 1.51317657e-01 -8.00293771e-01 -4.29554041e+01] [ 8.12112144e-01 -3.27120546e-02 5.82583717e-01 3.74920973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-42.94, Z:3.77 [[ 5.82230724e-02 -9.88259612e-01 -1.41255132e-01 9.03592087e+01] [ 5.80584708e-01 1.48625863e-01 -8.00519675e-01 -4.29398061e+01] [ 8.12115430e-01 -3.54018547e-02 5.82421873e-01 3.77098178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-42.92, Z:3.79 [[ 5.54305796e-02 -9.88504946e-01 -1.40660666e-01 9.03659961e+01] [ 5.80340153e-01 1.46533801e-01 -8.01082488e-01 -4.29245655e+01] [ 8.12485543e-01 -3.72265659e-02 5.81791565e-01 3.79372272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-42.91, Z:3.82 [[ 5.26978092e-02 -9.88730572e-01 -1.40124217e-01 9.03724900e+01] [ 5.79674834e-01 1.44545648e-01 -8.01924961e-01 -4.29098978e+01] [ 8.13142071e-01 -3.89667934e-02 5.80759469e-01 3.81683362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-42.90, Z:3.84 [[ 4.98628729e-02 -9.88946765e-01 -1.39635200e-01 9.03827489e+01] [ 5.78647647e-01 1.42558868e-01 -8.03021712e-01 -4.28960533e+01] [ 8.14051960e-01 -4.07586106e-02 5.79360114e-01 3.83983895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-42.88, Z:3.86 [[ 4.97700248e-02 -9.89045890e-01 -1.38964642e-01 9.03879478e+01] [ 5.78687650e-01 1.41958723e-01 -8.03099200e-01 -4.28816000e+01] [ 8.14029206e-01 -4.04468553e-02 5.79413931e-01 3.86397165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-42.87, Z:3.89 [[ 5.01433264e-02 -9.89142486e-01 -1.38140470e-01 9.03931716e+01] [ 5.79964576e-01 1.41442841e-01 -8.02268666e-01 -4.28672567e+01] [ 8.13097003e-01 -3.98881595e-02 5.80760017e-01 3.88739037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-42.85, Z:3.91 [[ 5.15379435e-02 -9.89189839e-01 -1.37285482e-01 9.03992385e+01] [ 5.81284655e-01 1.41495136e-01 -8.01303486e-01 -4.28522697e+01] [ 8.12066494e-01 -3.85044100e-02 5.82293243e-01 3.91091735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-42.84, Z:3.93 [[ 5.58361348e-02 -9.89060317e-01 -1.36535766e-01 9.04105632e+01] [ 5.81391493e-01 1.43381408e-01 -8.00890569e-01 -4.28373278e+01] [ 8.11705771e-01 -3.46620989e-02 5.83037118e-01 3.93329353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-42.82, Z:3.96 [[ 5.69350864e-02 -9.89086204e-01 -1.35892886e-01 9.04183315e+01] [ 5.80996265e-01 1.43516396e-01 -8.01153159e-01 -4.28211303e+01] [ 8.11912394e-01 -3.33395351e-02 5.82826509e-01 3.95530613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-42.81, Z:3.98 [[ 5.79748934e-02 -9.89116663e-01 -1.35229948e-01 9.04256175e+01] [ 5.80760369e-01 1.43593456e-01 -8.01310372e-01 -4.28057648e+01] [ 8.12007577e-01 -3.20803111e-02 5.82764574e-01 3.97777501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-42.79, Z:4.00 [[ 6.10732721e-02 -9.89027360e-01 -1.34517419e-01 9.04316539e+01] [ 5.80599259e-01 1.44824311e-01 -8.01205604e-01 -4.27925296e+01] [ 8.11895656e-01 -2.91684658e-02 5.83073447e-01 4.00220622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-42.78, Z:4.03 [[ 6.25000460e-02 -9.89033698e-01 -1.33813635e-01 9.04331672e+01] [ 5.80550129e-01 1.45086128e-01 -8.01193837e-01 -4.27791150e+01] [ 8.11822205e-01 -2.76108713e-02 5.83251530e-01 4.02664864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-42.76, Z:4.05 [[ 6.38170008e-02 -9.89063423e-01 -1.32969680e-01 9.04360156e+01] [ 5.81695417e-01 1.45132169e-01 -8.00354356e-01 -4.27639869e+01] [ 8.10899397e-01 -2.62716390e-02 5.84595560e-01 4.05014924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-42.75, Z:4.07 [[ 6.47142545e-02 -9.89084778e-01 -1.32375853e-01 9.04414895e+01] [ 5.80737877e-01 1.45204819e-01 -8.01036253e-01 -4.27481311e+01] [ 8.11514376e-01 -2.50372077e-02 5.83795816e-01 4.07271179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-42.73, Z:4.09 [[ 6.77752436e-02 -9.88972340e-01 -1.31682294e-01 9.04544315e+01] [ 5.80300255e-01 1.46439334e-01 -8.01128664e-01 -4.27310284e+01] [ 8.11577557e-01 -2.21185783e-02 5.83825863e-01 4.09318743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-42.72, Z:4.12 [[ 6.98459172e-02 -9.88934573e-01 -1.30881466e-01 9.04599414e+01] [ 5.80874068e-01 1.46983520e-01 -8.00612991e-01 -4.27152759e+01] [ 8.10991285e-01 -2.01061012e-02 5.84712648e-01 4.11620101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-42.70, Z:4.14 [[ 7.21413646e-02 -9.88870408e-01 -1.30118948e-01 9.04637775e+01] [ 5.81023146e-01 1.47703283e-01 -8.00372316e-01 -4.26997251e+01] [ 8.10683494e-01 -1.78621691e-02 5.85212111e-01 4.13924218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-42.71, Z:4.16 [[ 6.64632143e-02 -9.68639817e-01 -2.39415008e-01 9.05621986e+01] [ 5.48313655e-01 2.35924934e-01 -8.02303908e-01 -4.27092327e+01] [ 8.33627481e-01 -7.79508217e-02 5.46798768e-01 4.16422199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-42.66, Z:4.19 [[ 7.52817101e-02 -9.97072342e-01 -1.33943558e-02 9.03659858e+01] [ 5.79355172e-01 5.46677202e-02 -8.13239832e-01 -4.26634700e+01] [ 8.11591183e-01 5.34619959e-02 5.81774498e-01 4.19169729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-42.66, Z:4.21 [[ 7.71974246e-02 -9.88640321e-01 -1.28960743e-01 9.04743274e+01] [ 5.80194973e-01 1.49735884e-01 -8.00595378e-01 -4.26577226e+01] [ 8.10810922e-01 -1.30184735e-02 5.85163369e-01 4.21022647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-42.64, Z:4.23 [[ 7.78648125e-02 -9.88672252e-01 -1.28313087e-01 9.04804986e+01] [ 5.79457690e-01 1.49612452e-01 -8.01152232e-01 -4.26423892e+01] [ 8.11274218e-01 -1.19704365e-02 5.84543285e-01 4.23315177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-42.65, Z:4.26 [[ 7.54393807e-02 -9.73117529e-01 -2.17603250e-01 9.05654117e+01] [ 5.53955170e-01 2.22351588e-01 -8.02305080e-01 -4.26461357e+01] [ 8.29121565e-01 -6.00170472e-02 5.55837552e-01 4.25851580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-43.26, Z:4.87 [[ 7.89410609e-02 -7.35831029e-02 9.94159864e-01 8.94858366e+01] [ 6.11902666e-01 -7.83717174e-01 -1.06595117e-01 -4.32553921e+01] [ 7.86983759e-01 6.16743803e-01 -1.68417684e-02 4.86822102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-42.65, Z:4.30 [[ 8.57740824e-02 -9.89477068e-01 -1.16524415e-01 9.04908644e+01] [ 6.34739826e-01 1.44418828e-01 -7.59110371e-01 -4.26544805e+01] [ 7.67950623e-01 -8.85069163e-03 6.40447894e-01 4.30277360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-44.03, Z:5.45 [[ 2.52289229e-02 9.92724267e-01 1.17737124e-01 9.03331442e+01] [ 6.17085822e-01 -1.08123185e-01 7.79432143e-01 -4.40251230e+01] [ 7.86491316e-01 5.29896765e-02 -6.15323902e-01 5.45306476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-44.01, Z:5.48 [[-5.23884476e-02 9.98427671e-01 1.99408333e-02 9.04809745e+01] [ 6.19895965e-01 1.68582525e-02 7.84502895e-01 -4.40148440e+01] [ 7.82933231e-01 5.34601309e-02 -6.19804462e-01 5.48120918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-44.01, Z:5.48 [[-1.31944191e-01 9.88240825e-01 -7.72709717e-02 9.05757648e+01] [ 6.09903297e-01 1.42386404e-01 7.79579426e-01 -4.40142881e+01] [ 7.81414550e-01 5.57331566e-02 -6.21518396e-01 5.47802158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.98, Z:5.49 [[-2.08236927e-01 9.54646530e-01 -2.12808329e-01 9.07071963e+01] [ 6.02177429e-01 2.96586282e-01 7.41227982e-01 -4.39766650e+01] [ 7.70726752e-01 2.62026645e-02 -6.36626809e-01 5.48923147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:-43.84, Z:5.45 [[ -0.26645035 0.78998239 -0.55220652 91.02340252] [ 0.55030564 0.59504544 0.58573427 -43.83658515] [ 0.79130773 -0.14781326 -0.59328182 5.4479072 ] [ 0. 0. 0. 1. ]] SLAMing on 121.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.67, Z:4.34 [[-2.88010083e-01 -8.92804338e-01 3.46338860e-01 9.02452431e+01] [ 5.63066296e-01 -4.50421770e-01 -6.92875584e-01 -4.26718605e+01] [ 7.74600890e-01 -4.54341573e-03 6.32434043e-01 4.34223598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.67, Z:4.34 [[-2.89251342e-01 -8.91852218e-01 3.47754628e-01 9.02452479e+01] [ 5.61385337e-01 -4.52296635e-01 -6.93018223e-01 -4.26712600e+01] [ 7.75358088e-01 -5.23210187e-03 6.31500167e-01 4.33937841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.65, Z:4.35 [[-2.86277321e-01 -8.97409159e-01 3.35711331e-01 9.02575462e+01] [ 5.47272851e-01 -4.40747503e-01 -7.11501276e-01 -4.26534446e+01] [ 7.86471692e-01 -1.99609821e-02 6.17303683e-01 4.35434929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.67, Z:4.34 [[-2.93482496e-01 -8.85339588e-01 3.60613143e-01 9.02371176e+01] [ 5.60677204e-01 -4.64943657e-01 -6.85177691e-01 -4.26748624e+01] [ 7.74279728e-01 1.09990917e-03 6.32842550e-01 4.34177493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.67, Z:4.34 [[-2.95472148e-01 -8.89027280e-01 3.49752350e-01 9.02491933e+01] [ 5.61312995e-01 -4.57794506e-01 -6.89457694e-01 -4.26733320e+01] [ 7.73061402e-01 -7.39500667e-03 6.34288091e-01 4.34112252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.68, Z:4.34 [[-2.95724758e-01 -8.88476774e-01 3.50935733e-01 9.02518778e+01] [ 5.60775621e-01 -4.58868016e-01 -6.89181287e-01 -4.26770884e+01] [ 7.73354751e-01 -7.01176529e-03 6.33934748e-01 4.34078628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.66, Z:4.36 [[-2.91208250e-01 -8.94494073e-01 3.39231643e-01 9.02643340e+01] [ 5.45589255e-01 -4.46565770e-01 -7.09162448e-01 -4.26602262e+01] [ 7.85830847e-01 -2.14328157e-02 6.18069991e-01 4.35543686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.68, Z:4.34 [[-2.96165109e-01 -8.83951902e-01 3.61822144e-01 9.02459332e+01] [ 5.59844408e-01 -4.67577838e-01 -6.84065204e-01 -4.26808181e+01] [ 7.73860754e-01 -3.21417251e-05 6.33355771e-01 4.33590999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.66, Z:4.33 [[-2.99436258e-01 -8.99064463e-01 3.19407294e-01 9.02838702e+01] [ 5.60602819e-01 -4.36672937e-01 -7.03591662e-01 -4.26615703e+01] [ 7.72050780e-01 -3.16202247e-02 6.34773782e-01 4.33318706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.69, Z:4.33 [[-2.98149945e-01 -8.74978073e-01 3.81470814e-01 9.02276102e+01] [ 5.57951402e-01 -4.84017318e-01 -6.74104939e-01 -4.26868098e+01] [ 7.74465521e-01 1.18578250e-02 6.32504980e-01 4.33335416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.67, Z:4.34 [[-3.01890435e-01 -8.84890884e-01 3.54725652e-01 9.02541851e+01] [ 5.56341296e-01 -4.65681950e-01 -6.88203956e-01 -4.26706190e+01] [ 7.74174740e-01 -1.04136623e-02 6.32886267e-01 4.33860872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.65, Z:4.36 [[-2.98118637e-01 -8.89331979e-01 3.46718777e-01 9.02657391e+01] [ 5.40607580e-01 -4.56673551e-01 -7.06535712e-01 -4.26544036e+01] [ 7.86682098e-01 -2.31926643e-02 6.16922505e-01 4.35634413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.67, Z:4.34 [[-3.03862989e-01 -8.80514620e-01 3.63814910e-01 9.02547204e+01] [ 5.53252267e-01 -4.73969153e-01 -6.85029322e-01 -4.26728145e+01] [ 7.75615377e-01 -6.87363381e-03 6.31168393e-01 4.34171152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.67, Z:4.34 [[-3.04268315e-01 -8.82901639e-01 3.57638768e-01 9.02635828e+01] [ 5.52850415e-01 -4.69410615e-01 -6.88483909e-01 -4.26716803e+01] [ 7.75743006e-01 -1.17630977e-02 6.30939314e-01 4.33979584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.68, Z:4.33 [[-3.03773709e-01 -8.82804853e-01 3.58297537e-01 9.02639219e+01] [ 5.54201049e-01 -4.69629187e-01 -6.87247863e-01 -4.26767568e+01] [ 7.74972729e-01 -1.01989614e-02 6.31912375e-01 4.33217670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.68, Z:4.33 [[-3.03562925e-01 -8.82651111e-01 3.58854521e-01 9.02652084e+01] [ 5.55715680e-01 -4.69947024e-01 -6.85806006e-01 -4.26792660e+01] [ 7.73970047e-01 -8.76419279e-03 6.33161556e-01 4.32805046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.68, Z:4.32 [[-3.02836662e-01 -8.82520012e-01 3.59789361e-01 9.02680612e+01] [ 5.56396968e-01 -4.70218527e-01 -6.85067115e-01 -4.26800366e+01] [ 7.73765061e-01 -7.27772900e-03 6.33430868e-01 4.32333389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.68, Z:4.31 [[-2.99494964e-01 -8.82994544e-01 3.61418596e-01 9.02789244e+01] [ 5.56423838e-01 -4.69364089e-01 -6.85630998e-01 -4.26848882e+01] [ 7.75045340e-01 -4.24110832e-03 6.31891394e-01 4.31278594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.69, Z:4.31 [[-2.98390021e-01 -8.82855426e-01 3.62670224e-01 9.02807117e+01] [ 5.56425123e-01 -4.69636924e-01 -6.85443100e-01 -4.26865753e+01] [ 7.75470488e-01 -2.73055684e-03 6.31377910e-01 4.30977050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.69, Z:4.30 [[-2.98427342e-01 -8.82413111e-01 3.63714480e-01 9.02824831e+01] [ 5.56471146e-01 -4.70471248e-01 -6.84833314e-01 -4.26900476e+01] [ 7.75423101e-01 -1.97637165e-03 6.31438919e-01 4.30493929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.69, Z:4.30 [[-2.98735800e-01 -8.81947890e-01 3.64588591e-01 9.02848456e+01] [ 5.56886643e-01 -4.71345211e-01 -6.83893968e-01 -4.26930226e+01] [ 7.75005928e-01 -1.26909522e-03 6.31952688e-01 4.30250983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-42.69, Z:4.31 [[-2.96256413e-01 -8.82656428e-01 3.64896927e-01 9.02853974e+01] [ 5.60457008e-01 -4.70012137e-01 -6.81891878e-01 -4.26928492e+01] [ 7.73382234e-01 2.49419875e-03 6.33935091e-01 4.30681239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.69, Z:4.31 [[-2.93854064e-01 -8.83114896e-01 3.65729229e-01 9.02800603e+01] [ 5.62427725e-01 -4.69123153e-01 -6.80880695e-01 -4.26913967e+01] [ 7.72867934e-01 5.61669881e-03 6.34542047e-01 4.31136369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.69, Z:4.31 [[-2.91475958e-01 -8.83348243e-01 3.67066271e-01 9.02734963e+01] [ 5.62876261e-01 -4.68646153e-01 -6.80838526e-01 -4.26896373e+01] [ 7.73441711e-01 8.16482869e-03 6.33814842e-01 4.31335594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.69, Z:4.32 [[-2.89234177e-01 -8.83565993e-01 3.68313354e-01 9.02681372e+01] [ 5.63474163e-01 -4.68185221e-01 -6.80661051e-01 -4.26861736e+01] [ 7.73847826e-01 1.06646197e-02 6.33281776e-01 4.31630119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-42.67, Z:4.32 [[-2.88036924e-01 -8.99104332e-01 3.29615125e-01 9.03071861e+01] [ 5.63383654e-01 -4.37435152e-01 -7.00891822e-01 -4.26674696e+01] [ 7.74360115e-01 -1.61829513e-02 6.32538160e-01 4.31609891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.70, Z:4.32 [[-2.88093643e-01 -8.66717982e-01 4.07187909e-01 9.02377273e+01] [ 5.65310320e-01 -4.97147081e-01 -6.58231739e-01 -4.27012356e+01] [ 7.72933565e-01 4.05551469e-02 6.33189533e-01 4.31908645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.69, Z:4.32 [[-2.88524987e-01 -8.83437657e-01 3.69176431e-01 9.02721654e+01] [ 5.65993808e-01 -4.68362658e-01 -6.78444861e-01 -4.26872317e+01] [ 7.72272193e-01 1.32032790e-02 6.35154574e-01 4.31967741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.69, Z:4.32 [[-2.88889473e-01 -8.82859762e-01 3.70272215e-01 9.02680104e+01] [ 5.65551889e-01 -4.69442016e-01 -6.78067293e-01 -4.26911036e+01] [ 7.72459664e-01 1.35216477e-02 6.34919863e-01 4.31814158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.69, Z:4.32 [[-2.90246801e-01 -8.82095878e-01 3.71030532e-01 9.02626339e+01] [ 5.65541780e-01 -4.70881727e-01 -6.77076726e-01 -4.26937806e+01] [ 7.71958088e-01 1.33139139e-02 6.35533989e-01 4.31603788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.70, Z:4.31 [[-2.94057285e-01 -8.80571969e-01 3.71649460e-01 9.02635031e+01] [ 5.64597961e-01 -4.73782509e-01 -6.75839683e-01 -4.26967630e+01] [ 7.71206494e-01 1.10969454e-02 6.36488336e-01 4.30624668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.70, Z:4.30 [[-2.95383172e-01 -8.79613528e-01 3.72865690e-01 9.02670518e+01] [ 5.63289655e-01 -4.75574243e-01 -6.75672927e-01 -4.26976999e+01] [ 7.71656366e-01 1.04489739e-02 6.35953829e-01 4.30229655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.70, Z:4.30 [[-2.95819651e-01 -8.78753315e-01 3.74544183e-01 9.02687521e+01] [ 5.61164036e-01 -4.77169090e-01 -6.76316926e-01 -4.26982998e+01] [ 7.73036647e-01 1.01128881e-02 6.34280751e-01 4.30067844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.70, Z:4.30 [[-2.96660611e-01 -8.78037138e-01 3.75557274e-01 9.02686117e+01] [ 5.60720394e-01 -4.78485646e-01 -6.75754487e-01 -4.27000775e+01] [ 7.73036300e-01 1.01128835e-02 6.34281174e-01 4.29871102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.70, Z:4.30 [[-2.95743737e-01 -8.77535723e-01 3.77447608e-01 9.02648863e+01] [ 5.58731700e-01 -4.79390873e-01 -6.76759395e-01 -4.27034861e+01] [ 7.74825483e-01 1.07445917e-02 6.32083875e-01 4.29888616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.71, Z:4.30 [[-2.96072034e-01 -8.76982829e-01 3.78473868e-01 9.02626249e+01] [ 5.58525625e-01 -4.80391692e-01 -6.76219600e-01 -4.27061613e+01] [ 7.74848680e-01 1.11776415e-02 6.32047928e-01 4.29921984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.71, Z:4.30 [[-2.96915633e-01 -8.76415261e-01 3.79127153e-01 9.02619447e+01] [ 5.59086285e-01 -4.81417842e-01 -6.75025471e-01 -4.27082818e+01] [ 7.74121200e-01 1.15391769e-02 6.32932236e-01 4.29813859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.71, Z:4.30 [[-2.97941391e-01 -8.75898542e-01 3.79516366e-01 9.02614053e+01] [ 5.60274951e-01 -4.82345906e-01 -6.73375383e-01 -4.27098015e+01] [ 7.72866682e-01 1.20071150e-02 6.34454822e-01 4.29769226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.71, Z:4.30 [[-2.97720210e-01 -8.75617462e-01 3.80337661e-01 9.02600644e+01] [ 5.60914133e-01 -4.82826999e-01 -6.72497900e-01 -4.27111939e+01] [ 7.72488195e-01 1.31205533e-02 6.34893565e-01 4.29504461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.71, Z:4.30 [[-2.95261225e-01 -8.75550932e-01 3.82402112e-01 9.02555485e+01] [ 5.59280336e-01 -4.82895376e-01 -6.73808253e-01 -4.27062345e+01] [ 7.74613655e-01 1.49205312e-02 6.32258699e-01 4.29554584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.71, Z:4.30 [[-2.95273536e-01 -8.75245940e-01 3.83090177e-01 9.02542952e+01] [ 5.60151959e-01 -4.83414917e-01 -6.72710785e-01 -4.27056246e+01] [ 7.73978890e-01 1.59550211e-02 6.33010360e-01 4.29584699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.71, Z:4.30 [[-2.94400808e-01 -8.75161005e-01 3.83954919e-01 9.02537834e+01] [ 5.60983850e-01 -4.83512650e-01 -6.71946901e-01 -4.27074246e+01] [ 7.73708785e-01 1.75707985e-02 6.33297705e-01 4.29681166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.71, Z:4.30 [[-2.94159572e-01 -8.75010686e-01 3.84482048e-01 9.02513079e+01] [ 5.62393882e-01 -4.83732007e-01 -6.70609026e-01 -4.27092350e+01] [ 7.72776337e-01 1.89642879e-02 6.34395057e-01 4.29920092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.71, Z:4.30 [[-2.93054782e-01 -8.74820910e-01 3.85755454e-01 9.02457491e+01] [ 5.62179655e-01 -4.84018993e-01 -6.70581575e-01 -4.27132283e+01] [ 7.73351750e-01 2.03467306e-02 6.33650598e-01 4.30218597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.71, Z:4.30 [[-2.92284109e-01 -8.74550468e-01 3.86951520e-01 9.02419251e+01] [ 5.61978406e-01 -4.84457606e-01 -6.70433516e-01 -4.27137646e+01] [ 7.73789552e-01 2.15013353e-02 6.33077737e-01 4.30320807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.71, Z:4.30 [[-2.91864760e-01 -8.74319116e-01 3.87789951e-01 9.02376921e+01] [ 5.62560685e-01 -4.84820436e-01 -6.69682478e-01 -4.27132853e+01] [ 7.73524685e-01 2.26986641e-02 6.33359561e-01 4.30368212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.71, Z:4.30 [[-2.91259213e-01 -8.74141656e-01 3.88644356e-01 9.02343923e+01] [ 5.63179413e-01 -4.85076164e-01 -6.68976878e-01 -4.27132509e+01] [ 7.73302670e-01 2.40308212e-02 6.33581487e-01 4.30376139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.72, Z:4.30 [[-2.91772518e-01 -8.73894613e-01 3.88814869e-01 9.02298915e+01] [ 5.65044006e-01 -4.85469507e-01 -6.67116653e-01 -4.27159795e+01] [ 7.71747413e-01 2.50512056e-02 6.35435573e-01 4.30221152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.72, Z:4.30 [[-2.93122312e-01 -8.73073852e-01 3.89642603e-01 9.02271309e+01] [ 5.64610311e-01 -4.86963935e-01 -6.66394270e-01 -4.27199480e+01] [ 7.71553308e-01 2.46612021e-02 6.35686494e-01 4.30087967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.73, Z:4.30 [[-2.94210221e-01 -8.72249870e-01 3.90666751e-01 9.02244966e+01] [ 5.63774818e-01 -4.88456354e-01 -6.66009268e-01 -4.27256194e+01] [ 7.71750154e-01 2.43013425e-02 6.35461363e-01 4.29827661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.73, Z:4.29 [[-2.96292591e-01 -8.71118783e-01 3.91615585e-01 9.02225047e+01] [ 5.62584951e-01 -4.90527042e-01 -6.65493347e-01 -4.27322709e+01] [ 7.71821789e-01 2.31362865e-02 6.35417846e-01 4.29493325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.74, Z:4.29 [[-3.00450520e-01 -8.69247889e-01 3.92603606e-01 9.02230760e+01] [ 5.60111070e-01 -4.93968050e-01 -6.65034703e-01 -4.27400978e+01] [ 7.72013649e-01 2.00916033e-02 6.35288323e-01 4.28633772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.74, Z:4.28 [[-3.04102078e-01 -8.67677481e-01 3.93265451e-01 9.02259599e+01] [ 5.58819484e-01 -4.96807367e-01 -6.64005440e-01 -4.27438228e+01] [ 7.71519741e-01 1.78389625e-02 6.35955235e-01 4.27846013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.75, Z:4.27 [[-3.07231981e-01 -8.66291926e-01 3.93886798e-01 9.02286289e+01] [ 5.57948177e-01 -4.99278269e-01 -6.62883883e-01 -4.27476025e+01] [ 7.70910074e-01 1.61092924e-02 6.36740252e-01 4.27145800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.75, Z:4.27 [[-3.10720929e-01 -8.64657942e-01 3.94739341e-01 9.02290460e+01] [ 5.56244518e-01 -5.02170557e-01 -6.62130477e-01 -4.27526761e+01] [ 7.70742850e-01 1.38337978e-02 6.36996142e-01 4.26651434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.76, Z:4.26 [[-3.13324509e-01 -8.63264164e-01 3.95730635e-01 9.02288788e+01] [ 5.54681889e-01 -5.04604646e-01 -6.61590623e-01 -4.27605366e+01] [ 7.70814993e-01 1.22120591e-02 6.36942000e-01 4.25943845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.76, Z:4.26 [[-3.15314729e-01 -8.62084013e-01 3.96721282e-01 9.02255309e+01] [ 5.53496449e-01 -5.06642646e-01 -6.61025650e-01 -4.27635141e+01] [ 7.70855565e-01 1.11526969e-02 6.36912329e-01 4.25781055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.77, Z:4.25 [[-3.16749224e-01 -8.60531101e-01 3.98943797e-01 9.02257696e+01] [ 5.49281357e-01 -5.09313187e-01 -6.62487788e-01 -4.27683861e+01] [ 7.73278682e-01 9.28989733e-03 6.33998248e-01 4.25159377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.77, Z:4.25 [[-3.17943743e-01 -8.59488394e-01 4.00239275e-01 9.02272572e+01] [ 5.47745042e-01 -5.11082505e-01 -6.62397194e-01 -4.27722755e+01] [ 7.73877992e-01 8.62403501e-03 6.33275991e-01 4.24597389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.77, Z:4.24 [[-3.20118105e-01 -8.58336962e-01 4.00976382e-01 9.02277137e+01] [ 5.47169985e-01 -5.13028825e-01 -6.61367093e-01 -4.27739696e+01] [ 7.73388263e-01 7.68666034e-03 6.33886038e-01 4.24498014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.78, Z:4.24 [[-3.21831896e-01 -8.57423333e-01 4.01558785e-01 9.02289917e+01] [ 5.47289087e-01 -5.14559455e-01 -6.60078194e-01 -4.27776281e+01] [ 7.72592315e-01 7.33452399e-03 6.34860078e-01 4.24049613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.78, Z:4.23 [[-3.25934148e-01 -8.55780318e-01 4.01754873e-01 9.02303644e+01] [ 5.47006090e-01 -5.17312791e-01 -6.58157894e-01 -4.27843191e+01] [ 7.71071507e-01 5.24623025e-03 6.36726949e-01 4.23455006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.79, Z:4.23 [[-3.28071737e-01 -8.54436369e-01 4.02873959e-01 9.02305394e+01] [ 5.45406680e-01 -5.19541055e-01 -6.57729919e-01 -4.27888366e+01] [ 7.71297925e-01 3.94755146e-03 6.36462039e-01 4.22936235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.79, Z:4.22 [[-3.30563198e-01 -8.52803566e-01 4.04294508e-01 9.02316609e+01] [ 5.42787380e-01 -5.22227948e-01 -6.57768827e-01 -4.27924781e+01] [ 7.72081493e-01 2.01178928e-03 6.35520354e-01 4.22313451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.80, Z:4.22 [[-3.33679237e-01 -8.50733388e-01 4.06092192e-01 9.02371706e+01] [ 5.38763495e-01 -5.25596693e-01 -6.58393509e-01 -4.27959287e+01] [ 7.73558054e-01 -9.04595266e-04 6.33724797e-01 4.21543551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.80, Z:4.22 [[-3.35520323e-01 -8.49663518e-01 4.06814478e-01 9.02387919e+01] [ 5.38469242e-01 -5.27323205e-01 -6.57252701e-01 -4.27976498e+01] [ 7.72966356e-01 -1.46455508e-03 6.34445322e-01 4.21585441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.78, Z:4.23 [[-3.30521437e-01 -8.56973005e-01 3.95414781e-01 9.02486809e+01] [ 5.27541857e-01 -5.15152360e-01 -6.75512868e-01 -4.27811638e+01] [ 7.82595150e-01 -1.46736356e-02 6.22358029e-01 4.23042358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.81, Z:4.22 [[-3.38406587e-01 -8.40956126e-01 4.22224793e-01 9.02256624e+01] [ 5.39789347e-01 -5.41016977e-01 -6.44924873e-01 -4.28105323e+01] [ 7.70784304e-01 9.66562015e-03 6.37022866e-01 4.21608080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.79, Z:4.21 [[-3.38084730e-01 -8.60656333e-01 3.80748463e-01 9.02641091e+01] [ 5.42868715e-01 -5.08824683e-01 -6.68124989e-01 -4.27925025e+01] [ 7.68760218e-01 -1.91864279e-02 6.39249253e-01 4.20995105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.82, Z:4.21 [[-3.36824043e-01 -8.34336716e-01 4.36384932e-01 9.02185181e+01] [ 5.39295364e-01 -5.50862645e-01 -6.36954360e-01 -4.28167956e+01] [ 7.71822567e-01 2.07988280e-02 6.35497706e-01 4.21150990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.80, Z:4.21 [[-3.35971994e-01 -8.47877672e-01 4.10153963e-01 9.02446042e+01] [ 5.38357383e-01 -5.30191391e-01 -6.55033141e-01 -4.27992210e+01] [ 7.72848075e-01 7.36623647e-04 6.34590664e-01 4.21088282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.78, Z:4.20 [[-3.38374574e-01 -8.64823313e-01 3.70922209e-01 9.02814609e+01] [ 5.44066459e-01 -5.01411374e-01 -6.72739416e-01 -4.27833689e+01] [ 7.67785345e-01 -2.58315801e-02 6.40186218e-01 4.20289425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.82, Z:4.21 [[-3.36035447e-01 -8.27656377e-01 4.49516519e-01 9.02089698e+01] [ 5.39353810e-01 -5.60365606e-01 -6.28560145e-01 -4.28202436e+01] [ 7.72125408e-01 3.12299579e-02 6.34702327e-01 4.21333890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.80, Z:4.21 [[-3.36127538e-01 -8.46922540e-01 4.11995740e-01 9.02449307e+01] [ 5.39213058e-01 -5.31709784e-01 -6.53095693e-01 -4.28016322e+01] [ 7.72183629e-01 2.63003531e-03 6.35393993e-01 4.21341698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.81, Z:4.21 [[-3.38447961e-01 -8.45616572e-01 4.12777896e-01 9.02493493e+01] [ 5.38379921e-01 -5.33788591e-01 -6.52086498e-01 -4.28055288e+01] [ 7.71751280e-01 1.53398563e-03 6.35922643e-01 4.20725496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.81, Z:4.20 [[-3.40860960e-01 -8.44322628e-01 4.13440570e-01 9.02536443e+01] [ 5.37806608e-01 -5.35834916e-01 -6.50880170e-01 -4.28068215e+01] [ 7.71088749e-01 4.91430784e-04 6.36727493e-01 4.20384171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.81, Z:4.20 [[-3.41567648e-01 -8.43330094e-01 4.14880578e-01 9.02568951e+01] [ 5.36252358e-01 -5.37395875e-01 -6.50875627e-01 -4.28058938e+01] [ 7.71858115e-01 1.62631301e-04 6.35794797e-01 4.20213838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.41781293e-01 -8.42561154e-01 4.16264639e-01 9.02603221e+01] [ 5.35161759e-01 -5.38600578e-01 -6.50777465e-01 -4.28049529e+01] [ 7.72520187e-01 3.45353038e-04 6.34990111e-01 4.20017310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.41876066e-01 -8.41887884e-01 4.17547059e-01 9.02587147e+01] [ 5.34418143e-01 -5.39651954e-01 -6.50517500e-01 -4.28042051e+01] [ 7.72992887e-01 7.48360197e-04 6.34414246e-01 4.20162370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.81, Z:4.20 [[-3.42329456e-01 -8.41066343e-01 4.18829261e-01 9.02600920e+01] [ 5.33431059e-01 -5.40931370e-01 -6.50264991e-01 -4.28064516e+01] [ 7.73473884e-01 8.11675630e-04 6.33827652e-01 4.19784085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.81, Z:4.20 [[-3.42570932e-01 -8.40429597e-01 4.19908619e-01 9.02617951e+01] [ 5.33112319e-01 -5.41919211e-01 -6.49703644e-01 -4.28059596e+01] [ 7.73586719e-01 1.28887486e-03 6.33689141e-01 4.19666439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.78, Z:4.21 [[-3.35622759e-01 -8.51918635e-01 4.01985078e-01 9.02837702e+01] [ 5.23268447e-01 -5.23449333e-01 -6.72451432e-01 -4.27840664e+01] [ 7.83292727e-01 -1.53438972e-02 6.21463651e-01 4.20951701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.82, Z:4.20 [[-3.42042497e-01 -8.26854038e-01 4.46451935e-01 9.02428618e+01] [ 5.34174529e-01 -5.61967614e-01 -6.31545702e-01 -4.28167798e+01] [ 7.73087643e-01 2.24677832e-02 6.33901172e-01 4.20028955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.41018564e-01 -8.39954156e-01 4.22117702e-01 9.02648553e+01] [ 5.34027466e-01 -5.42640142e-01 -6.48348935e-01 -4.28027000e+01] [ 7.73641393e-01 4.32342429e-03 6.33608952e-01 4.20073227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.40876280e-01 -8.39702629e-01 4.22732606e-01 9.02636160e+01] [ 5.35146123e-01 -5.43017211e-01 -6.47109678e-01 -4.28025018e+01] [ 7.72930779e-01 5.63937567e-03 6.34465293e-01 4.20131653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.40290646e-01 -8.39346360e-01 4.23910325e-01 9.02640186e+01] [ 5.35042258e-01 -5.43555339e-01 -6.46743671e-01 -4.28019431e+01] [ 7.73260666e-01 6.72911612e-03 6.34052570e-01 4.20129507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.80, Z:4.20 [[-3.40089842e-01 -8.38809719e-01 4.25131925e-01 9.02648196e+01] [ 5.34559599e-01 -5.44374326e-01 -6.46453888e-01 -4.28028324e+01] [ 7.73682710e-01 7.40595097e-03 6.33529965e-01 4.20016910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.80, Z:4.20 [[-3.39264832e-01 -8.38363042e-01 4.26669408e-01 9.02656633e+01] [ 5.33640076e-01 -5.45049038e-01 -6.46645046e-01 -4.28025729e+01] [ 7.74679058e-01 8.30397186e-03 6.32300088e-01 4.20082775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.80, Z:4.20 [[-3.39321582e-01 -8.38005315e-01 4.27326521e-01 9.02666783e+01] [ 5.34465535e-01 -5.45581872e-01 -6.45512984e-01 -4.28025836e+01] [ 7.74084915e-01 9.35481009e-03 6.33012663e-01 4.20080769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.80, Z:4.20 [[-3.40083217e-01 -8.37595392e-01 4.27524695e-01 9.02674272e+01] [ 5.36017912e-01 -5.46194968e-01 -6.43704788e-01 -4.28027913e+01] [ 7.72676002e-01 1.02476994e-02 6.34717875e-01 4.20152304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.80, Z:4.20 [[-3.41646090e-01 -8.37117421e-01 4.27214669e-01 9.02669345e+01] [ 5.38337934e-01 -5.46913865e-01 -6.41153252e-01 -4.28042477e+01] [ 7.70370182e-01 1.09383610e-02 6.37503047e-01 4.20081029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.81, Z:4.20 [[-3.43291293e-01 -8.36130838e-01 4.27827431e-01 9.02671792e+01] [ 5.38171671e-01 -5.48428804e-01 -6.39997734e-01 -4.28071054e+01] [ 7.69754728e-01 1.05389536e-02 6.38252763e-01 4.19707065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.81, Z:4.19 [[-3.44614255e-01 -8.34994485e-01 4.28981614e-01 9.02682228e+01] [ 5.36808590e-01 -5.50170157e-01 -6.39647822e-01 -4.28094051e+01] [ 7.70115285e-01 9.84925733e-03 6.37828691e-01 4.19299617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.81, Z:4.19 [[-3.45564311e-01 -8.33788396e-01 4.30560353e-01 9.02683028e+01] [ 5.34592831e-01 -5.52010109e-01 -6.39918232e-01 -4.28092376e+01] [ 7.71230064e-01 9.04157483e-03 6.36492293e-01 4.19110789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.81, Z:4.18 [[-3.47890828e-01 -8.32223315e-01 4.31713244e-01 9.02727329e+01] [ 5.32566258e-01 -5.54390892e-01 -6.39549779e-01 -4.28133544e+01] [ 7.71586128e-01 7.42240492e-03 6.36081564e-01 4.18260503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.81, Z:4.18 [[-3.48156551e-01 -8.31314927e-01 4.33246474e-01 9.02730953e+01] [ 5.30930970e-01 -5.55753738e-01 -6.39726573e-01 -4.28144521e+01] [ 7.72592597e-01 7.29897319e-03 6.34860145e-01 4.18097762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.18 [[-3.48965041e-01 -8.30466890e-01 4.34221309e-01 9.02731052e+01] [ 5.30400460e-01 -5.57020158e-01 -6.39064860e-01 -4.28162364e+01] [ 7.72592229e-01 7.29988669e-03 6.34860583e-01 4.17901092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.18 [[-3.50793159e-01 -8.29473238e-01 4.34647335e-01 9.02731933e+01] [ 5.30599898e-01 -5.58503131e-01 -6.37603326e-01 -4.28178944e+01] [ 7.71626793e-01 6.95694653e-03 6.36037493e-01 4.17635898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.18 [[-3.51864938e-01 -8.28637048e-01 4.35375364e-01 9.02722264e+01] [ 5.30516993e-01 -5.59742700e-01 -6.36584503e-01 -4.28193561e+01] [ 7.71195685e-01 6.98226229e-03 6.36559866e-01 4.17546245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.18 [[-3.51968792e-01 -8.28363921e-01 4.35810949e-01 9.02724934e+01] [ 5.31831202e-01 -5.60129932e-01 -6.35145678e-01 -4.28198746e+01] [ 7.70242522e-01 8.22640406e-03 6.37698035e-01 4.17514140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.17 [[-3.53368482e-01 -8.27487867e-01 4.36342234e-01 9.02742806e+01] [ 5.32005429e-01 -5.61424417e-01 -6.33855541e-01 -4.28208279e+01] [ 7.69480955e-01 8.15186731e-03 6.38617732e-01 4.17286615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.17 [[-3.53663518e-01 -8.26884260e-01 4.37246539e-01 9.02737250e+01] [ 5.31960723e-01 -5.62305002e-01 -6.33112054e-01 -4.28199269e+01] [ 7.69376309e-01 8.68934878e-03 6.38736715e-01 4.17260041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.17 [[-3.53697217e-01 -8.25772819e-01 4.39314843e-01 9.02716357e+01] [ 5.29104950e-01 -5.63943518e-01 -6.34047049e-01 -4.28216860e+01] [ 7.71327577e-01 8.18298113e-03 6.36385739e-01 4.16695475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.82, Z:4.16 [[-3.53953088e-01 -8.24766257e-01 4.40996408e-01 9.02710271e+01] [ 5.27080855e-01 -5.65418808e-01 -6.34418903e-01 -4.28239311e+01] [ 7.72594968e-01 7.88623371e-03 6.34850237e-01 4.16361646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.54196324e-01 -8.23970881e-01 4.42286052e-01 9.02707866e+01] [ 5.26079068e-01 -5.66575109e-01 -6.34218779e-01 -4.28258087e+01] [ 7.73166074e-01 8.03947387e-03 6.34152654e-01 4.16337145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.55171466e-01 -8.23411708e-01 4.42545353e-01 9.02719146e+01] [ 5.27224162e-01 -5.67378360e-01 -6.32547610e-01 -4.28285146e+01] [ 7.71937765e-01 8.65774114e-03 6.35639152e-01 4.16165798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.55737835e-01 -8.22765588e-01 4.43291529e-01 9.02726846e+01] [ 5.27387911e-01 -5.68307817e-01 -6.31575979e-01 -4.28300478e+01] [ 7.71565023e-01 9.11112203e-03 6.36085217e-01 4.16198508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.55759780e-01 -8.22159087e-01 4.44397811e-01 9.02722338e+01] [ 5.27000611e-01 -5.69175627e-01 -6.31117629e-01 -4.28296250e+01] [ 7.71819496e-01 9.67164891e-03 6.35768137e-01 4.16156239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.56392031e-01 -8.21535941e-01 4.45043164e-01 9.02716947e+01] [ 5.27357366e-01 -5.70066119e-01 -6.30014943e-01 -4.28305567e+01] [ 7.71283948e-01 1.01644860e-02 6.36410052e-01 4.15804693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.55972442e-01 -8.20997090e-01 4.46371368e-01 9.02694317e+01] [ 5.26694814e-01 -5.70828660e-01 -6.29878729e-01 -4.28295927e+01] [ 7.71930174e-01 1.08820149e-02 6.35614182e-01 4.16033666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.83, Z:4.16 [[-3.54679654e-01 -8.21072011e-01 4.47261776e-01 9.02668650e+01] [ 5.27746178e-01 -5.70678852e-01 -6.29134023e-01 -4.28298825e+01] [ 7.71807174e-01 1.28996553e-02 6.35725794e-01 4.16302735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.83, Z:4.17 [[-3.52195921e-01 -8.22094522e-01 4.47346208e-01 9.02604988e+01] [ 5.31641051e-01 -5.69100113e-01 -6.27282117e-01 -4.28320898e+01] [ 7.70269970e-01 1.69014051e-02 6.37493934e-01 4.17227761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.84, Z:4.17 [[-3.51291009e-01 -8.21958542e-01 4.48306573e-01 9.02578129e+01] [ 5.32184110e-01 -5.69248982e-01 -6.26686261e-01 -4.28350561e+01] [ 7.70308185e-01 1.84323856e-02 6.37405324e-01 4.17349057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.84, Z:4.17 [[-3.51155913e-01 -8.21441245e-01 4.49359328e-01 9.02554022e+01] [ 5.31933452e-01 -5.69972518e-01 -6.26241272e-01 -4.28372472e+01] [ 7.70542878e-01 1.91209330e-02 6.37101297e-01 4.17360720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.84, Z:4.17 [[-3.51589371e-01 -8.20903980e-01 4.50001745e-01 9.02511481e+01] [ 5.32309562e-01 -5.70725855e-01 -6.25234779e-01 -4.28392268e+01] [ 7.70085349e-01 1.97143287e-02 6.37636182e-01 4.17292214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.84, Z:4.17 [[-3.52941229e-01 -8.20096947e-01 4.50414794e-01 9.02491669e+01] [ 5.32605022e-01 -5.71885898e-01 -6.23921798e-01 -4.28407921e+01] [ 7.69262230e-01 1.96854552e-02 6.38629864e-01 4.17007362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.84, Z:4.17 [[-3.54397863e-01 -8.18869824e-01 4.51502343e-01 9.02495367e+01] [ 5.31124500e-01 -5.73670626e-01 -6.23545330e-01 -4.28445869e+01] [ 7.69616086e-01 1.88208240e-02 6.38229470e-01 4.16546286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.85, Z:4.16 [[-3.56133272e-01 -8.17620581e-01 4.52399910e-01 9.02502732e+01] [ 5.29922381e-01 -5.75479055e-01 -6.22901379e-01 -4.28479229e+01] [ 7.69643660e-01 1.79009309e-02 6.38222683e-01 4.16275721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.86, Z:4.15 [[-3.60855578e-01 -8.15198745e-01 4.53027877e-01 9.02547663e+01] [ 5.27276734e-01 -5.79000754e-01 -6.21882122e-01 -4.28595325e+01] [ 7.69261008e-01 1.44614267e-02 6.38770983e-01 4.15382502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.87, Z:4.15 [[-3.64213844e-01 -8.13190042e-01 4.53949591e-01 9.02552852e+01] [ 5.24859980e-01 -5.81874635e-01 -6.21243841e-01 -4.28666176e+01] [ 7.69331058e-01 1.19943655e-02 6.38737707e-01 4.14919656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.87, Z:4.15 [[-3.67191526e-01 -8.11594676e-01 4.54405618e-01 9.02541107e+01] [ 5.23894283e-01 -5.84127940e-01 -6.19943005e-01 -4.28722746e+01] [ 7.68573460e-01 1.04226875e-02 6.39676641e-01 4.14570815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.88, Z:4.14 [[-3.68523087e-01 -8.10148264e-01 4.55906268e-01 9.02549471e+01] [ 5.21500346e-01 -5.86152018e-01 -6.20050967e-01 -4.28796108e+01] [ 7.69563593e-01 9.25217999e-03 6.38503151e-01 4.13789975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.88, Z:4.13 [[-3.72876212e-01 -8.08137949e-01 4.55934629e-01 9.02546904e+01] [ 5.20605860e-01 -5.88953183e-01 -6.18145361e-01 -4.28829851e+01] [ 7.68070875e-01 6.87053892e-03 6.40327983e-01 4.13321378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.13 [[-3.74927548e-01 -8.06661877e-01 4.56865352e-01 9.02573122e+01] [ 5.19130487e-01 -5.90985962e-01 -6.17445650e-01 -4.28868072e+01] [ 7.68070876e-01 5.67534884e-03 6.40339691e-01 4.12648546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.12 [[-3.76255835e-01 -8.05052867e-01 4.58608142e-01 9.02586005e+01] [ 5.16162968e-01 -5.93187791e-01 -6.17822009e-01 -4.28878199e+01] [ 7.69420130e-01 4.25740352e-03 6.38728845e-01 4.12262238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.12 [[-3.78778868e-01 -8.03501621e-01 4.59251253e-01 9.02620664e+01] [ 5.15071697e-01 -5.95295243e-01 -6.16704727e-01 -4.28914146e+01] [ 7.68913334e-01 2.95260372e-03 6.39346202e-01 4.11591843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.89, Z:4.11 [[-3.82293369e-01 -8.01520169e-01 4.59801260e-01 9.02669346e+01] [ 5.13470731e-01 -5.97967191e-01 -6.15453530e-01 -4.28916619e+01] [ 7.68244485e-01 8.10685776e-04 6.40156039e-01 4.11274812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.90, Z:4.11 [[-3.82728290e-01 -8.00431786e-01 4.61332865e-01 9.02702161e+01] [ 5.11718504e-01 -5.99423641e-01 -6.15496119e-01 -4.28956400e+01] [ 7.69196483e-01 5.04786238e-04 6.39012141e-01 4.10773478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.90, Z:4.11 [[-3.82425196e-01 -7.99542224e-01 4.63123311e-01 9.02705549e+01] [ 5.09879847e-01 -6.00609569e-01 -6.15865803e-01 -4.28975879e+01] [ 7.70567006e-01 6.14641939e-04 6.37358699e-01 4.10551755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.90, Z:4.11 [[-3.82106515e-01 -7.98735698e-01 4.64775102e-01 9.02684651e+01] [ 5.08409092e-01 -6.01681366e-01 -6.16035493e-01 -4.28963621e+01] [ 7.71696058e-01 9.04712195e-04 6.35990861e-01 4.10714471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-42.87, Z:4.10 [[-3.85680075e-01 -8.25373274e-01 4.12322493e-01 9.03156857e+01] [ 5.11645532e-01 -5.63219032e-01 -6.48847572e-01 -4.28668215e+01] [ 7.67769320e-01 -3.92846185e-02 6.39520906e-01 4.10271762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.92, Z:4.10 [[-3.83863739e-01 -7.68460514e-01 5.11973698e-01 9.02293831e+01] [ 5.09968789e-01 -6.38652526e-01 -5.76241951e-01 -4.29239755e+01] [ 7.69792482e-01 3.98922173e-02 6.37046424e-01 4.10414184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.89, Z:4.10 [[-3.82590241e-01 -7.98146238e-01 4.65389397e-01 9.02746334e+01] [ 5.10543510e-01 -6.02456878e-01 -6.13507159e-01 -4.28916647e+01] [ 7.70045474e-01 2.87968466e-03 6.37982504e-01 4.10217289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.89, Z:4.10 [[-3.83180210e-01 -7.97261916e-01 4.66418658e-01 9.02748629e+01] [ 5.09921756e-01 -6.03626096e-01 -6.12874652e-01 -4.28905790e+01] [ 7.70164093e-01 2.99558310e-03 6.37838770e-01 4.10321686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-42.89, Z:4.10 [[-3.81649153e-01 -7.97236946e-01 4.67714846e-01 9.02757089e+01] [ 5.10229894e-01 -6.03647066e-01 -6.12597482e-01 -4.28907481e+01] [ 7.70720040e-01 4.84478650e-03 6.37155514e-01 4.10218926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.89, Z:4.11 [[-3.80390783e-01 -7.97180047e-01 4.68835606e-01 9.02723914e+01] [ 5.10760104e-01 -6.03705283e-01 -6.12098070e-01 -4.28885627e+01] [ 7.70990900e-01 6.62605852e-03 6.36811689e-01 4.10634957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-42.89, Z:4.11 [[-3.79872634e-01 -7.97135682e-01 4.69330893e-01 9.02704782e+01] [ 5.12266320e-01 -6.03741850e-01 -6.10801929e-01 -4.28898481e+01] [ 7.70246713e-01 8.39547138e-03 6.37690769e-01 4.10704333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.11 [[-3.78173797e-01 -7.97615090e-01 4.69888017e-01 9.02642482e+01] [ 5.14483427e-01 -6.03062573e-01 -6.09608347e-01 -4.28876716e+01] [ 7.69604693e-01 1.12116941e-02 6.38422207e-01 4.11215432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.12 [[-3.73984983e-01 -7.98625095e-01 4.71522206e-01 9.02580869e+01] [ 5.15889036e-01 -6.01637211e-01 -6.09828803e-01 -4.28859221e+01] [ 7.70709890e-01 1.51863216e-02 6.37005213e-01 4.11637853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.88, Z:4.12 [[-3.72724141e-01 -7.98635412e-01 4.72502057e-01 9.02570526e+01] [ 5.16665177e-01 -6.01573610e-01 -6.09234180e-01 -4.28839935e+01] [ 7.70800759e-01 1.70490725e-02 6.36848113e-01 4.11898011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.88, Z:4.12 [[-3.72808132e-01 -7.98188739e-01 4.73190061e-01 9.02586881e+01] [ 5.17117701e-01 -6.02140862e-01 -6.08289130e-01 -4.28832489e+01] [ 7.70456605e-01 1.79198218e-02 6.37240536e-01 4.11816273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.88, Z:4.12 [[-3.73116822e-01 -7.97802239e-01 4.73598379e-01 9.02594371e+01] [ 5.18070458e-01 -6.02623673e-01 -6.06998937e-01 -4.28824346e+01] [ 7.69666705e-01 1.88758147e-02 6.38166801e-01 4.11920828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-42.89, Z:4.12 [[-3.73133712e-01 -7.97601552e-01 4.73922986e-01 9.02555445e+01] [ 5.19430936e-01 -6.02846504e-01 -6.05613404e-01 -4.28867060e+01] [ 7.68741006e-01 2.01954829e-02 6.39241275e-01 4.11870602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.89, Z:4.12 [[-3.72602491e-01 -7.97170137e-01 4.75065423e-01 9.02502684e+01] [ 5.19195784e-01 -6.03385087e-01 -6.05278593e-01 -4.28887807e+01] [ 7.69157410e-01 2.11236529e-02 6.38710161e-01 4.12032757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-42.89, Z:4.12 [[-3.71684137e-01 -7.96899798e-01 4.76236932e-01 9.02461402e+01] [ 5.19172959e-01 -6.03696629e-01 -6.04987454e-01 -4.28905062e+01] [ 7.69617009e-01 2.23850977e-02 6.38113286e-01 4.12062326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.89, Z:4.12 [[-3.68977475e-01 -7.97147944e-01 4.77923402e-01 9.02422633e+01] [ 5.19231168e-01 -6.03274936e-01 -6.05358031e-01 -4.28892656e+01] [ 7.70879120e-01 2.47892484e-02 6.36498920e-01 4.12376276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.89, Z:4.13 [[-3.67860900e-01 -7.97172980e-01 4.78741682e-01 9.02403312e+01] [ 5.20191072e-01 -6.03164177e-01 -6.04643881e-01 -4.28902816e+01] [ 7.70765598e-01 2.66123070e-02 6.36562784e-01 4.12560345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.89, Z:4.13 [[-3.67922212e-01 -7.96819049e-01 4.79283474e-01 9.02374988e+01] [ 5.20913144e-01 -6.03587871e-01 -6.03598524e-01 -4.28918755e+01] [ 7.70248494e-01 2.75877581e-02 6.37146901e-01 4.12727715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.90, Z:4.13 [[-3.66767072e-01 -7.97200261e-01 4.79534837e-01 9.02301276e+01] [ 5.23240549e-01 -6.02966951e-01 -6.02204437e-01 -4.28957750e+01] [ 7.69221193e-01 3.00433132e-02 6.38275925e-01 4.13150851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-42.90, Z:4.13 [[-3.65170812e-01 -7.97092119e-01 4.80930797e-01 9.02250821e+01] [ 5.23109355e-01 -6.03027590e-01 -6.02257692e-01 -4.28980686e+01] [ 7.70069400e-01 3.16524691e-02 6.37174419e-01 4.13317498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.90, Z:4.13 [[-3.64130007e-01 -7.96940400e-01 4.81970266e-01 9.02190784e+01] [ 5.23403444e-01 -6.03150244e-01 -6.01879239e-01 -4.29018248e+01] [ 7.70362365e-01 3.31026059e-02 6.36746452e-01 4.13417046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.272320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.91, Z:4.14 [[-3.64197479e-01 -7.96360795e-01 4.82876464e-01 9.02117543e+01] [ 5.23168405e-01 -6.03886868e-01 -6.01344719e-01 -4.29063597e+01] [ 7.70490114e-01 3.36174785e-02 6.36564882e-01 4.13520759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-42.92, Z:4.13 [[-3.66062637e-01 -7.95569625e-01 4.82770254e-01 9.02035865e+01] [ 5.23996796e-01 -6.04935794e-01 -5.99566545e-01 -4.29170427e+01] [ 7.69041939e-01 3.34911563e-02 6.38320326e-01 4.13262819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-42.92, Z:4.13 [[-3.67679927e-01 -7.94345066e-01 4.83557015e-01 9.02042635e+01] [ 5.22843660e-01 -6.06590309e-01 -5.98901248e-01 -4.29224146e+01] [ 7.69055250e-01 3.26207527e-02 6.38349363e-01 4.12869832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.93, Z:4.12 [[-3.71135655e-01 -7.92342428e-01 4.84202233e-01 9.02069088e+01] [ 5.20618791e-01 -6.09332383e-01 -5.98055283e-01 -4.29278939e+01] [ 7.68904675e-01 3.01251419e-02 6.38653330e-01 4.12173802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.93, Z:4.11 [[-3.73569199e-01 -7.90228727e-01 4.85782474e-01 9.02085881e+01] [ 5.16918549e-01 -6.12190778e-01 -5.98345773e-01 -4.29336921e+01] [ 7.70221570e-01 2.75864205e-02 6.37179506e-01 4.11489653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.95, Z:4.10 [[-3.78349371e-01 -7.87154963e-01 4.87071675e-01 9.02080467e+01] [ 5.12087081e-01 -6.16323545e-01 -5.98257561e-01 -4.29476025e+01] [ 7.71115150e-01 2.30727409e-02 6.36277513e-01 4.10053620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.95, Z:4.10 [[-3.81078626e-01 -7.85634166e-01 4.87399259e-01 9.02063599e+01] [ 5.11202963e-01 -6.18311675e-01 -5.96960805e-01 -4.29538175e+01] [ 7.70357457e-01 2.16709419e-02 6.37243877e-01 4.09656937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.96, Z:4.09 [[-3.83238922e-01 -7.84097988e-01 4.88178526e-01 9.02051911e+01] [ 5.09684261e-01 -6.20303892e-01 -5.96192113e-01 -4.29594973e+01] [ 7.70292076e-01 2.03328890e-02 6.37366999e-01 4.09465485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.97, Z:4.09 [[-3.84682275e-01 -7.82508951e-01 4.89590940e-01 9.02050895e+01] [ 5.07189897e-01 -6.22350193e-01 -5.96186753e-01 -4.29651136e+01] [ 7.71218487e-01 1.89731020e-02 6.36287723e-01 4.08964236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.97, Z:4.09 [[-3.85407500e-01 -7.81619886e-01 4.90440020e-01 9.02054041e+01] [ 5.06639416e-01 -6.23466493e-01 -5.95488064e-01 -4.29669383e+01] [ 7.71218232e-01 1.89706791e-02 6.36288105e-01 4.08767463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.97, Z:4.08 [[-3.87236988e-01 -7.78595811e-01 4.93797608e-01 9.02071098e+01] [ 4.99054980e-01 -6.27347939e-01 -5.97811584e-01 -4.29744879e+01] [ 7.75236507e-01 1.49373981e-02 6.31494444e-01 4.07582941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.98, Z:4.07 [[-3.89693935e-01 -7.76756146e-01 4.94761081e-01 9.02093145e+01] [ 4.96839976e-01 -6.29665541e-01 -5.97219678e-01 -4.29768846e+01] [ 7.75428059e-01 1.30841977e-02 6.31300347e-01 4.06817793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-42.98, Z:4.06 [[-3.93880233e-01 -7.74565582e-01 4.94880311e-01 9.02139627e+01] [ 4.95316166e-01 -6.32405911e-01 -5.95587659e-01 -4.29802004e+01] [ 7.74286935e-01 1.05320122e-02 6.32747042e-01 4.05930375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.98, Z:4.05 [[-3.97367501e-01 -7.72553236e-01 4.95237890e-01 9.02179919e+01] [ 4.93765256e-01 -6.34894364e-01 -5.94226403e-01 -4.29848601e+01] [ 7.73495275e-01 8.40500251e-03 6.33746333e-01 4.05446356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.99, Z:4.05 [[-4.01192625e-01 -7.70438835e-01 4.95447756e-01 9.02210194e+01] [ 4.92294285e-01 -6.37484445e-01 -5.92671848e-01 -4.29927215e+01] [ 7.72457646e-01 6.13052441e-03 6.35036693e-01 4.04810084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.98, Z:4.04 [[-4.01573541e-01 -7.83292631e-01 4.74543302e-01 9.02402942e+01] [ 4.89027878e-01 -6.21501913e-01 -6.12035216e-01 -4.29830471e+01] [ 7.74332245e-01 -1.37122449e-02 6.32630657e-01 4.04268044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.02, Z:4.04 [[-4.03488869e-01 -7.50885871e-01 5.22845236e-01 9.02000320e+01] [ 4.87962011e-01 -6.59972384e-01 -5.71252596e-01 -4.30195468e+01] [ 7.74008920e-01 2.46345491e-02 6.32695291e-01 4.04215662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.00, Z:4.04 [[-4.02635924e-01 -7.67299635e-01 4.99134835e-01 9.02233975e+01] [ 4.86878254e-01 -6.41274793e-01 -5.93056663e-01 -4.29982660e+01] [ 7.75134749e-01 4.23197936e-03 6.31781775e-01 4.04035039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.00, Z:4.04 [[-4.02175755e-01 -7.66950288e-01 5.00041916e-01 9.02231109e+01] [ 4.87286145e-01 -6.41683263e-01 -5.92279328e-01 -4.29975075e+01] [ 7.75117330e-01 5.46311210e-03 6.31793700e-01 4.04018081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.00, Z:4.04 [[-4.01423902e-01 -7.67411798e-01 4.99937978e-01 9.02165520e+01] [ 4.90418527e-01 -6.41101961e-01 -5.90320205e-01 -4.29978622e+01] [ 7.73529908e-01 8.21020686e-03 6.33706615e-01 4.04452597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-42.98, Z:4.05 [[-3.95648298e-01 -7.75515734e-01 4.91973344e-01 9.02218227e+01] [ 4.81922177e-01 -6.31319585e-01 -6.07607273e-01 -4.29831337e+01] [ 7.81801407e-01 -3.30591874e-03 6.23518750e-01 4.05196453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.01, Z:4.04 [[-4.02659635e-01 -7.58201740e-01 5.12830713e-01 9.02051744e+01] [ 4.90422986e-01 -6.51756035e-01 -5.78532079e-01 -4.30096191e+01] [ 7.72884541e-01 1.85524538e-02 6.34275408e-01 4.04083976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.00, Z:4.04 [[-4.02850809e-01 -7.65384186e-01 5.01894683e-01 9.02172671e+01] [ 4.89079669e-01 -6.43520529e-01 -5.88797423e-01 -4.30034789e+01] [ 7.73635768e-01 8.26896689e-03 6.33576611e-01 4.03895241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.04 [[-4.04488800e-01 -7.64450477e-01 5.02000278e-01 9.02160931e+01] [ 4.89629555e-01 -6.44628915e-01 -5.87125593e-01 -4.30079780e+01] [ 7.72432334e-01 8.30844620e-03 6.35042723e-01 4.03737698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.03 [[-4.04843684e-01 -7.63181116e-01 5.03642905e-01 9.02166828e+01] [ 4.87494165e-01 -6.46137788e-01 -5.87243900e-01 -4.30121221e+01] [ 7.73596167e-01 7.78099358e-03 6.33631144e-01 4.03369996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.03 [[-4.06806390e-01 -7.61818155e-01 5.04124647e-01 9.02216672e+01] [ 4.86838852e-01 -6.47752725e-01 -5.86007116e-01 -4.30075914e+01] [ 7.72978973e-01 7.03602499e-03 6.34392624e-01 4.02824614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.01, Z:4.03 [[-4.07382302e-01 -7.60895369e-01 5.05052372e-01 9.02255617e+01] [ 4.86269705e-01 -6.48835108e-01 -5.85281792e-01 -4.30061209e+01] [ 7.73033916e-01 7.15822419e-03 6.34324306e-01 4.02743438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.01, Z:4.03 [[-4.06970410e-01 -7.60088809e-01 5.06596573e-01 9.02269303e+01] [ 4.85032964e-01 -6.49775571e-01 -5.85264668e-01 -4.30062649e+01] [ 7.74027201e-01 7.53063572e-03 6.33107559e-01 4.02782854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-42.99, Z:4.04 [[-4.00655674e-01 -7.71725153e-01 4.93877837e-01 9.02375911e+01] [ 4.76433309e-01 -6.35906390e-01 -6.07152671e-01 -4.29889468e+01] [ 7.82615061e-01 -7.95931043e-03 6.22455072e-01 4.03577182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.03, Z:4.03 [[-4.07469233e-01 -7.46783227e-01 5.25626899e-01 9.02073052e+01] [ 4.85176997e-01 -6.64652148e-01 -5.68190816e-01 -4.30254831e+01] [ 7.73674418e-01 2.35018041e-02 6.33147344e-01 4.02700019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.03 [[-4.05193483e-01 -7.59583061e-01 5.08774817e-01 9.02188036e+01] [ 4.85904012e-01 -6.50323760e-01 -5.83931758e-01 -4.30113269e+01] [ 7.74413024e-01 1.06103818e-02 6.32591406e-01 4.03042622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.03 [[-4.05688120e-01 -7.59290294e-01 5.08817648e-01 9.02196034e+01] [ 4.87530977e-01 -6.50643871e-01 -5.82216540e-01 -4.30116849e+01] [ 7.73130451e-01 1.18660313e-02 6.34136028e-01 4.03274620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.01, Z:4.04 [[-4.02916722e-01 -7.59755314e-01 5.10323404e-01 9.02173251e+01] [ 4.88364608e-01 -6.50044015e-01 -5.82187932e-01 -4.30092179e+01] [ 7.74053050e-01 1.46506356e-02 6.32951210e-01 4.03670808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.01, Z:4.04 [[-4.01643843e-01 -7.59282524e-01 5.12027609e-01 9.02135333e+01] [ 4.87407962e-01 -6.50572935e-01 -5.82398777e-01 -4.30100503e+01] [ 7.75316517e-01 1.56494502e-02 6.31378962e-01 4.03578224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.01, Z:4.04 [[-4.01588357e-01 -7.58846076e-01 5.12717686e-01 9.02091648e+01] [ 4.87864994e-01 -6.51057813e-01 -5.81473535e-01 -4.30123258e+01] [ 7.75057765e-01 1.66240095e-02 6.31671673e-01 4.03534029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.02, Z:4.03 [[-4.02631053e-01 -7.58104754e-01 5.12996508e-01 9.02068487e+01] [ 4.88365851e-01 -6.51912063e-01 -5.80094353e-01 -4.30170507e+01] [ 7.74200899e-01 1.69659759e-02 6.32712513e-01 4.03313771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.02, Z:4.04 [[-4.04568405e-01 -7.57693958e-01 5.12078385e-01 9.02059659e+01] [ 4.90973696e-01 -6.52366456e-01 -5.77375819e-01 -4.30212488e+01] [ 7.71536931e-01 1.78290032e-02 6.35934660e-01 4.03531181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.02, Z:4.03 [[-4.05344921e-01 -7.56941321e-01 5.12577147e-01 9.02063786e+01] [ 4.91135464e-01 -6.53230456e-01 -5.76260295e-01 -4.30229393e+01] [ 7.71026232e-01 1.81606318e-02 6.36544374e-01 4.03434987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.00, Z:4.03 [[-4.02870101e-01 -7.74852765e-01 4.87133323e-01 9.02313417e+01] [ 4.83001938e-01 -6.32079997e-01 -6.05957098e-01 -4.29996184e+01] [ 7.77434762e-01 -8.83565814e-03 6.28901520e-01 4.03189028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.05, Z:4.03 [[-4.04846033e-01 -7.37534334e-01 5.40502355e-01 9.01842206e+01] [ 4.87686338e-01 -6.74179926e-01 -5.54656166e-01 -4.30456075e+01] [ 7.73473804e-01 3.90452658e-02 6.32624487e-01 4.03110295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.03, Z:4.02 [[-4.05589162e-01 -7.54042163e-01 5.16640928e-01 9.02044908e+01] [ 4.85549509e-01 -6.56611927e-01 -5.77150285e-01 -4.30282593e+01] [ 7.74428245e-01 1.67688487e-02 6.32439483e-01 4.02468077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.03, Z:4.02 [[-4.06209988e-01 -7.53041606e-01 5.17611617e-01 9.02037267e+01] [ 4.84699109e-01 -6.57761366e-01 -5.76555946e-01 -4.30322696e+01] [ 7.74635540e-01 1.66831056e-02 6.32187832e-01 4.02212594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.04, Z:4.02 [[-4.07800227e-01 -7.52471578e-01 5.17190002e-01 9.02012970e+01] [ 4.86375578e-01 -6.58397412e-01 -5.74414175e-01 -4.30359356e+01] [ 7.72746900e-01 1.73023550e-02 6.34478413e-01 4.02411623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.04, Z:4.02 [[-4.09041016e-01 -7.51845822e-01 5.17120206e-01 9.02002431e+01] [ 4.87480226e-01 -6.59097575e-01 -5.72672172e-01 -4.30412159e+01] [ 7.71393853e-01 1.78394679e-02 6.36107913e-01 4.02376996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.04, Z:4.02 [[-4.10086377e-01 -7.50193183e-01 5.18690033e-01 9.01993724e+01] [ 4.84795046e-01 -6.61010739e-01 -5.72746511e-01 -4.30446591e+01] [ 7.72530211e-01 1.65828166e-02 6.34761438e-01 4.01844298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.05, Z:4.01 [[-4.11123731e-01 -7.48371806e-01 5.20496800e-01 9.02013043e+01] [ 4.81533360e-01 -6.63109080e-01 -5.73072396e-01 -4.30462982e+01] [ 7.74017378e-01 1.50329109e-02 6.32985869e-01 4.01102503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.03, Z:4.00 [[-4.14751568e-01 -7.65214963e-01 4.92368965e-01 9.02281157e+01] [ 4.79561851e-01 -6.43676737e-01 -5.96406479e-01 -4.30273593e+01] [ 7.73305611e-01 -1.12391501e-02 6.33933840e-01 3.99899610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.06, Z:4.01 [[-4.11448657e-01 -7.37482067e-01 5.35565311e-01 9.01995709e+01] [ 4.64378196e-01 -6.75243133e-01 -5.73061604e-01 -4.30614617e+01] [ 7.84259455e-01 1.29194253e-02 6.20298472e-01 4.00517333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.08, Z:3.99 [[-4.23743290e-01 -7.31311991e-01 5.34438393e-01 9.02038618e+01] [ 4.73874354e-01 -6.81828290e-01 -5.57273075e-01 -4.30791259e+01] [ 7.71935698e-01 1.71159224e-02 6.35470160e-01 3.98898054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.05, Z:3.99 [[-4.15887653e-01 -7.50108767e-01 5.14173411e-01 9.02246784e+01] [ 4.59811307e-01 -6.61237502e-01 -5.92738161e-01 -4.30523746e+01] [ 7.84608834e-01 -1.00897344e-02 6.19909006e-01 3.99392562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.772320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.08, Z:3.98 [[-4.25004668e-01 -7.29788426e-01 5.35518333e-01 9.02060373e+01] [ 4.68855752e-01 -6.83543142e-01 -5.59413136e-01 -4.30840561e+01] [ 7.74303116e-01 1.33276572e-02 6.32674528e-01 3.98054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.07, Z:3.98 [[-4.24808164e-01 -7.38042090e-01 5.24244120e-01 9.02149229e+01] [ 4.67125463e-01 -6.74751251e-01 -5.71405767e-01 -4.30741023e+01] [ 7.75455882e-01 2.14994281e-03 6.31398094e-01 3.97587649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.07, Z:3.98 [[-4.24705492e-01 -7.37477879e-01 5.25120580e-01 9.02148511e+01] [ 4.67257634e-01 -6.75364442e-01 -5.70572672e-01 -4.30723276e+01] [ 7.75432491e-01 3.04125174e-03 6.31423156e-01 3.97596229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.07, Z:3.98 [[-4.25570145e-01 -7.36719055e-01 5.25485570e-01 9.02164799e+01] [ 4.67747228e-01 -6.76189573e-01 -5.69192579e-01 -4.30731812e+01] [ 7.74662883e-01 3.56305045e-03 6.32364391e-01 3.97552162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.08, Z:3.97 [[-4.26887431e-01 -7.35863878e-01 5.25615329e-01 9.02180179e+01] [ 4.68376568e-01 -6.77118276e-01 -5.67568701e-01 -4.30758625e+01] [ 7.73557051e-01 3.89795922e-03 6.33714679e-01 3.97444338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.08, Z:3.97 [[-4.29690366e-01 -7.34545883e-01 5.25174766e-01 9.02189379e+01] [ 4.68998718e-01 -6.78550578e-01 -5.65340000e-01 -4.30788216e+01] [ 7.71625811e-01 3.38514023e-03 6.36067724e-01 3.97339776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.08, Z:3.97 [[-4.31794708e-01 -7.32508343e-01 5.26293508e-01 9.02220302e+01] [ 4.66460206e-01 -6.80756120e-01 -5.64788439e-01 -4.30831272e+01] [ 7.71989771e-01 1.62231901e-03 6.35632883e-01 3.96548548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.08, Z:3.96 [[-4.32194671e-01 -7.30827087e-01 5.28298718e-01 9.02240309e+01] [ 4.63349333e-01 -6.82562447e-01 -5.65168914e-01 -4.30837882e+01] [ 7.73637617e-01 5.23866273e-04 6.33628096e-01 3.96028728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.08, Z:3.96 [[-4.33109645e-01 -7.29463963e-01 5.29432113e-01 9.02251427e+01] [ 4.61892367e-01 -6.84019244e-01 -5.64599960e-01 -4.30830808e+01] [ 7.73997078e-01 6.96378888e-06 6.33189168e-01 3.95762839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.08, Z:3.96 [[-4.34481282e-01 -7.28412029e-01 5.29756484e-01 9.02260581e+01] [ 4.61981152e-01 -6.85139339e-01 -5.63167384e-01 -4.30832466e+01] [ 7.73174903e-01 5.18234472e-05 6.34192846e-01 3.95681113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.09, Z:3.96 [[-4.35991045e-01 -7.27911931e-01 5.29203202e-01 9.02275696e+01] [ 4.64051894e-01 -6.85669804e-01 -5.60814371e-01 -4.30889256e+01] [ 7.71082128e-01 1.06770479e-03 6.36734805e-01 3.95769963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.09, Z:3.96 [[-4.36204811e-01 -7.27070595e-01 5.30182716e-01 9.02263347e+01] [ 4.63610075e-01 -6.86561101e-01 -5.60088879e-01 -4.30920974e+01] [ 7.71226984e-01 1.48458519e-03 6.36558509e-01 3.95578082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.09, Z:3.96 [[-4.35852696e-01 -7.26572887e-01 5.31153714e-01 9.02244670e+01] [ 4.63721788e-01 -6.87084807e-01 -5.59353709e-01 -4.30920461e+01] [ 7.71358886e-01 2.51172733e-03 6.36395443e-01 3.95509828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.07, Z:3.96 [[-4.24954904e-01 -7.32662394e-01 5.31619362e-01 9.02256316e+01] [ 4.51251218e-01 -6.80570805e-01 -5.77231078e-01 -4.30749378e+01] [ 7.84720121e-01 -5.40329198e-03 6.19826699e-01 3.96496696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.95 [[-4.37613150e-01 -7.18502834e-01 5.40600044e-01 9.02182261e+01] [ 4.62168837e-01 -6.95464885e-01 -5.50207743e-01 -4.30989923e+01] [ 7.71294170e-01 9.07035026e-03 6.36414198e-01 3.95074674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.94 [[-4.39790993e-01 -7.23059848e-01 5.32699107e-01 9.02290184e+01] [ 4.60685564e-01 -6.90785321e-01 -5.57301041e-01 -4.30962275e+01] [ 7.70942730e-01 3.10810148e-04 6.36904397e-01 3.94442014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.94 [[-4.41880484e-01 -7.21112376e-01 5.33609013e-01 9.02304103e+01] [ 4.58598240e-01 -6.92817086e-01 -5.56499901e-01 -4.30986299e+01] [ 7.70992407e-01 -1.19429089e-03 6.36843216e-01 3.94251626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.09, Z:3.95 [[-4.45757783e-01 -7.17501264e-01 5.35249414e-01 9.02265539e+01] [ 4.52998357e-01 -6.96534910e-01 -5.56445512e-01 -4.30948963e+01] [ 7.72070260e-01 -5.57281272e-03 6.35512751e-01 3.94877716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.95 [[-4.48305851e-01 -7.15712253e-01 5.35516418e-01 9.02253472e+01] [ 4.51976927e-01 -6.98362553e-01 -5.54983424e-01 -4.30957098e+01] [ 7.71193050e-01 -6.76125154e-03 6.36565444e-01 3.95030325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.95 [[-4.50603108e-01 -7.14612070e-01 5.35057406e-01 9.02258487e+01] [ 4.52909117e-01 -6.99488290e-01 -5.52801468e-01 -4.30989873e+01] [ 7.69304992e-01 -6.76168210e-03 6.38845920e-01 3.94864614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.95 [[-4.52438951e-01 -7.13345516e-01 5.35198253e-01 9.02271130e+01] [ 4.52809542e-01 -7.00776912e-01 -5.51248799e-01 -4.31011011e+01] [ 7.68285438e-01 -7.06355269e-03 6.40068428e-01 3.94838223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.95 [[-4.54167169e-01 -7.11413046e-01 5.36305566e-01 9.02269389e+01] [ 4.50466670e-01 -7.02722506e-01 -5.50691256e-01 -4.30983468e+01] [ 7.68642935e-01 -8.51810630e-03 6.39621357e-01 3.94923683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.95 [[-4.54278278e-01 -7.09784778e-01 5.38364946e-01 9.02247935e+01] [ 4.47393419e-01 -7.04354581e-01 -5.51111379e-01 -4.30983450e+01] [ 7.70370284e-01 -9.49699481e-03 6.37526025e-01 3.94863839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.95 [[-4.54956845e-01 -7.08713481e-01 5.39202626e-01 9.02252313e+01] [ 4.46703938e-01 -7.05432527e-01 -5.50291325e-01 -4.31002051e+01] [ 7.70369951e-01 -9.49486904e-03 6.37526459e-01 3.94666842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.94 [[-4.54809964e-01 -7.07318083e-01 5.41155270e-01 9.02241210e+01] [ 4.44108580e-01 -7.06823403e-01 -5.50607161e-01 -4.31030845e+01] [ 7.71955611e-01 -1.00899244e-02 6.35596356e-01 3.94355660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.94 [[-4.55693898e-01 -7.05872077e-01 5.42298518e-01 9.02212395e+01] [ 4.42451584e-01 -7.08257980e-01 -5.50097473e-01 -4.31035082e+01] [ 7.72385698e-01 -1.07352231e-02 6.35063058e-01 3.94416915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.94 [[-4.57437519e-01 -7.04276784e-01 5.42904345e-01 9.02212812e+01] [ 4.41232453e-01 -7.09830582e-01 -5.49048693e-01 -4.31042039e+01] [ 7.72052355e-01 -1.16084556e-02 6.35452913e-01 3.94463185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.11, Z:3.94 [[-4.59183772e-01 -7.02638294e-01 5.43552841e-01 9.02224696e+01] [ 4.39880370e-01 -7.11436356e-01 -5.48054351e-01 -4.31064156e+01] [ 7.71787227e-01 -1.25594394e-02 6.35756823e-01 3.94313950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.11, Z:3.95 [[-4.62301161e-01 -7.00506981e-01 5.43661298e-01 9.02203495e+01] [ 4.38437855e-01 -7.13502340e-01 -5.46522331e-01 -4.31064057e+01] [ 7.70746316e-01 -1.42962152e-02 6.36981738e-01 3.94720763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.08, Z:3.96 [[-4.54661228e-01 -7.16296930e-01 5.29340982e-01 9.02331970e+01] [ 4.29665850e-01 -6.96986985e-01 -5.74104869e-01 -4.30821457e+01] [ 7.80173330e-01 -3.35834818e-02 6.24661288e-01 3.95777504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.12, Z:3.95 [[-4.64912199e-01 -6.79140401e-01 5.68000847e-01 9.01998422e+01] [ 4.32916999e-01 -7.34003719e-01 -5.23279478e-01 -4.31230196e+01] [ 7.72294969e-01 2.61820877e-03 6.35258708e-01 3.95127310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.95 [[-4.64782791e-01 -6.96010076e-01 5.47308809e-01 9.02188418e+01] [ 4.31202126e-01 -7.17804586e-01 -5.46645499e-01 -4.31010655e+01] [ 7.73331548e-01 -1.80706985e-02 6.33744243e-01 3.94820898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.95 [[-4.65472491e-01 -6.94514804e-01 5.48620585e-01 9.02158208e+01] [ 4.29185019e-01 -7.19231318e-01 -5.46357512e-01 -4.31016057e+01] [ 7.74038487e-01 -1.88546563e-02 6.32857743e-01 3.94678177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.10, Z:3.95 [[-4.65704233e-01 -6.93204042e-01 5.50079744e-01 9.02132439e+01] [ 4.27261039e-01 -7.20481641e-01 -5.46218098e-01 -4.31046796e+01] [ 7.74962949e-01 -1.93484376e-02 6.31710429e-01 3.94557372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.11, Z:3.94 [[-4.67348168e-01 -6.92420797e-01 5.49671838e-01 9.02176166e+01] [ 4.28494063e-01 -7.21248477e-01 -5.44236596e-01 -4.31067335e+01] [ 7.73290714e-01 -1.88168567e-02 6.33772355e-01 3.94488532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.11, Z:3.94 [[-4.68779773e-01 -6.91351524e-01 5.49798686e-01 9.02234674e+01] [ 4.28603836e-01 -7.22273868e-01 -5.42788366e-01 -4.31060637e+01] [ 7.72362788e-01 -1.88023815e-02 6.34903295e-01 3.94410967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.11, Z:3.94 [[-4.70007714e-01 -6.90166911e-01 5.50238480e-01 9.02285641e+01] [ 4.28143381e-01 -7.23400779e-01 -5.41649848e-01 -4.31062996e+01] [ 7.71871747e-01 -1.89986436e-02 6.35494341e-01 3.94322383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.11, Z:3.94 [[-4.70103246e-01 -6.88984398e-01 5.51637052e-01 9.02289683e+01] [ 4.26499803e-01 -7.24520102e-01 -5.41450404e-01 -4.31065464e+01] [ 7.72723014e-01 -1.92644980e-02 6.34450962e-01 3.94234768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.10, Z:3.94 [[-4.70627664e-01 -6.86647530e-01 5.54098160e-01 9.02239573e+01] [ 4.21751717e-01 -7.26671826e-01 -5.42285485e-01 -4.30995202e+01] [ 7.75006511e-01 -2.15227002e-02 6.31586639e-01 3.94144670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.94 [[-4.71596628e-01 -6.85421495e-01 5.54791848e-01 9.02259841e+01] [ 4.20904431e-01 -7.27819834e-01 -5.41403500e-01 -4.30964594e+01] [ 7.74878107e-01 -2.18097176e-02 6.31734324e-01 3.93844054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.10, Z:3.93 [[-4.71823621e-01 -6.84844310e-01 5.55311391e-01 9.02318263e+01] [ 4.21260724e-01 -7.28386021e-01 -5.40363958e-01 -4.30982398e+01] [ 7.74546237e-01 -2.10256007e-02 6.32167740e-01 3.93460573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.08, Z:3.94 [[-4.60621041e-01 -7.08549676e-01 5.34589201e-01 9.02574648e+01] [ 4.21154686e-01 -7.04642602e-01 -5.71058258e-01 -4.30825287e+01] [ 7.81317469e-01 -3.78967023e-02 6.22982225e-01 3.93827235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.12, Z:3.93 [[-4.57471447e-01 -6.81684663e-01 5.70986774e-01 9.02288364e+01] [ 4.20635403e-01 -7.31627360e-01 -5.36458073e-01 -4.31221013e+01] [ 7.83444787e-01 -5.23699924e-03 6.21439330e-01 3.93282155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.14, Z:3.91 [[-4.64651053e-01 -6.74692454e-01 5.73488876e-01 9.02289644e+01] [ 4.30242449e-01 -7.38080358e-01 -5.19739185e-01 -4.31408437e+01] [ 7.73944981e-01 5.24189851e-03 6.33231149e-01 3.91425164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.11, Z:3.93 [[-4.48788758e-01 -6.96944260e-01 5.59336526e-01 9.02463539e+01] [ 4.18270988e-01 -7.16939060e-01 -5.57716563e-01 -4.31082506e+01] [ 7.89707560e-01 -1.63426826e-02 6.13265755e-01 3.92528555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.13, Z:3.90 [[-4.60747453e-01 -6.85228022e-01 5.64069448e-01 9.02473147e+01] [ 4.35052177e-01 -7.28327106e-01 -5.29404599e-01 -4.31312995e+01] [ 7.73589935e-01 1.47782078e-03 6.33684802e-01 3.90056579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.13, Z:3.90 [[-4.60927617e-01 -6.90435751e-01 5.57534040e-01 9.02554839e+01] [ 4.35074880e-01 -7.23379432e-01 -5.36126894e-01 -4.31283349e+01] [ 7.73469832e-01 -4.54663546e-03 6.33816809e-01 3.89750724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.11, Z:3.91 [[-4.52374837e-01 -7.08792731e-01 5.41266913e-01 9.02689546e+01] [ 4.27935282e-01 -7.05001146e-01 -5.65548211e-01 -4.31061394e+01] [ 7.82450255e-01 -2.42125710e-02 6.22242196e-01 3.90512746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.14, Z:3.90 [[-4.46571288e-01 -6.86762843e-01 5.73524962e-01 9.02395600e+01] [ 4.26621592e-01 -7.26868631e-01 -5.38196999e-01 -4.31410891e+01] [ 7.86491006e-01 4.33480536e-03 6.17586518e-01 3.89962418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.14, Z:3.90 [[-4.45005690e-01 -6.90707380e-01 5.69994080e-01 9.02400222e+01] [ 4.27425649e-01 -7.23131081e-01 -5.42576036e-01 -4.31380785e+01] [ 7.86941707e-01 2.18066568e-03 6.17023496e-01 3.89988496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.14, Z:3.90 [[-4.45214052e-01 -6.90836017e-01 5.69675386e-01 9.02382102e+01] [ 4.28657087e-01 -7.23005291e-01 -5.41771586e-01 -4.31380410e+01] [ 7.86153643e-01 2.99106861e-03 6.18023870e-01 3.90164875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.89 [[-4.54733716e-01 -6.78715295e-01 5.76682578e-01 9.02325834e+01] [ 4.38991702e-01 -7.34189643e-01 -5.17930355e-01 -4.31587157e+01] [ 7.74921630e-01 1.76384711e-02 6.31811167e-01 3.89086295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.14, Z:3.89 [[-4.53529045e-01 -6.91733581e-01 5.61975141e-01 9.02441322e+01] [ 4.40257245e-01 -7.22132425e-01 -5.33571288e-01 -4.31449636e+01] [ 7.74909648e-01 5.42355055e-03 6.32048750e-01 3.89253745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.12, Z:3.90 [[-4.45276912e-01 -7.04608834e-01 5.52498744e-01 9.02496850e+01] [ 4.32887086e-01 -7.09546081e-01 -5.56015404e-01 -4.31236731e+01] [ 7.83796685e-01 -8.41125086e-03 6.20960553e-01 3.90468142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.17, Z:3.89 [[-4.55694574e-01 -6.74776211e-01 5.80533823e-01 9.02269665e+01] [ 4.40108537e-01 -7.37688645e-01 -5.11976502e-01 -4.31659056e+01] [ 7.73722774e-01 2.21929773e-02 6.33135484e-01 3.89225659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.15, Z:3.89 [[-4.55745418e-01 -6.88816016e-01 5.63762903e-01 9.02451836e+01] [ 4.37861314e-01 -7.24922208e-01 -5.31756769e-01 -4.31515377e+01] [ 7.74966827e-01 4.50425485e-03 6.31985861e-01 3.88574902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.13, Z:3.89 [[-4.51603141e-01 -7.06447265e-01 5.44965013e-01 9.02616936e+01] [ 4.33575918e-01 -7.07591630e-01 -5.57965957e-01 -4.31293160e+01] [ 7.79786206e-01 -1.56954726e-02 6.25849124e-01 3.88658974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.18, Z:3.88 [[-4.56667589e-01 -6.63092237e-01 5.93096449e-01 9.02209380e+01] [ 4.34489755e-01 -7.47992139e-01 -5.01723443e-01 -4.31826153e+01] [ 7.76320402e-01 2.85734956e-02 6.29690550e-01 3.88357592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.16, Z:3.88 [[-4.56118711e-01 -6.86332286e-01 5.66483641e-01 9.02429887e+01] [ 4.35214493e-01 -7.27274360e-01 -5.30716827e-01 -4.31558177e+01] [ 7.76237120e-01 4.47201551e-03 6.30425201e-01 3.88256789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.13, Z:3.88 [[-4.56851200e-01 -7.08566339e-01 5.37792455e-01 9.02669594e+01] [ 4.37778146e-01 -7.05381504e-01 -5.57482940e-01 -4.31290742e+01] [ 7.74362497e-01 -1.92529662e-02 6.32449245e-01 3.87988836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.18, Z:3.89 [[-4.57268131e-01 -6.60904051e-01 5.95072846e-01 9.02192068e+01] [ 4.38041496e-01 -7.49706991e-01 -4.96043421e-01 -4.31828148e+01] [ 7.73967379e-01 3.38417521e-02 6.32320513e-01 3.88818334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.16, Z:3.88 [[-4.56926455e-01 -6.85398124e-01 5.66963514e-01 9.02436015e+01] [ 4.37505998e-01 -7.28135310e-01 -5.27643319e-01 -4.31557356e+01] [ 7.74471895e-01 6.95574731e-03 6.32570076e-01 3.88439394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.16, Z:3.88 [[-4.57490663e-01 -6.84502806e-01 5.67589819e-01 9.02427132e+01] [ 4.37349959e-01 -7.28973532e-01 -5.26614283e-01 -4.31591088e+01] [ 7.74226909e-01 7.31426680e-03 6.32865858e-01 3.88301468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.16, Z:3.88 [[-4.56555280e-01 -6.84229370e-01 5.68671650e-01 9.02419489e+01] [ 4.37677476e-01 -7.29214461e-01 -5.26008267e-01 -4.31589121e+01] [ 7.74593896e-01 8.74292081e-03 6.32398496e-01 3.88325394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-43.14, Z:3.89 [[-4.45882686e-01 -6.97667935e-01 5.60756706e-01 9.02493271e+01] [ 4.28484848e-01 -7.16402187e-01 -5.50607521e-01 -4.31367787e+01] [ 7.85868543e-01 -5.23060829e-03 6.18371470e-01 3.89351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.17, Z:3.89 [[-4.53713257e-01 -6.68967243e-01 5.88750463e-01 9.02224410e+01] [ 4.37958971e-01 -7.42761929e-01 -5.06454989e-01 -4.31749187e+01] [ 7.76103228e-01 2.80632037e-02 6.29981140e-01 3.88798951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.89 [[-4.53147076e-01 -6.84244811e-01 5.71372703e-01 9.02343715e+01] [ 4.38913439e-01 -7.29139269e-01 -5.25081821e-01 -4.31592515e+01] [ 7.75894787e-01 1.28438664e-02 6.30731571e-01 3.88919442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.90 [[-4.52508211e-01 -6.85306776e-01 5.70605768e-01 9.02285280e+01] [ 4.43362830e-01 -7.28069737e-01 -5.22822972e-01 -4.31619635e+01] [ 7.73734916e-01 1.64037006e-02 6.33297085e-01 3.89530690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.90 [[-4.52663730e-01 -6.85113762e-01 5.70714185e-01 9.02267803e+01] [ 4.44809004e-01 -7.28217453e-01 -5.21386893e-01 -4.31619180e+01] [ 7.72813365e-01 1.78458721e-02 6.34382398e-01 3.89631608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.89 [[-4.52590194e-01 -6.84121081e-01 5.71961941e-01 9.02280675e+01] [ 4.43731404e-01 -7.29146437e-01 -5.21006635e-01 -4.31637014e+01] [ 7.73475634e-01 1.79949810e-02 6.33570536e-01 3.89385834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.17, Z:3.89 [[-4.52948456e-01 -6.83153828e-01 5.72833783e-01 9.02278638e+01] [ 4.43089502e-01 -7.30048853e-01 -5.20288733e-01 -4.31654410e+01] [ 7.73633886e-01 1.81526578e-02 6.33372790e-01 3.89034158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.17, Z:3.89 [[-4.53684483e-01 -6.82608237e-01 5.72901723e-01 9.02254652e+01] [ 4.43979180e-01 -7.30538347e-01 -5.18841220e-01 -4.31662232e+01] [ 7.72691968e-01 1.89662267e-02 6.34497757e-01 3.89132117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.17, Z:3.90 [[-4.51678920e-01 -6.83139069e-01 5.73852914e-01 9.02203823e+01] [ 4.45670108e-01 -7.29966115e-01 -5.18196513e-01 -4.31687644e+01] [ 7.72893465e-01 2.16906488e-02 6.34164969e-01 3.89583302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.15, Z:3.89 [[-4.51542405e-01 -7.02694795e-01 5.49844960e-01 9.02386497e+01] [ 4.47314778e-01 -7.11490314e-01 -5.41932674e-01 -4.31507591e+01] [ 7.72022633e-01 1.24819332e-03 6.35593814e-01 3.89052244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.21, Z:3.90 [[-4.52168019e-01 -6.56871350e-01 6.03377255e-01 9.01907387e+01] [ 4.44308849e-01 -7.52457998e-01 -4.86206343e-01 -4.32078830e+01] [ 7.73391058e-01 4.82388952e-02 6.32091196e-01 3.89827875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.16, Z:3.89 [[-4.51549356e-01 -6.98870608e-01 5.54691853e-01 9.02295938e+01] [ 4.44474121e-01 -7.15241769e-01 -5.39325475e-01 -4.31631195e+01] [ 7.73657505e-01 3.01410209e-03 6.33596860e-01 3.88903852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.21, Z:3.89 [[-4.55393996e-01 -6.58065783e-01 5.99638003e-01 9.01929579e+01] [ 4.43347553e-01 -7.51702684e-01 -4.88247909e-01 -4.32117868e+01] [ 7.72048739e-01 4.35028748e-02 6.34072744e-01 3.89176452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.19, Z:3.89 [[-4.55463201e-01 -6.78338546e-01 5.76550162e-01 9.02141684e+01] [ 4.41794645e-01 -7.34474740e-01 -5.15135271e-01 -4.31887300e+01] [ 7.72897641e-01 2.00916144e-02 6.34212553e-01 3.88572049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.17, Z:3.88 [[-4.56988790e-01 -6.97517315e-01 5.51933729e-01 9.02338228e+01] [ 4.42046834e-01 -7.16563229e-01 -5.39566248e-01 -4.31690245e+01] [ 7.71852215e-01 -2.59516945e-03 6.35796684e-01 3.87610913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.23, Z:3.88 [[-4.57604143e-01 -6.51289667e-01 6.05326539e-01 9.01867213e+01] [ 4.34753454e-01 -7.57748471e-01 -4.86627876e-01 -4.32330585e+01] [ 7.75620966e-01 4.04848717e-02 6.29899271e-01 3.87714319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.18, Z:3.86 [[-4.62060809e-01 -7.03309214e-01 5.40236947e-01 9.02378667e+01] [ 4.36627372e-01 -7.10629241e-01 -5.51690692e-01 -4.31757848e+01] [ 7.71917319e-01 -1.90324088e-02 6.35437975e-01 3.86165059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.23, Z:3.86 [[-4.63272058e-01 -6.62305390e-01 5.88838324e-01 9.02004414e+01] [ 4.32345496e-01 -7.48913105e-01 -5.02201686e-01 -4.32292434e+01] [ 7.73599620e-01 2.19255887e-02 6.33295267e-01 3.86406160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.25, Z:3.87 [[-4.64724237e-01 -6.48640274e-01 6.02741386e-01 9.01903860e+01] [ 4.31431766e-01 -7.60318080e-01 -4.85574968e-01 -4.32478785e+01] [ 7.73238653e-01 3.43833239e-02 6.33182258e-01 3.86656075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.23, Z:3.85 [[-4.69358334e-01 -6.66956531e-01 5.78681035e-01 9.02141900e+01] [ 4.28002579e-01 -7.45058192e-01 -5.11568259e-01 -4.32320567e+01] [ 7.72344837e-01 7.56814962e-03 6.35158387e-01 3.85226616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.24, Z:3.84 [[-4.72013101e-01 -6.63948804e-01 5.79978981e-01 9.02185053e+01] [ 4.23747282e-01 -7.47764555e-01 -5.11161824e-01 -4.32391055e+01] [ 7.73073007e-01 4.48943913e-03 6.34301168e-01 3.84091358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.24, Z:3.83 [[-4.74034575e-01 -6.61006435e-01 5.81688675e-01 9.02189624e+01] [ 4.19201821e-01 -7.50378577e-01 -5.11079078e-01 -4.32431415e+01] [ 7.74313280e-01 1.57579804e-03 6.32800491e-01 3.83356209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.25, Z:3.83 [[-4.74691487e-01 -6.59832538e-01 5.82485205e-01 9.02195879e+01] [ 4.18458487e-01 -7.51411039e-01 -5.10170506e-01 -4.32450465e+01] [ 7.74312913e-01 1.57228145e-03 6.32800949e-01 3.83158762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.25, Z:3.83 [[-4.78534028e-01 -6.55965429e-01 5.83707582e-01 9.02177136e+01] [ 4.13014193e-01 -7.54785767e-01 -5.09625081e-01 -4.32508411e+01] [ 7.74870609e-01 -2.79342648e-03 6.32113705e-01 3.82806131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.25, Z:3.83 [[-4.81418371e-01 -6.53607627e-01 5.83980670e-01 9.02147731e+01] [ 4.10982361e-01 -7.56819141e-01 -5.08250221e-01 -4.32530498e+01] [ 7.74163969e-01 -4.67523868e-03 6.32967843e-01 3.82977868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.23, Z:3.84 [[-4.74702795e-01 -6.68937683e-01 5.71996182e-01 9.02230806e+01] [ 4.02833204e-01 -7.42952119e-01 -5.34553606e-01 -4.32287029e+01] [ 7.82548827e-01 -2.33350355e-02 6.22151758e-01 3.84061611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.24, Z:3.82 [[-4.90385383e-01 -6.64923358e-01 5.63381846e-01 9.02297117e+01] [ 4.12927318e-01 -7.46551527e-01 -5.21681749e-01 -4.32391605e+01] [ 7.67471958e-01 -2.31893494e-02 6.40662976e-01 3.82418538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-43.29, Z:3.85 [[-4.88547780e-01 -6.10256642e-01 6.23624806e-01 9.01797266e+01] [ 4.00946496e-01 -7.91810832e-01 -4.60735839e-01 -4.32931141e+01] [ 7.74959982e-01 2.49487096e-02 6.31517686e-01 3.84760800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.25, Z:3.84 [[-4.89706288e-01 -6.44663875e-01 5.87023202e-01 9.02069259e+01] [ 3.99061539e-01 -7.64342075e-01 -5.06488973e-01 -4.32469326e+01] [ 7.75201677e-01 -1.37724522e-02 6.31563679e-01 3.84310819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.24, Z:3.84 [[-4.92227617e-01 -6.41869624e-01 5.87975644e-01 9.02043931e+01] [ 3.95548743e-01 -7.66638770e-01 -5.05772862e-01 -4.32446472e+01] [ 7.75405162e-01 -1.63823434e-02 6.31251498e-01 3.84460439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.20, Z:3.85 [[-4.89276161e-01 -6.68625637e-01 5.59954101e-01 9.02261529e+01] [ 3.90620276e-01 -7.42060757e-01 -5.44758324e-01 -4.32044056e+01] [ 7.79759346e-01 -4.78078358e-02 6.24251370e-01 3.84749903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.17, Y:-43.28, Z:3.87 [[-4.99665570e-01 -6.00257178e-01 6.24520326e-01 9.01714419e+01] [ 3.84623183e-01 -7.99745951e-01 -4.60946223e-01 -4.32754966e+01] [ 7.76143881e-01 9.88603837e-03 6.30478343e-01 3.86508091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.23, Z:3.87 [[-5.03491462e-01 -6.31458808e-01 5.89708506e-01 9.01978568e+01] [ 3.81636772e-01 -7.74879788e-01 -5.03899482e-01 -4.32304326e+01] [ 7.75144968e-01 -2.86546363e-02 6.31133259e-01 3.86948752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.23, Z:3.87 [[-5.06054321e-01 -6.28383521e-01 5.90798760e-01 9.01976910e+01] [ 3.77450255e-01 -7.77255594e-01 -5.03393531e-01 -4.32288705e+01] [ 7.75525840e-01 -3.17473296e-02 6.30517072e-01 3.87377925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.22, Z:3.88 [[-5.08807057e-01 -6.24802339e-01 5.92230881e-01 9.01929189e+01] [ 3.72079996e-01 -7.79967620e-01 -5.03196769e-01 -4.32234621e+01] [ 7.76319429e-01 -3.56728034e-02 6.29329481e-01 3.88046229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-43.21, Z:3.89 [[-5.13484389e-01 -6.19922706e-01 5.93320841e-01 9.01853574e+01] [ 3.65091960e-01 -7.83563245e-01 -5.02729054e-01 -4.32088540e+01] [ 7.76557559e-01 -4.15268524e-02 6.28676290e-01 3.88959861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-43.16, Z:3.88 [[-5.19143415e-01 -6.54071722e-01 5.50163882e-01 9.02239665e+01] [ 3.68804803e-01 -7.52122539e-01 -5.46163624e-01 -4.31609588e+01] [ 7.71020837e-01 -8.06341674e-02 6.31684256e-01 3.88226281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-43.25, Z:3.90 [[-5.17330552e-01 -5.72046835e-01 6.36499426e-01 9.01553058e+01] [ 3.60040176e-01 -8.20220562e-01 -4.44532677e-01 -4.32487551e+01] [ 7.76363427e-01 -8.04969718e-04 6.30285000e-01 3.89993560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.19, Z:3.90 [[-5.19655849e-01 -6.15324456e-01 5.92734015e-01 9.01976040e+01] [ 3.61972629e-01 -7.86983672e-01 -4.99632380e-01 -4.31943822e+01] [ 7.73908015e-01 -4.50833994e-02 6.31691279e-01 3.89640394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:-43.19, Z:3.90 [[-5.17318648e-01 -6.15140850e-01 5.94964832e-01 9.02049079e+01] [ 3.60759676e-01 -7.87181663e-01 -5.00197446e-01 -4.31948467e+01] [ 7.76037288e-01 -4.41221467e-02 6.29141767e-01 3.89567545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.19, Z:3.89 [[-5.16840419e-01 -6.14535886e-01 5.96004720e-01 9.02051659e+01] [ 3.60268614e-01 -7.87684544e-01 -4.99759527e-01 -4.31938311e+01] [ 7.76583870e-01 -4.35741289e-02 6.28505202e-01 3.89272239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.19, Z:3.89 [[-5.15856859e-01 -6.14138608e-01 5.97264992e-01 9.02076592e+01] [ 3.59847909e-01 -7.88039613e-01 -4.99502804e-01 -4.31921559e+01] [ 7.77432430e-01 -4.27473887e-02 6.27512134e-01 3.88674324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-43.19, Z:3.88 [[-5.16695104e-01 -6.13953058e-01 5.96730938e-01 9.02139449e+01] [ 3.61787385e-01 -7.88261639e-01 -4.97748407e-01 -4.31901892e+01] [ 7.75974264e-01 -4.12944393e-02 6.29411401e-01 3.87841384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.19, Z:3.87 [[-5.17934848e-01 -6.13774471e-01 5.95839233e-01 9.02265064e+01] [ 3.64128083e-01 -7.88478816e-01 -4.95693349e-01 -4.31862343e+01] [ 7.74050536e-01 -3.97750612e-02 6.31873178e-01 3.87413074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.19, Z:3.87 [[-5.17919123e-01 -6.13398941e-01 5.96239484e-01 9.02336785e+01] [ 3.64732037e-01 -7.88822114e-01 -4.94702147e-01 -4.31879163e+01] [ 7.73776663e-01 -3.87480603e-02 6.32272302e-01 3.86885233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-43.19, Z:3.87 [[-5.16402488e-01 -6.13168212e-01 5.97790276e-01 9.02373222e+01] [ 3.64300703e-01 -7.89054010e-01 -4.94650145e-01 -4.31874513e+01] [ 7.74992560e-01 -3.76631478e-02 6.30847065e-01 3.86869796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.16, Z:3.86 [[-5.16645444e-01 -6.36444096e-01 5.72727158e-01 9.02643258e+01] [ 3.66121850e-01 -7.68897362e-01 -5.24167566e-01 -4.31611058e+01] [ 7.73971754e-01 -6.11208578e-02 6.30263409e-01 3.86108481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-43.21, Z:3.86 [[-5.11774544e-01 -5.94260280e-01 6.20436569e-01 9.02313306e+01] [ 3.66799881e-01 -8.04186513e-01 -4.67698514e-01 -4.32090255e+01] [ 7.76881371e-01 -1.17801340e-02 6.29536786e-01 3.85603082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.19, Z:3.85 [[-5.10619172e-01 -6.15623152e-01 6.00230119e-01 9.02553892e+01] [ 3.68927980e-01 -7.87442636e-01 -4.93787647e-01 -4.31859882e+01] [ 7.76633895e-01 -3.06957543e-02 6.29203913e-01 3.84581357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:-43.19, Z:3.84 [[-5.09577650e-01 -6.15676298e-01 6.01060159e-01 9.02607575e+01] [ 3.69805230e-01 -7.87465557e-01 -4.93094401e-01 -4.31857402e+01] [ 7.76900708e-01 -2.89946960e-02 6.28955163e-01 3.84059119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.19, Z:3.83 [[-5.08529728e-01 -6.15999321e-01 6.01616450e-01 9.02668420e+01] [ 3.71415853e-01 -7.87289644e-01 -4.92163875e-01 -4.31863531e+01] [ 7.76819014e-01 -2.68300743e-02 6.29152102e-01 3.83478436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.16, Z:3.82 [[-5.05407655e-01 -6.43289747e-01 5.75101211e-01 9.03045749e+01] [ 3.77563497e-01 -7.64168150e-01 -5.22965434e-01 -4.31635118e+01] [ 7.75892330e-01 -4.71735095e-02 6.29099159e-01 3.81973440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.27, Y:-43.22, Z:3.82 [[-5.00898677e-01 -5.96419880e-01 6.27203190e-01 9.02653511e+01] [ 3.77248544e-01 -8.02655736e-01 -4.61981931e-01 -4.32205775e+01] [ 7.78963446e-01 5.20535205e-03 6.27047728e-01 3.81657919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.20, Z:3.81 [[-5.00003289e-01 -6.21172911e-01 6.03440905e-01 9.02912730e+01] [ 3.81124067e-01 -7.83522377e-01 -4.90751598e-01 -4.31974339e+01] [ 7.77651051e-01 -1.53915613e-02 6.28507711e-01 3.80720530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.17, Z:3.79 [[-4.96969665e-01 -6.48685479e-01 5.76392489e-01 9.03226681e+01] [ 3.88523335e-01 -7.60260819e-01 -5.20627607e-01 -4.31745704e+01] [ 7.75932194e-01 -3.47941956e-02 6.29856010e-01 3.79287667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.23, Z:3.79 [[-4.94867482e-01 -6.01007129e-01 6.27611828e-01 9.02832860e+01] [ 3.90685310e-01 -7.99017852e-01 -4.57094587e-01 -4.32347595e+01] [ 7.76190160e-01 1.89974739e-02 6.30212609e-01 3.78618946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.21, Z:3.78 [[-4.93540043e-01 -6.27233064e-01 6.02492249e-01 9.03114710e+01] [ 3.95032681e-01 -7.78827745e-01 -4.87213017e-01 -4.32121157e+01] [ 7.74833793e-01 -2.45500514e-03 6.32160238e-01 3.77582946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.20, Z:3.79 [[-4.79746239e-01 -6.38824778e-01 6.01453614e-01 9.03116631e+01] [ 3.90582340e-01 -7.69314446e-01 -5.05569698e-01 -4.31960839e+01] [ 7.85677403e-01 -7.62800142e-03 6.18589388e-01 3.79038104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.22, Z:3.78 [[-4.87668097e-01 -6.23122417e-01 6.11472224e-01 9.02993253e+01] [ 4.01024324e-01 -7.82023597e-01 -4.77093896e-01 -4.32189980e+01] [ 7.75473610e-01 1.25517630e-02 6.31255205e-01 3.78283702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.21, Z:3.78 [[-4.85420641e-01 -6.30685359e-01 6.05477315e-01 9.03036378e+01] [ 4.01786861e-01 -7.76004643e-01 -4.86193493e-01 -4.32111387e+01] [ 7.76488325e-01 7.26447326e-03 6.30089762e-01 3.78337694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.19, Z:3.79 [[-4.75445789e-01 -6.43373615e-01 6.00018078e-01 9.03090114e+01] [ 3.92497950e-01 -7.65521350e-01 -5.09825874e-01 -4.31924503e+01] [ 7.87335164e-01 -6.88869918e-03 6.16486728e-01 3.79352677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.22, Z:3.79 [[-4.85284588e-01 -6.19428425e-01 6.17095856e-01 9.02891710e+01] [ 4.03878534e-01 -7.84769883e-01 -4.70125899e-01 -4.32245049e+01] [ 7.75487587e-01 2.10869164e-02 6.31010574e-01 3.78781728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.21, Z:3.79 [[-4.85589762e-01 -6.30579824e-01 6.05451623e-01 9.02966932e+01] [ 4.05821094e-01 -7.76042475e-01 -4.82770460e-01 -4.32147931e+01] [ 7.74281488e-01 1.12766475e-02 6.32740875e-01 3.78983815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.22, Z:3.79 [[-4.85771015e-01 -6.30020857e-01 6.05887977e-01 9.02961525e+01] [ 4.06332229e-01 -7.76481925e-01 -4.81632578e-01 -4.32159964e+01] [ 7.73899632e-01 1.22286656e-02 6.33190192e-01 3.78733544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.22, Z:3.78 [[-4.84842813e-01 -6.28840129e-01 6.07854867e-01 9.02965522e+01] [ 4.04405660e-01 -7.77437877e-01 -4.81711956e-01 -4.32153227e+01] [ 7.75489206e-01 1.22653683e-02 6.31241675e-01 3.78426036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.22, Z:3.78 [[-4.86688766e-01 -6.27155502e-01 6.08120071e-01 9.02977331e+01] [ 4.03270190e-01 -7.78810502e-01 -4.80444955e-01 -4.32176479e+01] [ 7.74923995e-01 1.14095347e-02 6.31951441e-01 3.78274071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.22, Z:3.78 [[-4.87502047e-01 -6.25429696e-01 6.09244983e-01 9.02994381e+01] [ 4.01263334e-01 -7.80209370e-01 -4.79855265e-01 -4.32225895e+01] [ 7.75454377e-01 1.05372486e-02 6.31315670e-01 3.77864077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.20, Z:3.77 [[-4.92231108e-01 -6.51373541e-01 5.77426226e-01 9.03296316e+01] [ 4.01393418e-01 -7.58467911e-01 -5.13429403e-01 -4.31974457e+01] [ 7.72393592e-01 -2.09508378e-02 6.34798552e-01 3.76692818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.23, Z:3.76 [[-4.94408616e-01 -6.24983278e-01 6.04115902e-01 9.03097762e+01] [ 3.97531624e-01 -7.80636240e-01 -4.82260997e-01 -4.32295434e+01] [ 7.72999825e-01 1.72118366e-03 6.34403900e-01 3.75756351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.27, Z:3.76 [[-4.91726249e-01 -5.89346260e-01 6.40996319e-01 9.02800276e+01] [ 3.93099238e-01 -8.07106220e-01 -4.40513948e-01 -4.32671898e+01] [ 7.76967364e-01 3.53628933e-02 6.28546880e-01 3.76288407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.23, Z:3.76 [[-4.93213663e-01 -6.19070397e-01 6.11140022e-01 9.03087403e+01] [ 3.92963000e-01 -7.85324199e-01 -4.78378494e-01 -4.32337644e+01] [ 7.76093012e-01 4.21260779e-03 6.30604385e-01 3.75954465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.24, Z:3.76 [[-4.95517011e-01 -6.17638124e-01 6.10725830e-01 9.03096287e+01] [ 3.92953587e-01 -7.86452958e-01 -4.76528303e-01 -4.32356340e+01] [ 7.74629183e-01 3.85902503e-03 6.32403935e-01 3.75889505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.24, Z:3.75 [[-4.96648636e-01 -6.15124999e-01 6.12340892e-01 9.03150210e+01] [ 3.89308589e-01 -7.88427414e-01 -4.76257321e-01 -4.32408923e+01] [ 7.75744130e-01 1.85701983e-03 6.31044845e-01 3.75001767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.21, Z:3.74 [[-5.02854496e-01 -6.41950709e-01 5.78823500e-01 9.03471482e+01] [ 3.92295899e-01 -7.66202523e-01 -5.08957387e-01 -4.32116607e+01] [ 7.70221581e-01 -2.88614246e-02 6.37123014e-01 3.73806432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.28, Z:3.75 [[-4.99009952e-01 -5.81975455e-01 6.42100956e-01 9.02929445e+01] [ 3.85852376e-01 -8.12658678e-01 -4.36696482e-01 -4.32751780e+01] [ 7.75955547e-01 2.98402890e-02 6.30081380e-01 3.74783183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.24, Z:3.74 [[-4.98117525e-01 -6.11228521e-01 6.15043598e-01 9.03201216e+01] [ 3.84741709e-01 -7.91454163e-01 -4.74946444e-01 -4.32436425e+01] [ 7.77079628e-01 5.37782439e-05 6.29402294e-01 3.74151456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.25, Z:3.74 [[-4.98244992e-01 -6.10131216e-01 6.16029080e-01 9.03174533e+01] [ 3.83986450e-01 -7.92300325e-01 -4.74146180e-01 -4.32468277e+01] [ 7.77371426e-01 3.05859767e-04 6.29041789e-01 3.74069856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.25, Z:3.75 [[-4.97545959e-01 -6.10398248e-01 6.16329455e-01 9.03106138e+01] [ 3.86053105e-01 -7.92090118e-01 -4.72817347e-01 -4.32537482e+01] [ 7.76795352e-01 2.68753964e-03 6.29747377e-01 3.74533234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.26, Z:3.75 [[-4.98214747e-01 -6.09859894e-01 6.16322136e-01 9.03096778e+01] [ 3.87102815e-01 -7.92500203e-01 -4.71269392e-01 -4.32566830e+01] [ 7.75843719e-01 3.78667294e-03 6.30913770e-01 3.74582135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.26, Z:3.75 [[-4.98309327e-01 -6.09365694e-01 6.16734355e-01 9.03086637e+01] [ 3.87811230e-01 -7.92873899e-01 -4.70056838e-01 -4.32577548e+01] [ 7.75429084e-01 4.94280213e-03 6.31415318e-01 3.74676797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.23, Z:3.75 [[-4.91121712e-01 -6.29623576e-01 6.01974764e-01 9.03211835e+01] [ 3.81103725e-01 -7.76717229e-01 -5.01468141e-01 -4.32300747e+01] [ 7.83300335e-01 -1.68670673e-02 6.21414585e-01 3.75416385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.25, Z:3.74 [[-5.01104431e-01 -6.16289956e-01 6.07520403e-01 9.03120907e+01] [ 3.89555853e-01 -7.87514882e-01 -4.77563135e-01 -4.32526804e+01] [ 7.72748721e-01 -2.64587452e-03 6.34706556e-01 3.74203858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-43.29, Z:3.75 [[-4.98275698e-01 -5.82957392e-01 6.41780342e-01 9.02801027e+01] [ 3.88225705e-01 -8.11876887e-01 -4.36046697e-01 -4.32917195e+01] [ 7.75243272e-01 3.18841535e-02 6.30857568e-01 3.74994981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.27, Z:3.75 [[-4.97319912e-01 -6.07082711e-01 6.19776966e-01 9.03000711e+01] [ 3.86990272e-01 -7.94606031e-01 -4.67803148e-01 -4.32674062e+01] [ 7.76473718e-01 7.19983604e-03 6.30108505e-01 3.74661578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.27, Z:3.75 [[-4.98586985e-01 -6.06040135e-01 6.19779295e-01 9.02990103e+01] [ 3.87152524e-01 -7.95399190e-01 -4.66318615e-01 -4.32716345e+01] [ 7.75579746e-01 7.44872617e-03 6.31205652e-01 3.74525080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.28, Z:3.74 [[-4.99840745e-01 -6.04500012e-01 6.20273299e-01 9.03006512e+01] [ 3.86074898e-01 -7.96574865e-01 -4.65203889e-01 -4.32755305e+01] [ 7.75309876e-01 6.94409195e-03 6.31542854e-01 3.74179504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.28, Z:3.74 [[-5.00434328e-01 -6.03275279e-01 6.20986652e-01 9.03013335e+01] [ 3.85305883e-01 -7.97502812e-01 -4.64250623e-01 -4.32772904e+01] [ 7.75309525e-01 6.94286187e-03 6.31543297e-01 3.73981488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.28, Z:3.74 [[-5.00983524e-01 -6.01730607e-01 6.22041627e-01 9.03027133e+01] [ 3.83723982e-01 -7.98672974e-01 -4.63548689e-01 -4.32801832e+01] [ 7.75739269e-01 6.46203469e-03 6.31020466e-01 3.73666545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.28, Z:3.73 [[-5.02405092e-01 -6.00047793e-01 6.22520497e-01 9.03034923e+01] [ 3.82442731e-01 -7.99943426e-01 -4.62415476e-01 -4.32824693e+01] [ 7.75452565e-01 5.75854890e-03 6.31379567e-01 3.73407727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.29, Z:3.73 [[-5.02919840e-01 -5.98696262e-01 6.23405502e-01 9.03013992e+01] [ 3.81328908e-01 -8.00956678e-01 -4.61580616e-01 -4.32857912e+01] [ 7.75667389e-01 5.58448968e-03 6.31117196e-01 3.73341127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.29, Z:3.73 [[-5.03240386e-01 -5.97491277e-01 6.24302241e-01 9.03002406e+01] [ 3.80437397e-01 -8.01855594e-01 -4.60754809e-01 -4.32908775e+01] [ 7.75897223e-01 5.63749074e-03 6.30834145e-01 3.72998980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.30, Z:3.73 [[-5.03736060e-01 -5.96591416e-01 6.24762887e-01 9.02978037e+01] [ 3.80419944e-01 -8.02521556e-01 -4.59608331e-01 -4.32960219e+01] [ 7.75584069e-01 6.15097294e-03 6.31214320e-01 3.72906965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.30, Z:3.73 [[-5.03049117e-01 -5.96117577e-01 6.25767865e-01 9.02940544e+01] [ 3.80600554e-01 -8.02863617e-01 -4.58860797e-01 -4.32993882e+01] [ 7.75941238e-01 7.33807741e-03 6.30762513e-01 3.72984353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.30, Z:3.73 [[-5.03641970e-01 -5.95219934e-01 6.26145348e-01 9.02924163e+01] [ 3.80649950e-01 -8.03524542e-01 -4.57661366e-01 -4.33028573e+01] [ 7.75532322e-01 7.84472368e-03 6.31259121e-01 3.72857171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.72 [[-5.04420228e-01 -5.93575666e-01 6.27079072e-01 9.02952043e+01] [ 3.79011968e-01 -8.04745853e-01 -4.56874205e-01 -4.33061109e+01] [ 7.75828694e-01 7.21388262e-03 6.30902368e-01 3.72342469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.29, Z:3.72 [[-4.97562922e-01 -6.02797090e-01 6.23752200e-01 9.03033560e+01] [ 3.65296996e-01 -7.97821587e-01 -4.79623624e-01 -4.32909231e+01] [ 7.86758695e-01 -1.07881271e-02 6.17166406e-01 3.72225102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.33, Z:3.71 [[-5.09412965e-01 -5.75247794e-01 6.39990942e-01 9.02931470e+01] [ 3.69114147e-01 -8.17899794e-01 -4.41355496e-01 -4.33274579e+01] [ 7.77337235e-01 1.13974991e-02 6.28980858e-01 3.70652882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.12477770e-01 -5.84186067e-01 6.29359336e-01 9.03026863e+01] [ 3.65905722e-01 -8.11613842e-01 -4.55407481e-01 -4.33141955e+01] [ 7.76839454e-01 -3.10002861e-03 6.29691077e-01 3.70583280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.16283197e-01 -5.81303955e-01 6.28917620e-01 9.03020024e+01] [ 3.63614853e-01 -8.13667984e-01 -4.53573202e-01 -4.33138881e+01] [ 7.75394029e-01 -5.48843524e-03 6.31453860e-01 3.70981519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.19132068e-01 -5.78184853e-01 6.29447513e-01 9.03008852e+01] [ 3.60073314e-01 -8.15864241e-01 -4.52451930e-01 -4.33140345e+01] [ 7.75144570e-01 -8.23505399e-03 6.31730227e-01 3.71259038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.692320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:90.29, Y:-43.31, Z:3.72 [[-5.21210792e-01 -5.74964500e-01 6.30678313e-01 9.02941619e+01] [ 3.55727306e-01 -8.18102260e-01 -4.51848178e-01 -4.33106999e+01] [ 7.75756015e-01 -1.11586495e-02 6.30934300e-01 3.71771947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.21503518e-01 -5.73403408e-01 6.31856481e-01 9.02952291e+01] [ 3.54007711e-01 -8.19190563e-01 -4.51226508e-01 -4.33098349e+01] [ 7.76345684e-01 -1.16341449e-02 6.30199988e-01 3.71392616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.22499168e-01 -5.72154412e-01 6.32166077e-01 9.02970988e+01] [ 3.53546567e-01 -8.20063529e-01 -4.50000704e-01 -4.33077588e+01] [ 7.75886232e-01 -1.16248469e-02 6.30765740e-01 3.71340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.31, Z:3.71 [[-5.23382410e-01 -5.72346407e-01 6.31260994e-01 9.03043015e+01] [ 3.56424287e-01 -8.19957652e-01 -4.47918716e-01 -4.33108500e+01] [ 7.73971951e-01 -9.43602756e-03 6.33149572e-01 3.70982100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.812320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.32, Z:3.70 [[-5.22149029e-01 -5.72313388e-01 6.32311456e-01 9.03074930e+01] [ 3.57206539e-01 -8.19999316e-01 -4.47218750e-01 -4.33179270e+01] [ 7.74444239e-01 -7.64904906e-03 6.32595931e-01 3.70303100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.32, Z:3.70 [[-5.19507699e-01 -5.72066017e-01 6.34706406e-01 9.03073563e+01] [ 3.56496119e-01 -8.20184285e-01 -4.47446372e-01 -4.33240258e+01] [ 7.76545084e-01 -6.18146420e-03 6.30031366e-01 3.69776080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.30, Y:-43.33, Z:3.69 [[-5.16255868e-01 -5.71731620e-01 6.37654165e-01 9.03047703e+01] [ 3.55190852e-01 -8.20426583e-01 -4.48039821e-01 -4.33282515e+01] [ 7.79306960e-01 -4.81426050e-03 6.26623878e-01 3.69170710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.33, Z:3.69 [[-5.17475176e-01 -5.71122299e-01 6.37211709e-01 9.03086338e+01] [ 3.56452620e-01 -8.20856251e-01 -4.46247179e-01 -4.33302010e+01] [ 7.77920929e-01 -3.78605386e-03 6.28350773e-01 3.68623207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.33, Z:3.68 [[-5.19914786e-01 -5.69855510e-01 6.36359422e-01 9.03120980e+01] [ 3.57023483e-01 -8.21736430e-01 -4.44166040e-01 -4.33303621e+01] [ 7.76030185e-01 -3.73323400e-03 6.30684719e-01 3.68468249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.31, Y:-43.33, Z:3.68 [[-5.21739228e-01 -5.68552152e-01 6.36031940e-01 9.03146564e+01] [ 3.57077486e-01 -8.22638763e-01 -4.42449018e-01 -4.33308901e+01] [ 7.74779870e-01 -3.73032288e-03 6.32220087e-01 3.68462840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.33, Z:3.68 [[-5.23426058e-01 -5.67084363e-01 6.35956356e-01 9.03163464e+01] [ 3.56648435e-01 -8.23650140e-01 -4.40910807e-01 -4.33336030e+01] [ 7.73839166e-01 -3.97136702e-03 6.33369697e-01 3.68262476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.68 [[-5.22557974e-01 -5.66249518e-01 6.37412462e-01 9.03154982e+01] [ 3.55904686e-01 -8.24227296e-01 -4.40432991e-01 -4.33379296e+01] [ 7.74767719e-01 -3.29368896e-03 6.32237403e-01 3.67833175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.21270418e-01 -5.65503654e-01 6.39126567e-01 9.03163628e+01] [ 3.55093090e-01 -8.24742078e-01 -4.40124303e-01 -4.33389169e+01] [ 7.76006475e-01 -2.47435247e-03 6.30720088e-01 3.67423637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.20330304e-01 -5.64515762e-01 6.40763864e-01 9.03181667e+01] [ 3.53975372e-01 -8.25419859e-01 -4.39753900e-01 -4.33387192e+01] [ 7.77147226e-01 -2.00265288e-03 6.29315643e-01 3.67040479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.18666037e-01 -5.64010490e-01 6.42555608e-01 9.03202601e+01] [ 3.53504297e-01 -8.25767238e-01 -4.39480581e-01 -4.33392008e+01] [ 7.78473027e-01 -7.97482943e-04 6.27677553e-01 3.66690147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.66 [[-5.18231160e-01 -5.62672256e-01 6.44077943e-01 9.03215960e+01] [ 3.51947285e-01 -8.26679650e-01 -4.39014652e-01 -4.33413714e+01] [ 7.79467493e-01 -8.29589174e-04 6.26442127e-01 3.66435936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.21536050e-01 -5.60269970e-01 6.43504242e-01 9.03211086e+01] [ 3.50473450e-01 -8.28306456e-01 -4.37123295e-01 -4.33425937e+01] [ 7.77925774e-01 -2.44440501e-03 6.28351426e-01 3.66689245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.25044101e-01 -5.58158758e-01 6.42485403e-01 9.03227598e+01] [ 3.49828987e-01 -8.29726351e-01 -4.34941218e-01 -4.33425020e+01] [ 7.75853319e-01 -3.60330307e-03 6.30903039e-01 3.66916600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.27354326e-01 -5.55967046e-01 6.42493625e-01 9.03245907e+01] [ 3.48178020e-01 -8.31189952e-01 -4.33468950e-01 -4.33424023e+01] [ 7.75028697e-01 -4.88956783e-03 6.31907122e-01 3.67002423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.29060922e-01 -5.53795068e-01 6.42966223e-01 9.03241639e+01] [ 3.46160571e-01 -8.32630264e-01 -4.32318982e-01 -4.33407507e+01] [ 7.74769256e-01 -6.15352439e-03 6.32214152e-01 3.67115835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.28315441e-01 -5.52560237e-01 6.44639418e-01 9.03247849e+01] [ 3.44603504e-01 -8.33450807e-01 -4.31981686e-01 -4.33403024e+01] [ 7.75971146e-01 -6.07759244e-03 6.30739124e-01 3.66715383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.34, Z:3.66 [[-5.27812954e-01 -5.51626060e-01 6.45849963e-01 9.03268104e+01] [ 3.43906515e-01 -8.34073054e-01 -4.31335658e-01 -4.33387077e+01] [ 7.76622041e-01 -5.55253825e-03 6.29942358e-01 3.66333086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.352320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.34, Z:3.66 [[-5.27227855e-01 -5.50553427e-01 6.47241619e-01 9.03297106e+01] [ 3.42846257e-01 -8.34783560e-01 -4.30804888e-01 -4.33367974e+01] [ 7.77487770e-01 -5.22797085e-03 6.28876328e-01 3.66157454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.34, Z:3.66 [[-5.28139662e-01 -5.49112796e-01 6.47721881e-01 9.03347588e+01] [ 3.41964112e-01 -8.35730628e-01 -4.29668319e-01 -4.33364339e+01] [ 7.77257386e-01 -5.42724271e-03 6.29159361e-01 3.66215148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.34, Z:3.66 [[-5.27741779e-01 -5.48165149e-01 6.48847889e-01 9.03350242e+01] [ 3.41325462e-01 -8.36355694e-01 -4.28959301e-01 -4.33400691e+01] [ 7.77808166e-01 -4.91143898e-03 6.28482565e-01 3.65995026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.34, Z:3.65 [[-5.26210396e-01 -5.47310608e-01 6.50810047e-01 9.03347059e+01] [ 3.40146918e-01 -8.36918690e-01 -4.28797365e-01 -4.33445170e+01] [ 7.79360439e-01 -4.26659902e-03 6.26561332e-01 3.65397733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.65 [[-5.25444774e-01 -5.47164048e-01 6.51551452e-01 9.03352446e+01] [ 3.41118006e-01 -8.37021531e-01 -4.27824103e-01 -4.33480989e+01] [ 7.79452562e-01 -2.54200714e-03 6.26456098e-01 3.64772054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.64 [[-5.26653015e-01 -5.47353461e-01 6.50415860e-01 9.03396133e+01] [ 3.44159591e-01 -8.36901485e-01 -4.25617293e-01 -4.33490709e+01] [ 7.77297098e-01 -3.05774418e-04 6.29133633e-01 3.64223954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.33, Z:3.66 [[-5.15223301e-01 -5.62260708e-01 6.46844530e-01 9.03442311e+01] [ 3.37220271e-01 -8.26845145e-01 -4.50121756e-01 -4.33251370e+01] [ 7.87926036e-01 -1.37841291e-02 6.15615594e-01 3.65545698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.36, Z:3.65 [[-5.25234125e-01 -5.29944301e-01 6.65798883e-01 9.03286364e+01] [ 3.44043512e-01 -8.47858823e-01 -4.03446995e-01 -4.33646067e+01] [ 7.78307893e-01 1.71596562e-02 6.27648285e-01 3.64588956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.64 [[-5.25044020e-01 -5.45686843e-01 6.53111512e-01 9.03427121e+01] [ 3.43229179e-01 -8.37987965e-01 -4.24228595e-01 -4.33464653e+01] [ 7.78795549e-01 1.42824062e-03 6.27276217e-01 3.64362349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.64 [[-5.25586019e-01 -5.44005316e-01 6.54077635e-01 9.03445103e+01] [ 3.41587747e-01 -8.39081291e-01 -4.23391542e-01 -4.33504553e+01] [ 7.79151556e-01 8.96230423e-04 6.26834946e-01 3.63925263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.64 [[-5.26017564e-01 -5.43045558e-01 6.54528108e-01 9.03430320e+01] [ 3.41515847e-01 -8.39702003e-01 -4.22217328e-01 -4.33537347e+01] [ 7.78891808e-01 1.43799074e-03 6.27156666e-01 3.63859167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.36, Z:3.64 [[-5.27446324e-01 -5.41733687e-01 6.54465421e-01 9.03435093e+01] [ 3.41289096e-01 -8.40548919e-01 -4.20712809e-01 -4.33582109e+01] [ 7.78024504e-01 1.45848745e-03 6.28232238e-01 3.63702467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.36, Z:3.64 [[-5.30191639e-01 -5.40033242e-01 6.53651989e-01 9.03447728e+01] [ 3.41024783e-01 -8.41643205e-01 -4.18734777e-01 -4.33599470e+01] [ 7.76272454e-01 9.01849809e-04 6.30396910e-01 3.63546080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.34, Z:3.64 [[-5.18664219e-01 -5.52048074e-01 6.52863195e-01 9.03514856e+01] [ 3.30929661e-01 -8.33707329e-01 -4.42060685e-01 -4.33392860e+01] [ 7.88335581e-01 -1.32292646e-02 6.15103243e-01 3.64138866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.35, Z:3.65 [[-5.19758807e-01 -5.35610228e-01 6.65561768e-01 9.03391233e+01] [ 3.27123921e-01 -8.44460951e-01 -4.24117486e-01 -4.33493167e+01] [ 7.89202587e-01 -2.71762314e-03 6.14126934e-01 3.64540466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.36, Z:3.64 [[-5.30545126e-01 -5.21887044e-01 6.67948937e-01 9.03375543e+01] [ 3.29442373e-01 -8.52998219e-01 -4.04798420e-01 -4.33629482e+01] [ 7.81018305e-01 5.28685432e-03 6.24485754e-01 3.63670482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.34, Z:3.65 [[-5.37134263e-01 -5.28064007e-01 6.57750095e-01 9.03404875e+01] [ 3.23018363e-01 -8.49119606e-01 -4.17917494e-01 -4.33434931e+01] [ 7.79195688e-01 -1.20124466e-02 6.26665605e-01 3.64749242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.34, Z:3.65 [[-5.40152478e-01 -5.25275730e-01 6.57510994e-01 9.03403093e+01] [ 3.20567298e-01 -8.50814955e-01 -4.16353839e-01 -4.33425746e+01] [ 7.78120754e-01 -1.41180350e-02 6.27956028e-01 3.64938575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.34, Z:3.65 [[-5.41399297e-01 -5.23537358e-01 6.57871900e-01 9.03416485e+01] [ 3.19249522e-01 -8.51874819e-01 -4.15197586e-01 -4.33416134e+01] [ 7.77795952e-01 -1.47623914e-02 6.28343479e-01 3.65057855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.34, Z:3.65 [[-5.41279457e-01 -5.22318111e-01 6.58938798e-01 9.03452364e+01] [ 3.18162992e-01 -8.52623891e-01 -4.14493440e-01 -4.33407241e+01] [ 7.78324392e-01 -1.47068450e-02 6.27690090e-01 3.64684078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.33, Z:3.65 [[-5.40569058e-01 -5.21037313e-01 6.60534035e-01 9.03481963e+01] [ 3.16549677e-01 -8.53406133e-01 -4.14118671e-01 -4.33331225e+01] [ 7.79475076e-01 -1.47679044e-02 6.26259143e-01 3.64554747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.33, Z:3.64 [[-5.42253458e-01 -5.19892038e-01 6.60055646e-01 9.03511059e+01] [ 3.16833846e-01 -8.54108487e-01 -4.12450003e-01 -4.33311098e+01] [ 7.78188603e-01 -1.45244711e-02 6.27862675e-01 3.64289295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.32, Z:3.64 [[-5.45296789e-01 -5.17455755e-01 6.59462625e-01 9.03539203e+01] [ 3.15169764e-01 -8.55558116e-01 -4.10716848e-01 -4.33238586e+01] [ 7.76736398e-01 -1.61198987e-02 6.29619502e-01 3.64396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.32, Z:3.64 [[-5.46041722e-01 -5.15839338e-01 6.60112275e-01 9.03571680e+01] [ 3.13786433e-01 -8.56524258e-01 -4.09761237e-01 -4.33200802e+01] [ 7.76773141e-01 -1.66124553e-02 6.29561366e-01 3.64365068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.32, Z:3.64 [[-5.46099662e-01 -5.14275142e-01 6.61283780e-01 9.03610479e+01] [ 3.12056809e-01 -8.57455360e-01 -4.09134274e-01 -4.33159101e+01] [ 7.77428909e-01 -1.70699826e-02 6.28739141e-01 3.64376590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.31, Z:3.64 [[-5.44846771e-01 -5.13411906e-01 6.62985830e-01 9.03659436e+01] [ 3.10997429e-01 -8.57982390e-01 -4.08835930e-01 -4.33136279e+01] [ 7.78731401e-01 -1.65660475e-02 6.27138717e-01 3.64217004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.31, Z:3.63 [[-5.42929874e-01 -5.14706149e-01 6.63554618e-01 9.03758816e+01] [ 3.14253685e-01 -8.57269540e-01 -4.07840112e-01 -4.33130247e+01] [ 7.78762976e-01 -1.29040970e-02 6.27185548e-01 3.62980303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.31, Z:3.63 [[-5.43402425e-01 -5.13424128e-01 6.64160725e-01 9.03766451e+01] [ 3.13436998e-01 -8.58037851e-01 -4.06851686e-01 -4.33146323e+01] [ 7.78762514e-01 -1.29116483e-02 6.27185967e-01 3.62782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.32, Z:3.62 [[-5.42587369e-01 -5.13972439e-01 6.64402949e-01 9.03822615e+01] [ 3.15815147e-01 -8.57745339e-01 -4.05627571e-01 -4.33158700e+01] [ 7.78369925e-01 -1.02598818e-02 6.27722068e-01 3.62057343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.32, Z:3.61 [[-5.42243992e-01 -5.15021450e-01 6.63870740e-01 9.03894859e+01] [ 3.19587352e-01 -8.57149815e-01 -4.03928359e-01 -4.33179800e+01] [ 7.77068451e-01 -6.86303421e-03 6.29378679e-01 3.61161983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.32, Z:3.60 [[-5.41405401e-01 -5.16610001e-01 6.63320661e-01 9.03985288e+01] [ 3.24231185e-01 -8.56216617e-01 -4.02202989e-01 -4.33221189e+01] [ 7.75728258e-01 -2.68562645e-03 6.31061373e-01 3.60077392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.30, Z:3.60 [[-5.39549934e-01 -5.43491846e-01 6.43041587e-01 9.04192687e+01] [ 3.27801340e-01 -8.39086786e-01 -4.34142427e-01 -4.32952128e+01] [ 7.75520567e-01 -2.34516238e-02 6.30886575e-01 3.59883230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.34, Z:3.62 [[-5.31139568e-01 -5.00286046e-01 6.83816227e-01 9.03654292e+01] [ 3.38556577e-01 -8.65152683e-01 -3.69986863e-01 -4.33447674e+01] [ 7.76704708e-01 3.49958185e-02 6.28891953e-01 3.61911819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.32, Z:3.63 [[-5.26783040e-01 -5.27663320e-01 6.66386562e-01 9.03735119e+01] [ 3.43482454e-01 -8.49269624e-01 -4.00950010e-01 -4.33156144e+01] [ 7.77508478e-01 1.76784266e-02 6.28623926e-01 3.62986369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.32, Z:3.64 [[-5.23891896e-01 -5.29553177e-01 6.67166182e-01 9.03666051e+01] [ 3.47659429e-01 -8.47982227e-01 -4.00073823e-01 -4.33153096e+01] [ 7.77605428e-01 2.23511801e-02 6.28355172e-01 3.63844270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.32, Z:3.65 [[-5.21337673e-01 -5.31191335e-01 6.67864355e-01 9.03594315e+01] [ 3.51464073e-01 -8.46833537e-01 -3.99181620e-01 -4.33150806e+01] [ 7.77611752e-01 2.66219094e-02 6.28180895e-01 3.64711175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.32, Z:3.65 [[-5.19820741e-01 -5.32551172e-01 6.67963807e-01 9.03534537e+01] [ 3.55190997e-01 -8.45852196e-01 -3.97961578e-01 -4.33164640e+01] [ 7.76933558e-01 3.03860484e-02 6.28848897e-01 3.65463735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.32, Z:3.67 [[-5.16585985e-01 -5.35184000e-01 6.68368916e-01 9.03413733e+01] [ 3.60768752e-01 -8.43965149e-01 -3.96949285e-01 -4.33213535e+01] [ 7.76520977e-01 3.60681821e-02 6.29058231e-01 3.66657718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.32, Z:3.67 [[-5.15954447e-01 -5.35768038e-01 6.68388823e-01 9.03353132e+01] [ 3.63218461e-01 -8.43482992e-01 -3.95738287e-01 -4.33247719e+01] [ 7.75798530e-01 3.85882306e-02 6.29799643e-01 3.67110014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.33, Z:3.67 [[-5.16148362e-01 -5.35704745e-01 6.68289828e-01 9.03314718e+01] [ 3.64649072e-01 -8.43453654e-01 -3.94483191e-01 -4.33299119e+01] [ 7.74998015e-01 4.00794128e-02 6.30691460e-01 3.67031871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.34, Z:3.67 [[-5.15925653e-01 -5.35334347e-01 6.68758445e-01 9.03255984e+01] [ 3.65210589e-01 -8.43635643e-01 -3.93573535e-01 -4.33382729e+01] [ 7.74881892e-01 4.11829826e-02 6.30763042e-01 3.66986014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-43.34, Z:3.67 [[-5.15809417e-01 -5.33577698e-01 6.70250316e-01 9.03239152e+01] [ 3.62870789e-01 -8.44787337e-01 -3.93267271e-01 -4.33427812e+01] [ 7.76057624e-01 4.03632990e-02 6.29369024e-01 3.66770812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.35, Z:3.66 [[-5.17947726e-01 -5.30900167e-01 6.70727341e-01 9.03269900e+01] [ 3.59648148e-01 -8.46581957e-01 -3.92367428e-01 -4.33504749e+01] [ 7.76133598e-01 3.80000290e-02 6.29422462e-01 3.65920616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:-43.36, Z:3.65 [[-5.21305891e-01 -5.27716161e-01 6.70638369e-01 9.03296287e+01] [ 3.55967011e-01 -8.48706570e-01 -3.91132517e-01 -4.33599100e+01] [ 7.75582139e-01 3.48254504e-02 6.30285279e-01 3.65121243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.38, Z:3.63 [[-5.28476993e-01 -5.22270464e-01 6.69287404e-01 9.03365876e+01] [ 3.49462355e-01 -8.52312430e-01 -3.89152391e-01 -4.33768970e+01] [ 7.73684774e-01 2.82326670e-02 6.32941377e-01 3.63455959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.34, Y:-43.38, Z:3.63 [[-5.30673128e-01 -5.19032018e-01 6.70068501e-01 9.03422998e+01] [ 3.45235243e-01 -8.54382487e-01 -3.88385367e-01 -4.33826325e+01] [ 7.74079233e-01 2.52255845e-02 6.32585972e-01 3.62600652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-43.39, Z:3.62 [[-5.32146531e-01 -5.15394344e-01 6.71705844e-01 9.03495098e+01] [ 3.39849848e-01 -8.56676742e-01 -3.88081229e-01 -4.33882027e+01] [ 7.75449644e-01 2.17630486e-02 6.31034246e-01 3.61635475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.40, Z:3.60 [[-5.35345552e-01 -5.10094653e-01 6.73207683e-01 9.03554872e+01] [ 3.31900438e-01 -8.59971332e-01 -3.87674357e-01 -4.33977558e+01] [ 7.76689925e-01 1.58981825e-02 6.29682466e-01 3.60251178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.40, Z:3.59 [[-5.37330901e-01 -5.06935586e-01 6.74011732e-01 9.03582611e+01] [ 3.27892005e-01 -8.61883731e-01 -3.86837521e-01 -4.34035848e+01] [ 7.77021451e-01 1.31433044e-02 6.29336887e-01 3.59323820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:-43.41, Z:3.59 [[-5.39094910e-01 -5.03921233e-01 6.74863000e-01 9.03607748e+01] [ 3.24117865e-01 -8.63684032e-01 -3.86001946e-01 -4.34072452e+01] [ 7.77382973e-01 1.06434703e-02 6.28937540e-01 3.58520730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-43.41, Z:3.58 [[-5.42233280e-01 -5.00816490e-01 6.74659850e-01 9.03660771e+01] [ 3.20941575e-01 -8.65516415e-01 -3.84548879e-01 -4.34099744e+01] [ 7.76517595e-01 8.01119482e-03 6.30044638e-01 3.57657461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.42, Z:3.57 [[-5.46645487e-01 -4.96520463e-01 6.74274529e-01 9.03782960e+01] [ 3.16027612e-01 -8.68016979e-01 -3.82979207e-01 -4.34158084e+01] [ 7.75438753e-01 3.73551388e-03 6.31411741e-01 3.56566577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.42, Z:3.56 [[-5.47800625e-01 -4.93995450e-01 6.75191062e-01 9.03809390e+01] [ 3.13080647e-01 -8.69462040e-01 -3.82120753e-01 -4.34204093e+01] [ 7.75818911e-01 2.06326735e-03 6.30952264e-01 3.56326098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.43, Z:3.56 [[-5.48125069e-01 -4.91949169e-01 6.76420671e-01 9.03820358e+01] [ 3.10705759e-01 -8.70623222e-01 -3.81414652e-01 -4.34263560e+01] [ 7.76544165e-01 1.10486531e-03 6.30061854e-01 3.55829505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.43, Z:3.55 [[-5.48564228e-01 -4.89961761e-01 6.77506280e-01 9.03768930e+01] [ 3.08531822e-01 -8.71743893e-01 -3.80618837e-01 -4.34321189e+01] [ 7.77100639e-01 2.38368188e-04 6.29376311e-01 3.55304432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.43, Z:3.55 [[-5.48508518e-01 -4.88465232e-01 6.78631066e-01 9.03755729e+01] [ 3.07120074e-01 -8.72583355e-01 -3.79836213e-01 -4.34340060e+01] [ 7.77698956e-01 7.78250124e-05 6.28636881e-01 3.54972063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.55 [[-5.50903989e-01 -4.86402118e-01 6.78172379e-01 9.03782147e+01] [ 3.05898584e-01 -8.73734627e-01 -3.78171731e-01 -4.34358450e+01] [ 7.76486221e-01 -8.84344567e-04 6.30133610e-01 3.54500628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.43, Z:3.55 [[-5.55408160e-01 -4.83181077e-01 6.76799692e-01 9.03814454e+01] [ 3.03476973e-01 -8.75513680e-01 -3.76002026e-01 -4.34325689e+01] [ 7.74224452e-01 -3.44147158e-03 6.32901773e-01 3.55182139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.43, Z:3.55 [[-5.57298328e-01 -4.80752911e-01 6.76975046e-01 9.03825641e+01] [ 3.01244252e-01 -8.76842508e-01 -3.74698701e-01 -4.34328156e+01] [ 7.73737988e-01 -4.88411846e-03 6.33486914e-01 3.55431089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.55 [[-5.57940935e-01 -4.78629035e-01 6.77949969e-01 9.03827549e+01] [ 2.98925107e-01 -8.77997195e-01 -3.73851182e-01 -4.34350731e+01] [ 7.74174201e-01 -5.93061104e-03 6.32944811e-01 3.55428448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.55 [[-5.58116384e-01 -4.76875195e-01 6.79040610e-01 9.03802455e+01] [ 2.97101509e-01 -8.78947178e-01 -3.73071777e-01 -4.34379822e+01] [ 7.74749505e-01 -6.47348154e-03 6.32235161e-01 3.55380984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.55 [[-5.56926792e-01 -4.75849535e-01 6.80734726e-01 9.03790195e+01] [ 2.96005139e-01 -8.79506070e-01 -3.72625859e-01 -4.34408886e+01] [ 7.76024166e-01 -6.02434719e-03 6.30674402e-01 3.54667372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.54 [[-5.55683255e-01 -4.75045315e-01 6.82310830e-01 9.03802214e+01] [ 2.95347443e-01 -8.79945634e-01 -3.72109618e-01 -4.34398405e+01] [ 7.77165367e-01 -5.25632500e-03 6.29274474e-01 3.54425033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-43.44, Z:3.54 [[-5.56016388e-01 -4.73821754e-01 6.82889978e-01 9.03842396e+01] [ 2.94715567e-01 -8.80606296e-01 -3.71046204e-01 -4.34392366e+01] [ 7.77166978e-01 -5.04946318e-03 6.29274179e-01 3.54064841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.44, Z:3.54 [[-5.57154310e-01 -4.72052883e-01 6.83187493e-01 9.03858121e+01] [ 2.93415245e-01 -8.81552487e-01 -3.69827943e-01 -4.34376644e+01] [ 7.76843980e-01 -5.59360707e-03 6.29668280e-01 3.54276085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.44, Z:3.55 [[-5.60175690e-01 -4.69917661e-01 6.82188088e-01 9.03891302e+01] [ 2.92410157e-01 -8.82685435e-01 -3.67916734e-01 -4.34391557e+01] [ 7.75048060e-01 -6.61928458e-03 6.31867620e-01 3.54521702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.44, Z:3.54 [[-5.60695610e-01 -4.68290419e-01 6.82879576e-01 9.03894833e+01] [ 2.91051655e-01 -8.83547037e-01 -3.66924471e-01 -4.34410081e+01] [ 7.75183441e-01 -6.97970953e-03 6.31697647e-01 3.54278892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.44, Z:3.54 [[-5.59483551e-01 -4.67460517e-01 6.84440516e-01 9.03896180e+01] [ 2.90363861e-01 -8.83991809e-01 -3.66397748e-01 -4.34428629e+01] [ 7.76316291e-01 -6.25672211e-03 6.30312518e-01 3.53927543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-43.44, Z:3.53 [[-5.57861380e-01 -4.66850805e-01 6.86178553e-01 9.03896667e+01] [ 2.89914085e-01 -8.84320674e-01 -3.65960064e-01 -4.34442340e+01] [ 7.77650631e-01 -5.22215930e-03 6.28674975e-01 3.53342724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.56620187e-01 -4.68320076e-01 6.86185306e-01 9.03967979e+01] [ 2.93927772e-01 -8.83557997e-01 -3.64598039e-01 -4.34481400e+01] [ 7.77033096e-01 -1.25371063e-03 6.29458495e-01 3.52067336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.57057602e-01 -4.68485163e-01 6.85717493e-01 9.03988193e+01] [ 2.96197013e-01 -8.83470893e-01 -3.62969021e-01 -4.34477730e+01] [ 7.75857047e-01 9.12821026e-04 6.30908083e-01 3.52151770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.56757763e-01 -4.67680409e-01 6.86509890e-01 9.04012499e+01] [ 2.96125639e-01 -8.83895903e-01 -3.61991214e-01 -4.34474149e+01] [ 7.76099478e-01 1.75176120e-03 6.30608065e-01 3.52228131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.54944601e-01 -4.67135694e-01 6.88346376e-01 9.04009944e+01] [ 2.95797044e-01 -8.84180675e-01 -3.61564161e-01 -4.34464747e+01] [ 7.77522089e-01 2.96274427e-03 6.28848649e-01 3.52286335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.54896674e-01 -4.65315636e-01 6.89616589e-01 9.04000198e+01] [ 2.93795021e-01 -8.85141639e-01 -3.60844516e-01 -4.34481117e+01] [ 7.78314953e-01 2.37449821e-03 6.27869569e-01 3.51991306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.55127680e-01 -4.63925175e-01 6.90367069e-01 9.03993604e+01] [ 2.92806553e-01 -8.85871197e-01 -3.59856284e-01 -4.34507677e+01] [ 7.78522691e-01 2.37781778e-03 6.27611954e-01 3.51718616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.57373211e-01 -4.62772835e-01 6.89330405e-01 9.04011731e+01] [ 2.93329186e-01 -8.86472817e-01 -3.57944037e-01 -4.34537872e+01] [ 7.76719442e-01 2.69230977e-03 6.29840979e-01 3.51536022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.45, Z:3.52 [[-5.59832649e-01 -4.62665491e-01 6.87406756e-01 9.04031217e+01] [ 2.96043982e-01 -8.86521828e-01 -3.55579821e-01 -4.34544286e+01] [ 7.73915607e-01 4.43744034e-03 6.33273198e-01 3.52019273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.46, Z:3.52 [[-5.59034594e-01 -4.61478649e-01 6.88852509e-01 9.04030373e+01] [ 2.94937702e-01 -8.87138687e-01 -3.54960141e-01 -4.34550430e+01] [ 7.74914237e-01 4.73357767e-03 6.32048668e-01 3.52106815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.46, Z:3.52 [[-5.57528305e-01 -4.60458254e-01 6.90753491e-01 9.04033321e+01] [ 2.93807528e-01 -8.87665773e-01 -3.54579487e-01 -4.34561673e+01] [ 7.76427283e-01 5.26047566e-03 6.30184895e-01 3.51772638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.43, Z:3.51 [[-5.58412165e-01 -4.78313582e-01 6.77784605e-01 9.04127161e+01] [ 2.93315831e-01 -8.78103150e-01 -3.78022064e-01 -4.34347148e+01] [ 7.75977885e-01 -1.22871643e-02 6.30640427e-01 3.51114015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.45, Z:3.50 [[-5.58431089e-01 -4.63061188e-01 6.88279780e-01 9.04083290e+01] [ 2.89652983e-01 -8.86323079e-01 -3.61292886e-01 -4.34493362e+01] [ 7.77338966e-01 -2.39488859e-03 6.29077416e-01 3.50175777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.46, Z:3.50 [[-5.59326078e-01 -4.53303464e-01 6.94024717e-01 9.04101540e+01] [ 2.85722626e-01 -8.91355058e-01 -3.51921500e-01 -4.34587911e+01] [ 7.78149677e-01 1.45969209e-03 6.28077185e-01 3.49643465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.49, Z:3.50 [[-5.61034847e-01 -4.25599150e-01 7.10003707e-01 9.04020551e+01] [ 2.82003769e-01 -9.04668094e-01 -3.19451896e-01 -4.34871165e+01] [ 7.78276155e-01 2.10000759e-02 6.27570891e-01 3.50329381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.46, Z:3.50 [[-5.61611758e-01 -4.49896215e-01 6.94395874e-01 9.04156964e+01] [ 2.80307564e-01 -8.93075825e-01 -3.51913683e-01 -4.34583820e+01] [ 7.78472802e-01 -2.99444667e-03 6.27671196e-01 3.50317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.46, Z:3.50 [[-5.61774417e-01 -4.48253187e-01 6.95326243e-01 9.04144742e+01] [ 2.78822078e-01 -8.93900512e-01 -3.50998752e-01 -4.34598156e+01] [ 7.78888794e-01 -3.30981149e-03 6.27153324e-01 3.50149332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.46, Z:3.50 [[-5.62023252e-01 -4.46948427e-01 6.95964775e-01 9.04126119e+01] [ 2.78053711e-01 -8.94554146e-01 -3.49941443e-01 -4.34604471e+01] [ 7.78983952e-01 -3.15963907e-03 6.27035899e-01 3.49903807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-43.46, Z:3.50 [[-5.64263839e-01 -4.44692918e-01 6.95596527e-01 9.04133407e+01] [ 2.76401727e-01 -8.95672691e-01 -3.48385586e-01 -4.34579219e+01] [ 7.77951416e-01 -4.31730693e-03 6.28309602e-01 3.49749799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.46, Z:3.50 [[-5.66818210e-01 -4.42407348e-01 6.94976874e-01 9.04172947e+01] [ 2.74855305e-01 -8.96797323e-01 -3.46711873e-01 -4.34582272e+01] [ 7.76641281e-01 -5.50452258e-03 6.29919059e-01 3.49592801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.46, Z:3.50 [[-5.68198023e-01 -4.39783978e-01 6.95514960e-01 9.04164403e+01] [ 2.72048337e-01 -8.98075005e-01 -3.45616824e-01 -4.34556356e+01] [ 7.76621342e-01 -7.16510788e-03 6.29926942e-01 3.50077788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.42, Z:3.50 [[-5.73195475e-01 -4.66621822e-01 6.73580747e-01 9.04355864e+01] [ 2.73736582e-01 -8.83839203e-01 -3.79336984e-01 -4.34216184e+01] [ 7.72343985e-01 -3.30505510e-02 6.34344094e-01 3.49671850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.46, Z:3.50 [[-5.73440528e-01 -4.35644248e-01 6.93815574e-01 9.04187675e+01] [ 2.72256010e-01 -9.00097859e-01 -3.40147776e-01 -4.34567635e+01] [ 7.72685334e-01 -6.15906079e-03 6.34759356e-01 3.49518998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:-43.48, Z:3.50 [[-5.69150167e-01 -4.05258348e-01 7.15425579e-01 9.04007724e+01] [ 2.66049049e-01 -9.14060285e-01 -3.06123665e-01 -4.34786968e+01] [ 7.78001280e-01 1.61079605e-02 6.28056162e-01 3.50477612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.44, Z:3.50 [[-5.67501156e-01 -4.34559639e-01 6.99357104e-01 9.04175977e+01] [ 2.65271450e-01 -9.00588705e-01 -3.44341462e-01 -4.34442269e+01] [ 7.79470010e-01 -9.89470427e-03 6.26361396e-01 3.50112509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.45, Z:3.50 [[-5.67079292e-01 -4.34125098e-01 6.99968910e-01 9.04196703e+01] [ 2.65840898e-01 -9.00811466e-01 -3.43318102e-01 -4.34462002e+01] [ 7.79583025e-01 -8.60822244e-03 6.26239735e-01 3.49593152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.45, Z:3.48 [[-5.66798193e-01 -4.36319820e-01 6.98831040e-01 9.04307124e+01] [ 2.71675691e-01 -8.99784159e-01 -3.41439286e-01 -4.34507374e+01] [ 7.77773828e-01 -3.67176477e-03 6.28533524e-01 3.48395356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.45, Z:3.48 [[-5.66425340e-01 -4.36418070e-01 6.99071958e-01 9.04369585e+01] [ 2.73345702e-01 -8.99742547e-01 -3.40213867e-01 -4.34521553e+01] [ 7.77460263e-01 -1.61744009e-03 6.28929982e-01 3.47912421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.45, Z:3.47 [[-5.65496925e-01 -4.36372913e-01 6.99851347e-01 9.04404243e+01] [ 2.74494844e-01 -8.99765861e-01 -3.39225552e-01 -4.34522686e+01] [ 7.77731193e-01 2.74580062e-04 6.28596943e-01 3.47453937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.45, Z:3.48 [[-5.63973292e-01 -4.36047079e-01 7.01282447e-01 9.04365813e+01] [ 2.74830272e-01 -8.99922041e-01 -3.38538980e-01 -4.34502894e+01] [ 7.78718465e-01 1.80670234e-03 6.27370934e-01 3.47660811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.45, Z:3.48 [[-5.61807382e-01 -4.36309431e-01 7.02855992e-01 9.04340685e+01] [ 2.76030026e-01 -8.99787059e-01 -3.37921105e-01 -4.34464735e+01] [ 7.79858891e-01 4.16278601e-03 6.25941516e-01 3.47626814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.45, Z:3.48 [[-5.63276666e-01 -4.35390131e-01 7.02249836e-01 9.04356694e+01] [ 2.76599336e-01 -9.00228939e-01 -3.36274687e-01 -4.34453454e+01] [ 7.78596305e-01 4.82615339e-03 6.27506576e-01 3.47536219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.45, Z:3.48 [[-5.64326859e-01 -4.34801839e-01 7.01771014e-01 9.04371304e+01] [ 2.77602313e-01 -9.00506616e-01 -3.34701045e-01 -4.34456745e+01] [ 7.77478072e-01 5.93246654e-03 6.28882067e-01 3.47766249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.45, Z:3.49 [[-5.62271356e-01 -4.36036075e-01 7.02654584e-01 9.04291328e+01] [ 2.80731409e-01 -8.99878171e-01 -3.33780097e-01 -4.34483488e+01] [ 7.77843685e-01 9.58222355e-03 6.28384741e-01 3.48571513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.45, Z:3.49 [[-5.60235639e-01 -4.36406001e-01 7.04049594e-01 9.04252805e+01] [ 2.82183129e-01 -8.99669215e-01 -3.33118576e-01 -4.34500282e+01] [ 7.78786691e-01 1.20460190e-02 6.27173168e-01 3.48680936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.45, Z:3.49 [[-5.58347409e-01 -4.36665042e-01 7.05387703e-01 9.04208512e+01] [ 2.83479120e-01 -8.99509850e-01 -3.32447920e-01 -4.34480057e+01] [ 7.79671571e-01 1.43412504e-02 6.26024416e-01 3.48966691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.45, Z:3.49 [[-5.58457414e-01 -4.36337497e-01 7.05503299e-01 9.04213569e+01] [ 2.84487211e-01 -8.99645471e-01 -3.31217531e-01 -4.34471047e+01] [ 7.79225477e-01 1.57357799e-02 6.26546121e-01 3.49102091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.45, Z:3.49 [[-5.62230987e-01 -4.35848986e-01 7.02802944e-01 9.04243007e+01] [ 2.86717881e-01 -8.99864730e-01 -3.28688795e-01 -4.34503235e+01] [ 7.75686260e-01 1.67071453e-02 6.30897534e-01 3.49231728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-43.45, Z:3.49 [[-5.64400861e-01 -4.34282885e-01 7.02032794e-01 9.04241519e+01] [ 2.86166596e-01 -9.00629073e-01 -3.27071785e-01 -4.34546957e+01] [ 7.74312823e-01 1.62987377e-02 6.32593079e-01 3.49243132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.46, Z:3.49 [[-5.66127534e-01 -4.32524507e-01 7.01727985e-01 9.04255963e+01] [ 2.85055765e-01 -9.01486228e-01 -3.25677433e-01 -4.34598501e+01] [ 7.73461586e-01 1.56566457e-02 6.33649780e-01 3.48768827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.46, Z:3.48 [[-5.65743904e-01 -4.29438301e-01 7.03929387e-01 9.04266601e+01] [ 2.80508901e-01 -9.02997614e-01 -3.25438268e-01 -4.34637524e+01] [ 7.75402213e-01 1.33437426e-02 6.31326661e-01 3.47898411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.47, Z:3.47 [[-5.64482466e-01 -4.27290750e-01 7.06245114e-01 9.04271132e+01] [ 2.77400827e-01 -9.04030282e-01 -3.25235346e-01 -4.34654690e+01] [ 7.77437024e-01 1.23233287e-02 6.28840051e-01 3.47462104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.47, Z:3.47 [[-5.64454196e-01 -4.25785858e-01 7.07175978e-01 9.04287144e+01] [ 2.76071609e-01 -9.04742637e-01 -3.24384382e-01 -4.34682774e+01] [ 7.77930541e-01 1.21310849e-02 6.28233165e-01 3.46917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.45, Z:3.48 [[-5.56713836e-01 -4.41719363e-01 7.03529466e-01 9.04342667e+01] [ 2.68111600e-01 -8.97127173e-01 -3.51111102e-01 -4.34466843e+01] [ 7.86247973e-01 -6.84399784e-03 6.17873195e-01 3.47524420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-43.49, Z:3.46 [[-5.68593811e-01 -4.08098169e-01 7.14252730e-01 9.04283468e+01] [ 2.71563940e-01 -9.12710771e-01 -3.05306525e-01 -4.34889219e+01] [ 7.76501194e-01 2.03698849e-02 6.29786443e-01 3.46206527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.48, Z:3.46 [[-5.69427144e-01 -4.19076680e-01 7.07196906e-01 9.04386763e+01] [ 2.68618663e-01 -9.07925677e-01 -3.21737437e-01 -4.34755897e+01] [ 7.76914887e-01 6.76025769e-03 6.29569343e-01 3.45793547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.48, Z:3.45 [[-5.70950543e-01 -4.15869472e-01 7.07861610e-01 9.04429143e+01] [ 2.64756504e-01 -9.09414204e-01 -3.20733221e-01 -4.34784968e+01] [ 7.77122558e-01 4.28815852e-03 6.29334682e-01 3.44896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.48, Z:3.44 [[-5.71169591e-01 -4.12988234e-01 7.09370155e-01 9.04466961e+01] [ 2.60967308e-01 -9.10733471e-01 -3.20094686e-01 -4.34814572e+01] [ 7.78242483e-01 2.29406909e-03 6.27959693e-01 3.44040317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.48, Z:3.43 [[-5.73337642e-01 -4.10194690e-01 7.09242035e-01 9.04478405e+01] [ 2.58240915e-01 -9.11997879e-01 -3.18702839e-01 -4.34829019e+01] [ 7.77557443e-01 4.30977514e-04 6.28811765e-01 3.43268543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.47, Z:3.42 [[-5.77882926e-01 -4.26609392e-01 6.95741152e-01 9.04622786e+01] [ 2.59141751e-01 -9.04298824e-01 -3.39247978e-01 -4.34652754e+01] [ 7.73884279e-01 -1.57500339e-02 6.33131155e-01 3.42450211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-43.51, Z:3.43 [[-5.77671015e-01 -3.87271742e-01 7.18551874e-01 9.04439187e+01] [ 2.55863804e-01 -9.21832406e-01 -2.91133524e-01 -4.35090353e+01] [ 7.75132190e-01 1.56720176e-02 6.31604683e-01 3.43217746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.49, Z:3.43 [[-5.77183070e-01 -4.05368415e-01 7.08897843e-01 9.04550373e+01] [ 2.54349140e-01 -9.14151474e-01 -3.15647902e-01 -4.34875919e+01] [ 7.75993698e-01 -1.87906859e-03 6.30737862e-01 3.43177318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.49, Z:3.43 [[-5.76692998e-01 -4.03606029e-01 7.10300894e-01 9.04546759e+01] [ 2.52450762e-01 -9.14930004e-01 -3.14915385e-01 -4.34873151e+01] [ 7.76977348e-01 -2.29349553e-03 6.29524376e-01 3.43115892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.49, Z:3.43 [[-5.76174935e-01 -4.02403927e-01 7.11402505e-01 9.04555320e+01] [ 2.51602852e-01 -9.15460128e-01 -3.14052160e-01 -4.34877085e+01] [ 7.77636451e-01 -1.95808337e-03 6.28711155e-01 3.42724997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.47, Z:3.44 [[-5.65880283e-01 -4.16954268e-01 7.11286612e-01 9.04554058e+01] [ 2.45923921e-01 -9.08789705e-01 -3.37079659e-01 -4.34673253e+01] [ 7.86956753e-01 -1.58243397e-02 6.16805204e-01 3.43613787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.51, Z:3.43 [[-5.79398372e-01 -3.84317933e-01 7.18747002e-01 9.04454393e+01] [ 2.49669499e-01 -9.23145950e-01 -2.92346878e-01 -4.35079251e+01] [ 7.75862532e-01 1.00638987e-02 6.30821726e-01 3.42632557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.49, Z:3.43 [[-5.81420500e-01 -3.97842775e-01 7.09698055e-01 9.04531609e+01] [ 2.48834980e-01 -9.17445318e-01 -3.10443619e-01 -4.34924651e+01] [ 7.74616909e-01 -3.90058339e-03 6.32418714e-01 3.42684637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.49, Z:3.43 [[-5.83357032e-01 -3.95956697e-01 7.09163499e-01 9.04538463e+01] [ 2.47776807e-01 -9.18258283e-01 -3.08882470e-01 -4.34936781e+01] [ 7.73499339e-01 -4.47449338e-03 6.33781312e-01 3.42723551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.49, Z:3.42 [[-5.80005080e-01 -3.94390136e-01 7.12776632e-01 9.04548324e+01] [ 2.44968388e-01 -9.18931161e-01 -3.09121352e-01 -4.34927598e+01] [ 7.76907071e-01 -4.68421234e-03 6.29597857e-01 3.42427327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.49, Z:3.42 [[-5.79114697e-01 -3.92860764e-01 7.14343466e-01 9.04544022e+01] [ 2.43327952e-01 -9.19585333e-01 -3.08470944e-01 -4.34920120e+01] [ 7.78085905e-01 -4.82032443e-03 6.28139387e-01 3.42221223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.47, Z:3.42 [[-5.77874063e-01 -4.10580894e-01 7.05326092e-01 9.04648077e+01] [ 2.40037966e-01 -9.11516829e-01 -3.33944374e-01 -4.34688244e+01] [ 7.80027783e-01 -2.36727516e-02 6.25296936e-01 3.42224064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-43.51, Z:3.42 [[-5.81783547e-01 -3.72643569e-01 7.22955514e-01 9.04479640e+01] [ 2.41484875e-01 -9.27927180e-01 -2.83965146e-01 -4.35120612e+01] [ 7.76667856e-01 9.37657199e-03 6.29840552e-01 3.42251954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.50, Z:3.42 [[-5.81704674e-01 -3.89700491e-01 7.13970027e-01 9.04594522e+01] [ 2.41837535e-01 -9.20927424e-01 -3.05626058e-01 -4.34953987e+01] [ 7.76617203e-01 -5.11935507e-03 6.29951992e-01 3.41880048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.50, Z:3.42 [[-5.82804159e-01 -3.88785693e-01 7.13571998e-01 9.04588439e+01] [ 2.42224351e-01 -9.21317665e-01 -3.04139973e-01 -4.34978605e+01] [ 7.75671758e-01 -4.40952696e-03 6.31121130e-01 3.41711074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.50, Z:3.41 [[-5.81149944e-01 -3.87748549e-01 7.15482917e-01 9.04597351e+01] [ 2.41190565e-01 -9.21756994e-01 -3.03629965e-01 -4.35001311e+01] [ 7.77233461e-01 -3.88680831e-03 6.29200317e-01 3.41316000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.48, Z:3.42 [[-5.69819527e-01 -4.03839991e-01 7.15694745e-01 9.04636274e+01] [ 2.36681237e-01 -9.14665623e-01 -3.27671774e-01 -4.34806440e+01] [ 7.86948346e-01 -1.73222573e-02 6.16775681e-01 3.41800612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.52, Z:3.41 [[-5.79252041e-01 -3.72160031e-01 7.25233744e-01 9.04579041e+01] [ 2.41605539e-01 -9.28101919e-01 -2.83290648e-01 -4.35176579e+01] [ 7.78520286e-01 1.11238031e-02 6.27520856e-01 3.40531970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.48, Z:3.42 [[-5.65833692e-01 -4.01144545e-01 7.20357750e-01 9.04665872e+01] [ 2.37016727e-01 -9.15929145e-01 -3.23877866e-01 -4.34821391e+01] [ 7.89718497e-01 -1.25241725e-02 6.13341537e-01 3.41755159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-43.52, Z:3.41 [[-5.79635445e-01 -3.76063073e-01 7.22910310e-01 9.04619317e+01] [ 2.45871753e-01 -9.26507803e-01 -2.84833937e-01 -4.35172819e+01] [ 7.76897569e-01 1.26433796e-02 6.29500050e-01 3.40538761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.50, Z:3.41 [[-5.80145021e-01 -3.88316789e-01 7.15990101e-01 9.04653717e+01] [ 2.47139549e-01 -9.21520478e-01 -2.99536396e-01 -4.35049554e+01] [ 7.76114552e-01 3.17492242e-03 6.30583954e-01 3.40814438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.41 [[-5.80624315e-01 -3.87087747e-01 7.16267046e-01 9.04666078e+01] [ 2.46676734e-01 -9.22036352e-01 -2.98327929e-01 -4.35077295e+01] [ 7.75903341e-01 3.46996631e-03 6.30842267e-01 3.40502598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.40 [[-5.80089113e-01 -3.85114090e-01 7.17763024e-01 9.04666137e+01] [ 2.44413306e-01 -9.22864785e-01 -2.97628502e-01 -4.35087767e+01] [ 7.77019148e-01 2.77978066e-03 6.29470822e-01 3.40294290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.40 [[-5.80522764e-01 -3.83686997e-01 7.18176586e-01 9.04702475e+01] [ 2.43563001e-01 -9.23458936e-01 -2.96480453e-01 -4.35079487e+01] [ 7.76962280e-01 2.80759259e-03 6.29540890e-01 3.39893510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.40 [[-5.81326955e-01 -3.82325001e-01 7.18252438e-01 9.04728434e+01] [ 2.42987300e-01 -9.24023294e-01 -2.95191675e-01 -4.35085065e+01] [ 7.76541141e-01 2.92334287e-03 6.30059768e-01 3.39612746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.40 [[-5.81894617e-01 -3.81483006e-01 7.18240469e-01 9.04706971e+01] [ 2.43284285e-01 -9.24368291e-01 -2.93863947e-01 -4.35092087e+01] [ 7.76022816e-01 3.73877035e-03 6.30693753e-01 3.39983802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.51, Z:3.40 [[-5.81914358e-01 -3.80285927e-01 7.18859022e-01 9.04719488e+01] [ 2.42698090e-01 -9.24859966e-01 -2.92799729e-01 -4.35129099e+01] [ 7.76191546e-01 4.08134479e-03 6.30483962e-01 3.39633618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.52, Z:3.39 [[-5.80983131e-01 -3.79191964e-01 7.20188903e-01 9.04706977e+01] [ 2.41923361e-01 -9.25306758e-01 -2.92028236e-01 -4.35174078e+01] [ 7.77130419e-01 4.56704068e-03 6.29323012e-01 3.39476754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.52, Z:3.39 [[-5.82925672e-01 -3.77609351e-01 7.19450373e-01 9.04706059e+01] [ 2.41378863e-01 -9.25954703e-01 -2.90420614e-01 -4.35187467e+01] [ 7.75843996e-01 4.36648111e-03 6.30909683e-01 3.39460009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.52, Z:3.39 [[-5.83331384e-01 -3.76464849e-01 7.19721275e-01 9.04718956e+01] [ 2.41033977e-01 -9.26418657e-01 -2.89224987e-01 -4.35199228e+01] [ 7.75646258e-01 4.76326885e-03 6.31149898e-01 3.39269792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.52, Z:3.39 [[-5.84226503e-01 -3.75144512e-01 7.19684645e-01 9.04742915e+01] [ 2.40552636e-01 -9.26953296e-01 -2.87909736e-01 -4.35192161e+01] [ 7.75121811e-01 4.91754013e-03 6.31792684e-01 3.39050211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.50, Z:3.40 [[-5.72742891e-01 -3.88538842e-01 7.21805479e-01 9.04770987e+01] [ 2.32100259e-01 -9.21366146e-01 -3.11791429e-01 -4.35004698e+01] [ 7.86190213e-01 -1.10450857e-02 6.17885875e-01 3.39747838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.54, Z:3.39 [[-5.84377529e-01 -3.61137727e-01 7.26692814e-01 9.04703396e+01] [ 2.38576585e-01 -9.32396503e-01 -2.71510540e-01 -4.35366153e+01] [ 7.75618538e-01 1.47072310e-02 6.31030571e-01 3.38849781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.51, Z:3.40 [[-5.71840154e-01 -3.83536503e-01 7.25188658e-01 9.04768417e+01] [ 2.30710297e-01 -9.23491456e-01 -3.06490276e-01 -4.35106252e+01] [ 7.87255738e-01 -7.95495611e-03 6.16575317e-01 3.39629611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.52, Z:3.39 [[-5.73947891e-01 -3.75062574e-01 7.27950469e-01 9.04751212e+01] [ 2.29305612e-01 -9.26993126e-01 -2.96820958e-01 -4.35232978e+01] [ 7.86131513e-01 -3.43663487e-03 6.18049702e-01 3.39288180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-43.55, Z:3.38 [[-5.85490572e-01 -3.58280870e-01 7.27210842e-01 9.04743406e+01] [ 2.34881749e-01 -9.33533562e-01 -2.70824025e-01 -4.35456045e+01] [ 7.75906795e-01 1.22436411e-02 6.30728737e-01 3.37987131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.53, Z:3.38 [[-5.85018788e-01 -3.68337252e-01 7.22551511e-01 9.04790327e+01] [ 2.34136971e-01 -9.29687965e-01 -2.84359219e-01 -4.35322631e+01] [ 7.76487538e-01 2.82053676e-03 6.30126295e-01 3.37871523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.53, Z:3.38 [[-5.85385745e-01 -3.66877140e-01 7.22997022e-01 9.04800899e+01] [ 2.33219264e-01 -9.30265124e-01 -2.83223539e-01 -4.35337870e+01] [ 7.76487156e-01 2.82181140e-03 6.30126760e-01 3.37673239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.53, Z:3.37 [[-5.84609251e-01 -3.64914714e-01 7.24616640e-01 9.04833302e+01] [ 2.30944326e-01 -9.31038428e-01 -2.82545860e-01 -4.35332300e+01] [ 7.77751080e-01 2.16717759e-03 6.28568661e-01 3.37112501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.53, Z:3.37 [[-5.85967004e-01 -3.60960485e-01 7.25499964e-01 9.04897796e+01] [ 2.25852843e-01 -9.32580417e-01 -2.81574605e-01 -4.35335387e+01] [ 7.78224366e-01 -1.13719789e-03 6.27985305e-01 3.36575743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.53, Z:3.37 [[-5.87102732e-01 -3.58364430e-01 7.25868665e-01 9.04889878e+01] [ 2.23185758e-01 -9.33578113e-01 -2.80392624e-01 -4.35348009e+01] [ 7.78137841e-01 -2.61572706e-03 6.28088098e-01 3.36830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.54, Z:3.37 [[-5.88115463e-01 -3.56435887e-01 7.25998389e-01 9.04891165e+01] [ 2.21697544e-01 -9.34314298e-01 -2.79118239e-01 -4.35369339e+01] [ 7.77798432e-01 -3.20169233e-03 6.28505647e-01 3.36727226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.52, Z:3.38 [[-5.78277730e-01 -3.70898068e-01 7.26656377e-01 9.04880145e+01] [ 2.16894849e-01 -9.28524427e-01 -3.01328746e-01 -4.35178654e+01] [ 7.86480446e-01 -1.66436781e-02 6.17390878e-01 3.37693685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.54, Z:3.37 [[-5.76567251e-01 -3.52254350e-01 7.37215761e-01 9.04853764e+01] [ 2.18623360e-01 -9.35902338e-01 -2.76207605e-01 -4.35429254e+01] [ 7.87257284e-01 1.92032746e-03 6.16621667e-01 3.36702609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.54, Z:3.37 [[-5.76017884e-01 -3.58902811e-01 7.34433230e-01 9.04859857e+01] [ 2.20551971e-01 -9.33374272e-01 -2.83141832e-01 -4.35358026e+01] [ 7.87121480e-01 -1.11406255e-03 6.16796996e-01 3.36783706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:-43.55, Z:3.36 [[-5.86460073e-01 -3.42681174e-01 7.33917022e-01 9.04843451e+01] [ 2.26495762e-01 -9.39329520e-01 -2.57603810e-01 -4.35522011e+01] [ 7.77665900e-01 1.51547459e-02 6.28495092e-01 3.36157251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.53, Z:3.36 [[-5.85896455e-01 -3.55294486e-01 7.28348249e-01 9.04948095e+01] [ 2.24266946e-01 -9.34752520e-01 -2.75575877e-01 -4.35339557e+01] [ 7.78735950e-01 1.88550830e-03 6.27348997e-01 3.35632923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.51, Z:3.36 [[-5.74710568e-01 -3.69826158e-01 7.30024915e-01 9.04977687e+01] [ 2.17083328e-01 -9.28998777e-01 -2.99726709e-01 -4.35110317e+01] [ 7.89039031e-01 -1.37798692e-02 6.14188508e-01 3.36363918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.55, Z:3.35 [[-5.87534019e-01 -3.36863173e-01 7.35749264e-01 9.04930780e+01] [ 2.21115809e-01 -9.41461465e-01 -2.54476146e-01 -4.35501105e+01] [ 7.78403222e-01 1.31724008e-02 6.27626411e-01 3.35141384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.51, Z:3.36 [[-5.77087055e-01 -3.67975377e-01 7.29084805e-01 9.05026635e+01] [ 2.15537781e-01 -9.29711447e-01 -2.98630359e-01 -4.35136291e+01] [ 7.87727108e-01 -1.51903931e-02 6.15837037e-01 3.36132601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.56, Z:3.35 [[-5.88121248e-01 -3.34368516e-01 7.36417744e-01 9.04937899e+01] [ 2.20631897e-01 -9.42331318e-01 -2.51660989e-01 -4.35553126e+01] [ 7.78097015e-01 1.44700686e-02 6.27977430e-01 3.35180273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.52, Z:3.36 [[-5.78595291e-01 -3.65926060e-01 7.28920851e-01 9.05017495e+01] [ 2.18836704e-01 -9.30587157e-01 -2.93458755e-01 -4.35190047e+01] [ 7.85708588e-01 -1.02792177e-02 6.18511400e-01 3.36127563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.56, Z:3.36 [[-5.90341594e-01 -3.35392869e-01 7.34171932e-01 9.04911701e+01] [ 2.24841822e-01 -9.41910522e-01 -2.49500947e-01 -4.35553025e+01] [ 7.75205107e-01 1.77817683e-02 6.31459303e-01 3.35678374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.54, Z:3.36 [[-5.88813732e-01 -3.53012687e-01 7.27104141e-01 9.04941969e+01] [ 2.28312411e-01 -9.35589165e-01 -2.69344309e-01 -4.35350269e+01] [ 7.75352714e-01 7.41327142e-03 6.31484926e-01 3.35815865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.53, Z:3.36 [[-5.87946584e-01 -3.51856677e-01 7.28365082e-01 9.04918355e+01] [ 2.27505859e-01 -9.36021145e-01 -2.68524675e-01 -4.35331879e+01] [ 7.76247318e-01 7.82915837e-03 6.30379890e-01 3.35836676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.53, Z:3.35 [[-5.87388042e-01 -3.48837123e-01 7.30265671e-01 9.04989074e+01] [ 2.23438793e-01 -9.37165539e-01 -2.67947492e-01 -4.35311811e+01] [ 7.77849853e-01 5.78052746e-03 6.28423576e-01 3.34934836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.53, Z:3.35 [[-5.88918735e-01 -3.46862573e-01 7.29973341e-01 9.05011221e+01] [ 2.21996344e-01 -9.37902281e-01 -2.66565067e-01 -4.35298672e+01] [ 7.77105107e-01 5.06625137e-03 6.29350448e-01 3.34875562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.51, Z:3.36 [[-5.77992031e-01 -3.61178666e-01 7.31761699e-01 9.05049823e+01] [ 2.16905940e-01 -9.32460002e-01 -2.88912026e-01 -4.35090984e+01] [ 7.86687375e-01 -8.26538897e-03 6.17296248e-01 3.35876723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.55, Z:3.35 [[-5.90912298e-01 -3.26687400e-01 7.37629988e-01 9.05007908e+01] [ 2.20200142e-01 -9.44933993e-01 -2.42098423e-01 -4.35496331e+01] [ 7.76102154e-01 1.93672930e-02 6.30309729e-01 3.34700662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.90180039e-01 -3.44353543e-01 7.30142560e-01 9.05087286e+01] [ 2.21319214e-01 -9.38821766e-01 -2.63877809e-01 -4.35311243e+01] [ 7.76340986e-01 5.85916129e-03 6.30285922e-01 3.34768173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.90982947e-01 -3.44760424e-01 7.29300628e-01 9.05051636e+01] [ 2.23897629e-01 -9.38654214e-01 -2.62293953e-01 -4.35299310e+01] [ 7.74989683e-01 8.27742783e-03 6.31919675e-01 3.34999411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.53, Z:3.35 [[-5.91229139e-01 -3.44455264e-01 7.29245279e-01 9.05028370e+01] [ 2.24991185e-01 -9.38751998e-01 -2.61005081e-01 -4.35273419e+01] [ 7.74485037e-01 9.75995040e-03 6.32516934e-01 3.35077547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.53, Z:3.35 [[-5.90319540e-01 -3.43703717e-01 7.30335947e-01 9.05046270e+01] [ 2.24888289e-01 -9.39017411e-01 -2.60137577e-01 -4.35260748e+01] [ 7.75208422e-01 1.06797062e-02 6.31615267e-01 3.34959047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.89446193e-01 -3.43460857e-01 7.31155131e-01 9.05069637e+01] [ 2.25703213e-01 -9.39087069e-01 -2.59178582e-01 -4.35260562e+01] [ 7.75636026e-01 1.22522331e-02 6.31061516e-01 3.35154192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.88577920e-01 -3.42408397e-01 7.32347269e-01 9.05068661e+01] [ 2.25079258e-01 -9.39464355e-01 -2.58352575e-01 -4.35274560e+01] [ 7.76476246e-01 1.27755586e-02 6.30017004e-01 3.35193366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.87368748e-01 -3.41355450e-01 7.33808156e-01 9.05075391e+01] [ 2.24345374e-01 -9.39840088e-01 -2.57623295e-01 -4.35285527e+01] [ 7.77603438e-01 1.33065935e-02 6.28614212e-01 3.35044651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.53, Z:3.35 [[-5.87025616e-01 -3.39878828e-01 7.34767520e-01 9.05069066e+01] [ 2.23132889e-01 -9.40375895e-01 -2.56719479e-01 -4.35295036e+01] [ 7.78211180e-01 1.32498886e-02 6.27862883e-01 3.35061067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.49, Z:3.35 [[-5.89297750e-01 -3.80841369e-01 7.12522289e-01 9.05265539e+01] [ 2.23845719e-01 -9.24365108e-01 -3.08937275e-01 -4.34851720e+01] [ 7.76286838e-01 -2.25609770e-02 6.29975989e-01 3.34694389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.58, Z:3.35 [[-5.89298300e-01 -2.94066029e-01 7.52497631e-01 9.04860947e+01] [ 2.23588881e-01 -9.54388587e-01 -1.97864696e-01 -4.35818915e+01] [ 7.76360436e-01 5.16487744e-02 6.28169466e-01 3.34895915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.49, Z:3.35 [[-5.89945925e-01 -3.72836119e-01 7.16210188e-01 9.05212812e+01] [ 2.24387598e-01 -9.27773069e-01 -2.98139798e-01 -4.34924677e+01] [ 7.75637809e-01 -1.51776759e-02 6.30995742e-01 3.34722829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.49, Y:-43.57, Z:3.35 [[-5.88031897e-01 -3.02123384e-01 7.50293242e-01 9.04897043e+01] [ 2.23119135e-01 -9.52217363e-01 -2.08566404e-01 -4.35693990e+01] [ 7.77455041e-01 4.47610808e-02 6.27343690e-01 3.34969318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.54, Z:3.35 [[-5.89314035e-01 -3.36346776e-01 7.34560967e-01 9.05096002e+01] [ 2.22432656e-01 -9.41627107e-01 -2.52709528e-01 -4.35351534e+01] [ 7.76680553e-01 1.44650756e-02 6.29728577e-01 3.34842886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.54, Z:3.35 [[-5.90286798e-01 -3.35724210e-01 7.34064541e-01 9.05090574e+01] [ 2.23127347e-01 -9.41833821e-01 -2.51322981e-01 -4.35402106e+01] [ 7.75742021e-01 1.54372364e-02 6.30861323e-01 3.34835467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.54, Z:3.35 [[-5.90666414e-01 -3.34787095e-01 7.34187162e-01 9.05084981e+01] [ 2.23081803e-01 -9.42157440e-01 -2.50147691e-01 -4.35448031e+01] [ 7.75466116e-01 1.60299560e-02 6.31185665e-01 3.34746086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.55, Z:3.35 [[-5.88230908e-01 -3.34213135e-01 7.36400692e-01 9.05001391e+01] [ 2.22831550e-01 -9.42340152e-01 -2.49682074e-01 -4.35480224e+01] [ 7.77386968e-01 1.72225947e-02 6.28786835e-01 3.34596221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.55, Z:3.34 [[-5.86761502e-01 -3.32676596e-01 7.38266363e-01 9.04995460e+01] [ 2.21169834e-01 -9.42885563e-01 -2.49099817e-01 -4.35514349e+01] [ 7.78970375e-01 1.71200663e-02 6.26826977e-01 3.34211231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.56, Z:3.34 [[-5.86431788e-01 -3.30807339e-01 7.39367475e-01 9.05010546e+01] [ 2.19253606e-01 -9.43553705e-01 -2.48262484e-01 -4.35550411e+01] [ 7.79759972e-01 1.65199725e-02 6.25860589e-01 3.33851027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-43.56, Z:3.34 [[-5.87192225e-01 -3.28984262e-01 7.39577343e-01 9.05037935e+01] [ 2.17748600e-01 -9.44200984e-01 -2.47123550e-01 -4.35582831e+01] [ 7.79609414e-01 1.59329039e-02 6.26063339e-01 3.33713377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-43.56, Z:3.33 [[-5.89307228e-01 -3.25505550e-01 7.39434330e-01 9.05119859e+01] [ 2.13721663e-01 -9.45448781e-01 -2.45865113e-01 -4.35635404e+01] [ 7.79127744e-01 1.31430464e-02 6.26727388e-01 3.33088710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.57, Z:3.32 [[-5.90472133e-01 -3.22305149e-01 7.39906786e-01 9.05161186e+01] [ 2.09926216e-01 -9.46574476e-01 -2.44801441e-01 -4.35668917e+01] [ 7.79277643e-01 1.07774029e-02 6.26586150e-01 3.32359466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.57, Z:3.32 [[-5.91472119e-01 -3.19053971e-01 7.40516912e-01 9.05190012e+01] [ 2.06017282e-01 -9.47699518e-01 -2.43767312e-01 -4.35704311e+01] [ 7.79562449e-01 8.37771330e-03 6.26268474e-01 3.31565524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.58, Z:3.30 [[-5.93335567e-01 -3.14719411e-01 7.40880960e-01 9.05242179e+01] [ 2.00489201e-01 -9.49173737e-01 -2.42638204e-01 -4.35752894e+01] [ 7.79587702e-01 4.57275505e-03 6.26276381e-01 3.30426214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-5.93604612e-01 -3.12474262e-01 7.41615399e-01 9.05266953e+01] [ 1.98183899e-01 -9.49919575e-01 -2.41611140e-01 -4.35787212e+01] [ 7.79972248e-01 3.55474407e-03 6.25804008e-01 3.30037697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-5.94834991e-01 -3.10617832e-01 7.41409398e-01 9.05286328e+01] [ 1.96890514e-01 -9.50529961e-01 -2.40264271e-01 -4.35826128e+01] [ 7.79362213e-01 3.05888202e-03 6.26566185e-01 3.29779329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.59, Z:3.29 [[-5.96702477e-01 -3.07801671e-01 7.41083184e-01 9.05320773e+01] [ 1.94118035e-01 -9.51449625e-01 -2.38876116e-01 -4.35907956e+01] [ 7.78629785e-01 1.31964111e-03 6.27482204e-01 3.29184370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.57, Z:3.30 [[-5.84334387e-01 -3.21562244e-01 7.45084591e-01 9.05308722e+01] [ 1.87671649e-01 -9.46800090e-01 -2.61436307e-01 -4.35728160e+01] [ 7.89514203e-01 -1.29349703e-02 6.13595967e-01 3.30213059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.61, Z:3.29 [[-5.98534575e-01 -2.87267995e-01 7.47819137e-01 9.05283040e+01] [ 1.89132322e-01 -9.57777228e-01 -2.16545021e-01 -4.36116939e+01] [ 7.78450594e-01 1.18270878e-02 6.27594449e-01 3.28753186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.57, Z:3.30 [[-5.85491129e-01 -3.15008561e-01 7.46973724e-01 9.05283998e+01] [ 1.82323820e-01 -9.48978840e-01 -2.57288139e-01 -4.35727714e+01] [ 7.89910224e-01 -1.44488200e-02 6.13052257e-01 3.30121489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.60, Z:3.30 [[-6.00245985e-01 -2.80769264e-01 7.48914801e-01 9.05207227e+01] [ 1.78514989e-01 -9.59768566e-01 -2.16741087e-01 -4.35994647e+01] [ 7.79639120e-01 3.59454980e-03 6.26218750e-01 3.29578029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.58, Z:3.30 [[-6.01528581e-01 -2.92867212e-01 7.43230894e-01 9.05237892e+01] [ 1.74973592e-01 -9.56085275e-01 -2.35128025e-01 -4.35805128e+01] [ 7.79453403e-01 -1.13904482e-02 6.26356648e-01 3.30094666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-43.58, Z:3.30 [[-6.03193412e-01 -2.90460441e-01 7.42825982e-01 9.05242773e+01] [ 1.72878273e-01 -9.56804339e-01 -2.33748924e-01 -4.35816266e+01] [ 7.78633938e-01 -1.25773379e-02 6.27352373e-01 3.30329450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-6.04360603e-01 -2.88338128e-01 7.42704104e-01 9.05252089e+01] [ 1.71098728e-01 -9.57434572e-01 -2.32474226e-01 -4.35834403e+01] [ 7.78121769e-01 -1.34225355e-02 6.27970022e-01 3.30463640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.59, Z:3.30 [[-6.02095934e-01 -2.86915590e-01 7.45090552e-01 9.05255477e+01] [ 1.69368081e-01 -9.57860987e-01 -2.31984444e-01 -4.35858949e+01] [ 7.80253126e-01 -1.34823336e-02 6.25318548e-01 3.30402945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.59, Z:3.30 [[-6.01572282e-01 -2.85807041e-01 7.45939089e-01 9.05274051e+01] [ 1.68779607e-01 -9.58197976e-01 -2.31019660e-01 -4.35862315e+01] [ 7.80784371e-01 -1.30757175e-02 6.24663743e-01 3.29966193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-6.01837078e-01 -2.84004431e-01 7.46413836e-01 9.05272642e+01] [ 1.67244762e-01 -9.58727202e-01 -2.29937691e-01 -4.35834278e+01] [ 7.80910572e-01 -1.35512233e-02 6.24495831e-01 3.29845820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-6.03053446e-01 -2.82535588e-01 7.45989399e-01 9.05294316e+01] [ 1.66615375e-01 -9.59161064e-01 -2.28581210e-01 -4.35794951e+01] [ 7.80106312e-01 -1.35533830e-02 6.25500158e-01 3.29690147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.30 [[-6.05384390e-01 -2.80494064e-01 7.44871009e-01 9.05331811e+01] [ 1.65355461e-01 -9.59749742e-01 -2.27019831e-01 -4.35757714e+01] [ 7.78567474e-01 -1.42657727e-02 6.27398738e-01 3.29609501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-43.58, Z:3.29 [[-6.05507657e-01 -2.78868783e-01 7.45380896e-01 9.05338852e+01] [ 1.64081475e-01 -9.60219524e-01 -2.25955161e-01 -4.35779819e+01] [ 7.78741130e-01 -1.45143834e-02 6.27177475e-01 3.29406232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-43.58, Z:3.29 [[-6.04395512e-01 -2.78246359e-01 7.46515257e-01 9.05362783e+01] [ 1.64144784e-01 -9.60414879e-01 -2.25077211e-01 -4.35797770e+01] [ 7.79591274e-01 -1.34990702e-02 6.26143131e-01 3.29115575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-43.58, Z:3.29 [[-6.04153842e-01 -2.77246645e-01 7.47082614e-01 9.05402699e+01] [ 1.63845176e-01 -9.60711631e-01 -2.24026608e-01 -4.35787946e+01] [ 7.79841582e-01 -1.29406536e-02 6.25843148e-01 3.28850972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-43.58, Z:3.29 [[-6.04400307e-01 -2.75800328e-01 7.47418523e-01 9.05414205e+01] [ 1.62935345e-01 -9.61127829e-01 -2.22902152e-01 -4.35801628e+01] [ 7.79841229e-01 -1.29412341e-02 6.25843576e-01 3.28652568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-43.58, Z:3.29 [[-6.04152527e-01 -2.74515884e-01 7.48091407e-01 9.05444548e+01] [ 1.62149289e-01 -9.61498106e-01 -2.21876094e-01 -4.35786865e+01] [ 7.80196983e-01 -1.27445130e-02 6.25404066e-01 3.28602105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-43.58, Z:3.28 [[-6.05456077e-01 -2.73592309e-01 7.47375533e-01 9.05479399e+01] [ 1.62489704e-01 -9.61770556e-01 -2.20441587e-01 -4.35785054e+01] [ 7.79114905e-01 -1.20268689e-02 6.26765761e-01 3.28246303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-43.58, Z:3.27 [[-6.05322593e-01 -2.73942574e-01 7.47355354e-01 9.05524821e+01] [ 1.64574814e-01 -9.61697155e-01 -2.19211571e-01 -4.35781117e+01] [ 7.78780899e-01 -9.69784807e-03 6.27221063e-01 3.27347664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.58, Z:3.27 [[-6.04867603e-01 -2.73933811e-01 7.47726855e-01 9.05559612e+01] [ 1.65949741e-01 -9.61716686e-01 -2.18086449e-01 -4.35796978e+01] [ 7.78842645e-01 -7.82834986e-03 6.27170512e-01 3.26611991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.58, Z:3.26 [[-6.04131107e-01 -2.73330786e-01 7.48542508e-01 9.05585173e+01] [ 1.66232931e-01 -9.61896704e-01 -2.17074510e-01 -4.35816148e+01] [ 7.79353718e-01 -6.70904922e-03 6.26548299e-01 3.26203369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.58, Z:3.26 [[-6.02612950e-01 -2.72642424e-01 7.50015827e-01 9.05618526e+01] [ 1.66151346e-01 -9.62098589e-01 -2.16240688e-01 -4.35842941e+01] [ 7.80545555e-01 -5.69329999e-03 6.25072975e-01 3.25730005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.25 [[-6.00030287e-01 -2.72640808e-01 7.52084201e-01 9.05652575e+01] [ 1.66970937e-01 -9.62108510e-01 -2.15564191e-01 -4.35837620e+01] [ 7.82358205e-01 -3.76883988e-03 6.22817337e-01 3.25138624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.24 [[-6.00047807e-01 -2.72453945e-01 7.52137938e-01 9.05701735e+01] [ 1.68255428e-01 -9.62166662e-01 -2.14302183e-01 -4.35834669e+01] [ 7.82069524e-01 -2.04026430e-03 6.23187851e-01 3.24416612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.24 [[-5.99263665e-01 -2.72299489e-01 7.52818735e-01 9.05730756e+01] [ 1.69382336e-01 -9.62212515e-01 -2.13205768e-01 -4.35828284e+01] [ 7.82427431e-01 -2.52273832e-04 6.22741722e-01 3.24002581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.25 [[-5.99178493e-01 -2.73101954e-01 7.52595812e-01 9.05708350e+01] [ 1.72377693e-01 -9.61981027e-01 -2.11845309e-01 -4.35806197e+01] [ 7.81838260e-01 2.79757667e-03 6.23475027e-01 3.24566454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.25 [[-6.00120878e-01 -2.73103786e-01 7.51843903e-01 9.05700966e+01] [ 1.74249056e-01 -9.61972726e-01 -2.10346717e-01 -4.35818541e+01] [ 7.80699813e-01 4.77463414e-03 6.24887994e-01 3.24817990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.58, Z:3.25 [[-5.98924736e-01 -2.73249617e-01 7.52744185e-01 9.05682064e+01] [ 1.75775379e-01 -9.61918095e-01 -2.09324139e-01 -4.35834904e+01] [ 7.81275993e-01 6.94448965e-03 6.24147096e-01 3.25075530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.59, Z:3.25 [[-5.98521421e-01 -2.73542262e-01 7.52958657e-01 9.05654783e+01] [ 1.77753459e-01 -9.61815265e-01 -2.08122808e-01 -4.35855130e+01] [ 7.81137514e-01 9.27504683e-03 6.24290123e-01 3.25449498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.59, Z:3.26 [[-5.98111398e-01 -2.75270388e-01 7.52654615e-01 9.05590851e+01] [ 1.82183178e-01 -9.61272960e-01 -2.06793584e-01 -4.35890971e+01] [ 7.80430679e-01 1.34354104e-02 6.25097948e-01 3.26172019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.59, Z:3.26 [[-5.99131223e-01 -2.74437418e-01 7.52147513e-01 9.05575227e+01] [ 1.82525788e-01 -9.61500023e-01 -2.05431358e-01 -4.35906615e+01] [ 7.79567902e-01 1.42059762e-02 6.26156591e-01 3.26309954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.59, Z:3.26 [[-5.98747681e-01 -2.74034844e-01 7.52599574e-01 9.05572388e+01] [ 1.83246075e-01 -9.61593911e-01 -2.04347810e-01 -4.35917539e+01] [ 7.79693587e-01 1.55581403e-02 6.25967934e-01 3.26348859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.59, Z:3.26 [[-5.98731379e-01 -2.72771987e-01 7.53071165e-01 9.05588470e+01] [ 1.82570981e-01 -9.61949276e-01 -2.03276726e-01 -4.35925683e+01] [ 7.79864458e-01 1.57807870e-02 6.25749465e-01 3.26116157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.59, Z:3.26 [[-5.98468329e-01 -2.71897035e-01 7.53596484e-01 9.05589140e+01] [ 1.82502392e-01 -9.62184711e-01 -2.02221311e-01 -4.35933407e+01] [ 7.80082390e-01 1.65101109e-02 6.25458936e-01 3.26176302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.60, Z:3.26 [[-5.98491386e-01 -2.71113367e-01 7.53860466e-01 9.05588691e+01] [ 1.82653307e-01 -9.62391241e-01 -2.01099150e-01 -4.35963567e+01] [ 7.80029378e-01 1.73389982e-02 6.25502621e-01 3.26211225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.60, Z:3.26 [[-5.98226039e-01 -2.70296204e-01 7.54364347e-01 9.05578158e+01] [ 1.82676262e-01 -9.62606457e-01 -2.00045476e-01 -4.36003133e+01] [ 7.80227525e-01 1.81320461e-02 6.25232948e-01 3.26241865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-43.61, Z:3.26 [[-5.96837671e-01 -2.70919286e-01 7.55240051e-01 9.05520670e+01] [ 1.84912793e-01 -9.62376734e-01 -1.99093648e-01 -4.36070099e+01] [ 7.80763763e-01 2.08269581e-02 6.24479130e-01 3.26473896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-43.61, Z:3.26 [[-5.96037277e-01 -2.70354253e-01 7.56074164e-01 9.05491671e+01] [ 1.85243237e-01 -9.62510433e-01 -1.98137856e-01 -4.36098245e+01] [ 7.81296683e-01 2.19600775e-02 6.23773394e-01 3.26467158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-43.61, Z:3.26 [[-5.96073041e-01 -2.69478054e-01 7.56358716e-01 9.05480375e+01] [ 1.85207967e-01 -9.62740650e-01 -1.97049359e-01 -4.36111567e+01] [ 7.81277760e-01 2.26278497e-02 6.23773230e-01 3.26469710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.61, Z:3.26 [[-5.98312631e-01 -2.66190025e-01 7.55754501e-01 9.05571862e+01] [ 1.81511538e-01 -9.63711699e-01 -1.95737895e-01 -4.36131650e+01] [ 7.80432929e-01 2.00657067e-02 6.24917443e-01 3.25885300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-43.62, Z:3.25 [[-5.99560045e-01 -2.63588610e-01 7.55677707e-01 9.05612479e+01] [ 1.78791329e-01 -9.64458565e-01 -1.94559339e-01 -4.36156571e+01] [ 7.80103463e-01 1.84586152e-02 6.25378179e-01 3.25375815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.62, Z:3.25 [[-6.00668712e-01 -2.60732361e-01 7.55788155e-01 9.05651461e+01] [ 1.75628167e-01 -9.65269118e-01 -1.93417363e-01 -4.36192816e+01] [ 7.79969131e-01 1.65579297e-02 6.25598904e-01 3.24765842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.62, Z:3.24 [[-6.01867885e-01 -2.58539463e-01 7.55587451e-01 9.05678398e+01] [ 1.73629092e-01 -9.65876018e-01 -1.92188597e-01 -4.36233137e+01] [ 7.79492135e-01 1.55198185e-02 6.26219728e-01 3.24203820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.63, Z:3.24 [[-6.04360510e-01 -2.56067986e-01 7.54438573e-01 9.05698960e+01] [ 1.71458681e-01 -9.66555998e-01 -1.90712932e-01 -4.36287877e+01] [ 7.78042605e-01 1.40956777e-02 6.28053355e-01 3.23622314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.63, Z:3.24 [[-6.04221358e-01 -2.54608953e-01 7.55043596e-01 9.05698573e+01] [ 1.70437595e-01 -9.66941522e-01 -1.89671080e-01 -4.36321910e+01] [ 7.78374959e-01 1.40844973e-02 6.27641657e-01 3.23646116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.64, Z:3.23 [[-6.02733110e-01 -2.53202004e-01 7.56704396e-01 9.05713298e+01] [ 1.69216094e-01 -9.67309247e-01 -1.88888155e-01 -4.36354751e+01] [ 7.79794019e-01 1.41974177e-02 6.25875165e-01 3.23302323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.64, Z:3.23 [[-6.01808256e-01 -2.51369179e-01 7.58050367e-01 9.05727299e+01] [ 1.67398269e-01 -9.67793728e-01 -1.88024253e-01 -4.36378617e+01] [ 7.80899893e-01 1.37417717e-02 6.24505021e-01 3.23076086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.64, Z:3.23 [[-6.02638394e-01 -2.48814798e-01 7.58233580e-01 9.05767395e+01] [ 1.64741233e-01 -9.68473010e-01 -1.86869888e-01 -4.36375140e+01] [ 7.80824751e-01 1.22973661e-02 6.24629077e-01 3.22565918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.64, Z:3.22 [[-6.02999354e-01 -2.47346110e-01 7.58427110e-01 9.05760673e+01] [ 1.63833256e-01 -9.68849488e-01 -1.85713041e-01 -4.36392502e+01] [ 7.80737116e-01 1.22707394e-02 6.24739134e-01 3.22358566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.62, Z:3.23 [[-5.91125284e-01 -2.63496520e-01 7.62325707e-01 9.05764761e+01] [ 1.57532273e-01 -9.64648409e-01 -2.11274771e-01 -4.36224388e+01] [ 7.91046447e-01 -4.79895760e-03 6.11737270e-01 3.22901141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.67, Z:3.22 [[-6.05695849e-01 -2.31888454e-01 7.61157201e-01 9.05665282e+01] [ 1.64817443e-01 -9.72409238e-01 -1.65092354e-01 -4.36732534e+01] [ 7.78439304e-01 2.54562298e-02 6.27203500e-01 3.22291743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.66, Z:3.22 [[-6.05306817e-01 -2.45400221e-01 7.57220172e-01 9.05707389e+01] [ 1.64203241e-01 -9.69325886e-01 -1.82878706e-01 -4.36615951e+01] [ 7.78871589e-01 1.36402790e-02 6.27035079e-01 3.22203008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-43.66, Z:3.22 [[-6.06198514e-01 -2.43415206e-01 7.57147541e-01 9.05743511e+01] [ 1.62526068e-01 -9.69836004e-01 -1.81668384e-01 -4.36648926e+01] [ 7.78529793e-01 1.29291086e-02 6.27474461e-01 3.21879814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.67, Z:3.22 [[-6.06440833e-01 -2.41766965e-01 7.57481518e-01 9.05771401e+01] [ 1.61282708e-01 -9.70251576e-01 -1.80554055e-01 -4.36678131e+01] [ 7.78599643e-01 1.26733190e-02 6.27393005e-01 3.21566239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.67, Z:3.21 [[-6.07495999e-01 -2.38448988e-01 7.57687727e-01 9.05800517e+01] [ 1.57409369e-01 -9.71100616e-01 -1.79404249e-01 -4.36743215e+01] [ 7.78569780e-01 1.02797838e-02 6.27473843e-01 3.20936548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-43.68, Z:3.20 [[-6.09416070e-01 -2.35262743e-01 7.57141662e-01 9.05830952e+01] [ 1.53960431e-01 -9.71898471e-01 -1.78071748e-01 -4.36794647e+01] [ 7.77758471e-01 8.05007169e-03 6.28511700e-01 3.20204890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-43.68, Z:3.19 [[-6.09426524e-01 -2.32036828e-01 7.58128104e-01 9.05873965e+01] [ 1.50052777e-01 -9.72689479e-01 -1.77085691e-01 -4.36836027e+01] [ 7.78513633e-01 5.83851023e-03 6.27600538e-01 3.19432548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-43.69, Z:3.19 [[-6.11558127e-01 -2.28505767e-01 7.57483842e-01 9.05934513e+01] [ 1.46124259e-01 -9.73537196e-01 -1.75707227e-01 -4.36858160e+01] [ 7.77588810e-01 3.23158291e-03 6.28764820e-01 3.18612496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.18 [[-6.12853387e-01 -2.24583202e-01 7.57610131e-01 9.06013774e+01] [ 1.41386439e-01 -9.74454901e-01 -1.74492180e-01 -4.36868823e+01] [ 7.77444918e-01 1.77674831e-04 6.28951006e-01 3.17865934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.18 [[-6.13457215e-01 -2.18933899e-01 7.58774138e-01 9.06000522e+01] [ 1.33630316e-01 -9.75726695e-01 -1.73494538e-01 -4.36853523e+01] [ 7.78340018e-01 -5.03624795e-03 6.27822788e-01 3.18498987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.19 [[-6.13720584e-01 -2.16309416e-01 7.59313691e-01 9.05981055e+01] [ 1.30863644e-01 -9.76303819e-01 -1.72353006e-01 -4.36859013e+01] [ 7.78602435e-01 -6.41003097e-03 6.27484788e-01 3.18727806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.18 [[-6.12689662e-01 -2.14469436e-01 7.60666970e-01 9.05983266e+01] [ 1.29084144e-01 -9.76706816e-01 -1.71409098e-01 -4.36868632e+01] [ 7.79710627e-01 -6.83053769e-03 6.26102773e-01 3.18481023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.18 [[-6.14586763e-01 -2.13059880e-01 7.59531828e-01 9.05988236e+01] [ 1.28716304e-01 -9.77016422e-01 -1.69914755e-01 -4.36889746e+01] [ 7.78277086e-01 -6.66322930e-03 6.27885641e-01 3.18158724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.18 [[-6.15945522e-01 -2.12978859e-01 7.58453110e-01 9.06031762e+01] [ 1.30430310e-01 -9.77044904e-01 -1.68437497e-01 -4.36923356e+01] [ 7.76916371e-01 -4.82304795e-03 6.29585332e-01 3.17601236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.69, Z:3.17 [[-6.16793862e-01 -2.12312031e-01 7.57950482e-01 9.06059335e+01] [ 1.31045395e-01 -9.77194802e-01 -1.67085081e-01 -4.36932969e+01] [ 7.76139444e-01 -3.73113178e-03 6.30550269e-01 3.17148165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.69, Z:3.17 [[-6.14880490e-01 -2.11472213e-01 7.59737775e-01 9.06080194e+01] [ 1.30761610e-01 -9.77379818e-01 -1.66223023e-01 -4.36926573e+01] [ 7.77703918e-01 -2.86275921e-03 6.28624228e-01 3.16600813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.67, Z:3.16 [[-6.14680256e-01 -2.34818334e-01 7.53012970e-01 9.06173100e+01] [ 1.32392021e-01 -9.71830207e-01 -1.94983081e-01 -4.36653559e+01] [ 7.77586353e-01 -2.01593409e-02 6.28452914e-01 3.15576900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.72, Z:3.16 [[-6.12008852e-01 -1.89541886e-01 7.67801432e-01 9.06043782e+01] [ 1.31900468e-01 -9.81720263e-01 -1.37213675e-01 -4.37181994e+01] [ 7.79773962e-01 1.72973840e-02 6.25822155e-01 3.16172647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.70, Z:3.16 [[-6.10923722e-01 -2.11178490e-01 7.63004490e-01 9.06097233e+01] [ 1.32634821e-01 -9.77447183e-01 -1.64332010e-01 -4.36975650e+01] [ 7.80499975e-01 8.06640867e-04 6.25155292e-01 3.16214619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.70, Z:3.16 [[-6.10841262e-01 -2.10733942e-01 7.63193395e-01 9.06091699e+01] [ 1.33458476e-01 -9.77540923e-01 -1.63102968e-01 -4.37013027e+01] [ 7.80424108e-01 2.22460460e-03 6.25246562e-01 3.16408087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.70, Z:3.16 [[-6.11130505e-01 -2.10438334e-01 7.63043389e-01 9.06091394e+01] [ 1.34597381e-01 -9.77599683e-01 -1.61809780e-01 -4.37039537e+01] [ 7.80001956e-01 3.81674918e-03 6.25765437e-01 3.16438159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.68, Z:3.18 [[-6.00379072e-01 -2.28766751e-01 7.66296773e-01 9.06033538e+01] [ 1.33157617e-01 -9.73431947e-01 -1.86277462e-01 -4.36810933e+01] [ 7.88551849e-01 -9.79883739e-03 6.14890204e-01 3.17677231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.70, Z:3.18 [[-6.01895092e-01 -2.15012316e-01 7.69085172e-01 9.05992898e+01] [ 1.33767371e-01 -9.76610100e-01 -1.68341921e-01 -4.36971743e+01] [ 7.87291933e-01 1.55432520e-03 6.16578459e-01 3.17939022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.74, Z:3.17 [[-6.11854717e-01 -1.85055191e-01 7.69017803e-01 9.06007422e+01] [ 1.36012398e-01 -9.82379698e-01 -1.28182514e-01 -4.37374520e+01] [ 7.79188317e-01 2.61668797e-02 6.26243452e-01 3.16765600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.69, Z:3.17 [[-5.98319948e-01 -2.26428319e-01 7.68598371e-01 9.06016702e+01] [ 1.32441077e-01 -9.73993315e-01 -1.83837926e-01 -4.36903591e+01] [ 7.90235788e-01 -8.19990230e-03 6.12748041e-01 3.17493005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-43.72, Z:3.18 [[-5.96590595e-01 -2.02647751e-01 7.76539472e-01 9.05947792e+01] [ 1.31346764e-01 -9.79203183e-01 -1.54625853e-01 -4.37175322e+01] [ 7.91724504e-01 9.74761665e-03 6.10800536e-01 3.17543840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.71, Z:3.17 [[-5.96734814e-01 -2.11386015e-01 7.74095288e-01 9.05987943e+01] [ 1.30873318e-01 -9.77400087e-01 -1.66015795e-01 -4.37084128e+01] [ 7.91694219e-01 2.24101429e-03 6.10913448e-01 3.17275513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.74, Z:3.16 [[-6.10678383e-01 -1.88459716e-01 7.69126029e-01 9.06053816e+01] [ 1.34395654e-01 -9.81843053e-01 -1.33873174e-01 -4.37374749e+01] [ 7.80390749e-01 2.16137423e-02 6.24918495e-01 3.16439926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.72, Z:3.16 [[-6.10991551e-01 -2.04562084e-01 7.64750730e-01 9.06112159e+01] [ 1.33846503e-01 -9.78823119e-01 -1.54888398e-01 -4.37203093e+01] [ 7.80239988e-01 7.72370830e-03 6.25432575e-01 3.16224556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.72, Z:3.16 [[-6.11073412e-01 -2.03965977e-01 7.64844537e-01 9.06079071e+01] [ 1.34397841e-01 -9.78937682e-01 -1.53682255e-01 -4.37226755e+01] [ 7.80081089e-01 8.88231434e-03 6.25615376e-01 3.16396703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.72, Z:3.16 [[-6.11278007e-01 -2.02468765e-01 7.65078817e-01 9.06092682e+01] [ 1.33466561e-01 -9.79248400e-01 -1.52509831e-01 -4.37239653e+01] [ 7.80080685e-01 8.88653305e-03 6.25615820e-01 3.16198336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.73, Z:3.16 [[-6.09669100e-01 -2.01850263e-01 7.66524663e-01 9.06066170e+01] [ 1.33668671e-01 -9.79364876e-01 -1.51582076e-01 -4.37278084e+01] [ 7.81304214e-01 1.00454258e-02 6.24069559e-01 3.16095190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.73, Z:3.16 [[-6.08835532e-01 -2.02614817e-01 7.66985352e-01 9.06008473e+01] [ 1.36315692e-01 -9.79172931e-01 -1.50460640e-01 -4.37349585e+01] [ 7.81496850e-01 1.29463556e-02 6.23774852e-01 3.16375046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.74, Z:3.17 [[-6.10487794e-01 -2.02075537e-01 7.65813378e-01 9.06002374e+01] [ 1.37190798e-01 -9.79268744e-01 -1.49034939e-01 -4.37392284e+01] [ 7.80053420e-01 1.40785372e-02 6.25554519e-01 3.16574059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.74, Z:3.16 [[-6.11777649e-01 -2.00666455e-01 7.65154286e-01 9.06018325e+01] [ 1.36542020e-01 -9.79558120e-01 -1.47723278e-01 -4.37435168e+01] [ 7.79156200e-01 1.41019126e-02 6.26671167e-01 3.16495550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.74, Z:3.17 [[-5.98300382e-01 -2.07732804e-01 7.73875788e-01 9.06000097e+01] [ 1.30242879e-01 -9.78177677e-01 -1.61880277e-01 -4.37358869e+01] [ 7.90615864e-01 3.93877874e-03 6.12299797e-01 3.17265972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.76, Z:3.16 [[-6.11712583e-01 -1.89661303e-01 7.68008011e-01 9.06074785e+01] [ 1.31987241e-01 -9.81695811e-01 -1.37305143e-01 -4.37577334e+01] [ 7.79991720e-01 1.73759747e-02 6.25548553e-01 3.15755428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-43.74, Z:3.16 [[-5.96477619e-01 -2.02505604e-01 7.76663331e-01 9.06032877e+01] [ 1.25623430e-01 -9.79277063e-01 -1.58855870e-01 -4.37401227e+01] [ 7.92737790e-01 2.81314074e-03 6.09556300e-01 3.16492736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.76, Z:3.15 [[-6.11878887e-01 -1.86224063e-01 7.68716350e-01 9.06136475e+01] [ 1.27287815e-01 -9.82404377e-01 -1.36672790e-01 -4.37614068e+01] [ 7.80642069e-01 1.42210300e-02 6.24816551e-01 3.14546207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.76, Z:3.15 [[-6.13018411e-01 -1.91308528e-01 7.66556896e-01 9.06152727e+01] [ 1.26328942e-01 -9.81492185e-01 -1.43923899e-01 -4.37629870e+01] [ 7.79903472e-01 8.61032204e-03 6.25840584e-01 3.14535188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.75, Z:3.15 [[-6.01361011e-01 -2.02079574e-01 7.72999858e-01 9.06117217e+01] [ 1.22593038e-01 -9.79367362e-01 -1.60656518e-01 -4.37518939e+01] [ 7.89516233e-01 -1.84816484e-03 6.13726896e-01 3.15247880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.78, Z:3.14 [[-6.15457136e-01 -1.74899652e-01 7.68519763e-01 9.06171867e+01] [ 1.24315961e-01 -9.84404255e-01 -1.24474114e-01 -4.37844780e+01] [ 7.78304604e-01 1.89307916e-02 6.27601441e-01 3.14190277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:-43.75, Z:3.15 [[-6.01564913e-01 -1.99437617e-01 7.73527176e-01 9.06140765e+01] [ 1.21106622e-01 -9.79909139e-01 -1.58465343e-01 -4.37529019e+01] [ 7.89590300e-01 -1.64792657e-03 6.13632172e-01 3.14912498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.78, Z:3.13 [[-6.14477548e-01 -1.70229413e-01 7.70350109e-01 9.06244063e+01] [ 1.18335857e-01 -9.85284511e-01 -1.23333112e-01 -4.37812022e+01] [ 7.80008954e-01 1.53746115e-02 6.25579454e-01 3.13070300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.77, Z:3.12 [[-6.15000063e-01 -1.81427950e-01 7.67371372e-01 9.06309562e+01] [ 1.15480098e-01 -9.83400947e-01 -1.39953292e-01 -4.37679996e+01] [ 7.80025173e-01 2.54483823e-03 6.25742961e-01 3.12269672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.77, Z:3.12 [[-6.15567584e-01 -1.78704428e-01 7.67555390e-01 9.06360828e+01] [ 1.12635172e-01 -9.83902246e-01 -1.38743247e-01 -4.37712808e+01] [ 7.79993505e-01 1.04788796e-03 6.25786733e-01 3.11671830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.77, Z:3.12 [[-6.17025518e-01 -1.76837975e-01 7.66816693e-01 9.06375660e+01] [ 1.11378573e-01 -9.84239759e-01 -1.37356875e-01 -4.37728878e+01] [ 7.79021389e-01 6.54251609e-04 6.26997008e-01 3.11503026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.77, Z:3.12 [[-6.17641990e-01 -1.76117782e-01 7.66486073e-01 9.06386821e+01] [ 1.11866025e-01 -9.84367597e-01 -1.36038327e-01 -4.37744497e+01] [ 7.78462822e-01 1.72076709e-03 6.27688357e-01 3.11741169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.75, Z:3.12 [[-6.20841848e-01 -2.01697149e-01 7.57544494e-01 9.06415888e+01] [ 1.15990767e-01 -9.79333092e-01 -1.65688975e-01 -4.37492617e+01] [ 7.75307385e-01 -1.49984826e-02 6.31405974e-01 3.11730474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.81, Z:3.12 [[-6.18010769e-01 -1.48572646e-01 7.72003146e-01 9.06321761e+01] [ 1.14512911e-01 -9.88519423e-01 -9.85704973e-02 -4.38114511e+01] [ 7.77784985e-01 2.74866986e-02 6.27929136e-01 3.12483464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.78, Z:3.12 [[-6.17359418e-01 -1.77010570e-01 7.66508060e-01 9.06331076e+01] [ 1.16621675e-01 -9.84183579e-01 -1.33349422e-01 -4.37822804e+01] [ 7.77988903e-01 7.06693265e-03 6.28238271e-01 3.12368670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.78, Z:3.12 [[-6.14867547e-01 -1.76255316e-01 7.68681965e-01 9.06310141e+01] [ 1.16515636e-01 -9.84311197e-01 -1.32497447e-01 -4.37831136e+01] [ 7.79975644e-01 8.09508792e-03 6.25757512e-01 3.12281862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.78, Z:3.12 [[-6.14234883e-01 -1.76116085e-01 7.69219496e-01 9.06294877e+01] [ 1.17711221e-01 -9.84320084e-01 -1.31369864e-01 -4.37847831e+01] [ 7.80294545e-01 9.85381313e-03 6.25334571e-01 3.12428109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.79, Z:3.12 [[-6.15116757e-01 -1.74607282e-01 7.68858682e-01 9.06305059e+01] [ 1.16869250e-01 -9.84589091e-01 -1.30099579e-01 -4.37877589e+01] [ 7.79726204e-01 9.82950642e-03 6.26043471e-01 3.12478323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.79, Z:3.12 [[-6.16776242e-01 -1.73085388e-01 7.67872721e-01 9.06329677e+01] [ 1.16109499e-01 -9.84858487e-01 -1.28733617e-01 -4.37913587e+01] [ 7.78527874e-01 9.75748083e-03 6.27534175e-01 3.12381175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.80, Z:3.12 [[-6.16375785e-01 -1.71501798e-01 7.68549299e-01 9.06344382e+01] [ 1.14945112e-01 -9.85136424e-01 -1.27647354e-01 -4.37953403e+01] [ 7.79017659e-01 9.66224726e-03 6.26927530e-01 3.12221906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.80, Z:3.12 [[-6.16262701e-01 -1.70551780e-01 7.68851334e-01 9.06348337e+01] [ 1.14861951e-01 -9.85294299e-01 -1.26498527e-01 -4.37971562e+01] [ 7.79119385e-01 1.03554405e-02 6.26790036e-01 3.12039585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-43.80, Z:3.12 [[-6.16445545e-01 -1.69339525e-01 7.68972701e-01 9.06343068e+01] [ 1.14390479e-01 -9.85499585e-01 -1.25321133e-01 -4.37988575e+01] [ 7.79044099e-01 1.07095012e-02 6.26877658e-01 3.12004026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.80, Z:3.12 [[-6.16933004e-01 -1.68094789e-01 7.68854869e-01 9.06359928e+01] [ 1.13903938e-01 -9.85709362e-01 -1.24108610e-01 -4.38013876e+01] [ 7.78729453e-01 1.10089003e-02 6.27263297e-01 3.11741722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.80, Z:3.12 [[-6.18249803e-01 -1.66367770e-01 7.68172472e-01 9.06379500e+01] [ 1.12738092e-01 -9.86005989e-01 -1.22810068e-01 -4.38031963e+01] [ 7.77854295e-01 1.06749987e-02 6.28353993e-01 3.11624947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.80, Z:3.11 [[-6.18837181e-01 -1.64496084e-01 7.68102585e-01 9.06405993e+01] [ 1.11236779e-01 -9.86325159e-01 -1.21610282e-01 -4.38025587e+01] [ 7.77603319e-01 1.01842933e-02 6.28672695e-01 3.11284729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-43.80, Z:3.11 [[-6.19293728e-01 -1.62670120e-01 7.68123500e-01 9.06429236e+01] [ 1.09795811e-01 -9.86632243e-01 -1.20422990e-01 -4.38015392e+01] [ 7.77444634e-01 9.75954060e-03 6.28875658e-01 3.10972701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-43.80, Z:3.10 [[-6.20945200e-01 -1.60146424e-01 7.67320130e-01 9.06470339e+01] [ 1.07385853e-01 -9.87057181e-01 -1.19106673e-01 -4.38021015e+01] [ 7.76463352e-01 8.44060988e-03 6.30105879e-01 3.10426344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-43.80, Z:3.10 [[-6.22292250e-01 -1.56623155e-01 7.66956024e-01 9.06521709e+01] [ 1.03324065e-01 -9.87640786e-01 -1.17855064e-01 -4.38049730e+01] [ 7.75935882e-01 5.90472112e-03 6.30784147e-01 3.09593189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-43.81, Z:3.09 [[-6.21806513e-01 -1.54550164e-01 7.67770088e-01 9.06544935e+01] [ 1.01380729e-01 -9.87971104e-01 -1.16769199e-01 -4.38063025e+01] [ 7.76581360e-01 5.22924320e-03 6.29995275e-01 3.09263017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:-43.81, Z:3.09 [[-6.22375542e-01 -1.52208570e-01 7.67776814e-01 9.06590076e+01] [ 9.91618875e-02 -9.88339396e-01 -1.15551540e-01 -4.38068501e+01] [ 7.76412007e-01 4.21774596e-03 6.30211556e-01 3.08738387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.81, Z:3.08 [[-6.22162916e-01 -1.48930407e-01 7.68591595e-01 9.06662233e+01] [ 9.53232556e-02 -9.88845533e-01 -1.14446442e-01 -4.38052160e+01] [ 7.77062920e-01 2.06032086e-03 6.29419552e-01 3.08132712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.81, Z:3.08 [[-6.22024252e-01 -1.46627598e-01 7.69146395e-01 9.06675797e+01] [ 9.30929910e-02 -9.89191116e-01 -1.13290031e-01 -4.38050721e+01] [ 7.77444226e-01 1.13299149e-03 6.28950866e-01 3.07902383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.81, Z:3.07 [[-6.22294832e-01 -1.44121166e-01 7.69401216e-01 9.06720847e+01] [ 9.06018571e-02 -9.89560048e-01 -1.12081290e-01 -4.38060830e+01] [ 7.77521990e-01 -3.84285717e-05 6.28855749e-01 3.07346760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.81, Z:3.07 [[-6.23646581e-01 -1.40846497e-01 7.68913003e-01 9.06711904e+01] [ 8.70301519e-02 -9.90029095e-01 -1.10761650e-01 -4.38063864e+01] [ 7.76846635e-01 -2.15750908e-03 6.29686152e-01 3.07475769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.81, Z:3.08 [[-6.25628245e-01 -1.36756792e-01 7.68040936e-01 9.06691725e+01] [ 8.22451565e-02 -9.90590640e-01 -1.09388837e-01 -4.38053219e+01] [ 7.75773829e-01 -5.26909940e-03 6.30989067e-01 3.07666401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.80, Z:3.08 [[-6.26253899e-01 -1.33680124e-01 7.68072704e-01 9.06685988e+01] [ 7.88890127e-02 -9.90998804e-01 -1.08156807e-01 -4.38033480e+01] [ 7.75617546e-01 -7.14112481e-03 6.31162758e-01 3.07611214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.80, Z:3.08 [[-6.25626939e-01 -1.31588271e-01 7.68944381e-01 9.06674907e+01] [ 7.69218332e-02 -9.91273574e-01 -1.07050141e-01 -4.38007994e+01] [ 7.76320787e-01 -7.82484070e-03 6.30289463e-01 3.07723466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.76, Z:3.07 [[-6.28027167e-01 -1.61858033e-01 7.61172684e-01 9.06738152e+01] [ 7.69510542e-02 -9.86253294e-01 -1.46229191e-01 -4.37611238e+01] [ 7.74377436e-01 -3.32628639e-02 6.31849008e-01 3.07421160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.84, Z:3.08 [[-6.24698071e-01 -9.18696015e-02 7.75443290e-01 9.06650161e+01] [ 7.22603890e-02 -9.95595158e-01 -5.97387396e-02 -4.38370726e+01] [ 7.77515760e-01 1.87151585e-02 6.28584908e-01 3.08460642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.80, Z:3.08 [[-6.24387456e-01 -1.26925882e-01 7.70733498e-01 9.06686687e+01] [ 7.17627607e-02 -9.91857907e-01 -1.05204552e-01 -4.37960451e+01] [ 7.77811295e-01 -1.03784387e-02 6.28412187e-01 3.08097120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.79, Z:3.08 [[-6.23944882e-01 -1.24931024e-01 7.71417542e-01 9.06700521e+01] [ 6.99481855e-02 -9.92104556e-01 -1.04095152e-01 -4.37949498e+01] [ 7.78331572e-01 -1.09903797e-02 6.27757258e-01 3.07892803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.79, Z:3.08 [[-6.24245602e-01 -1.22791361e-01 7.71517797e-01 9.06693174e+01] [ 6.80139072e-02 -9.92362751e-01 -1.02909085e-01 -4.37891582e+01] [ 7.78261869e-01 -1.17666038e-02 6.27829602e-01 3.07889610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.79, Z:3.08 [[-6.25438600e-01 -1.21139533e-01 7.70812410e-01 9.06714840e+01] [ 6.70050579e-02 -9.92564039e-01 -1.01621605e-01 -4.37883318e+01] [ 7.77391073e-01 -1.19097442e-02 6.28904825e-01 3.07765591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.79, Z:3.08 [[-6.25377954e-01 -1.19547832e-01 7.71110064e-01 9.06722459e+01] [ 6.58931397e-02 -9.92755665e-01 -1.00470314e-01 -4.37879795e+01] [ 7.77534892e-01 -1.20210565e-02 6.28724888e-01 3.07709706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.79, Z:3.07 [[-6.26009545e-01 -1.17771343e-01 7.70870910e-01 9.06754031e+01] [ 6.45869511e-02 -9.92964008e-01 -9.92522296e-02 -4.37876900e+01] [ 7.77136137e-01 -1.23446413e-02 6.29211439e-01 3.07379694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.78, Z:3.07 [[-6.25121119e-01 -1.15691035e-01 7.71906193e-01 9.06763608e+01] [ 6.25582281e-02 -9.93198925e-01 -9.81955360e-02 -4.37843017e+01] [ 7.78016744e-01 -1.30950197e-02 6.28107050e-01 3.07210090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.78, Z:3.07 [[-6.25124202e-01 -1.13941862e-01 7.72163832e-01 9.06772667e+01] [ 6.12035552e-02 -9.93397020e-01 -9.70385807e-02 -4.37833353e+01] [ 7.78122006e-01 -1.34019936e-02 6.27970166e-01 3.07060503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.78, Z:3.07 [[-6.25871040e-01 -1.11998585e-01 7.71843092e-01 9.06766784e+01] [ 5.96476486e-02 -9.93610768e-01 -9.58112668e-02 -4.37821253e+01] [ 7.77642334e-01 -1.39268718e-02 6.28552657e-01 3.07152543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.78, Z:3.07 [[-6.26846833e-01 -1.10231061e-01 7.71305491e-01 9.06803028e+01] [ 5.84034952e-02 -9.93804109e-01 -9.45643925e-02 -4.37808082e+01] [ 7.76950500e-01 -1.42304534e-02 6.29400838e-01 3.07027722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.78, Z:3.08 [[-6.27798824e-01 -1.06786939e-01 7.71015685e-01 9.06777292e+01] [ 5.44526005e-02 -9.94142964e-01 -9.33524533e-02 -4.37755313e+01] [ 7.76468641e-01 -1.66227514e-02 6.29936611e-01 3.07584172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.77, Z:3.08 [[-6.27750408e-01 -1.04494383e-01 7.71369139e-01 9.06774284e+01] [ 5.21958521e-02 -9.94369158e-01 -9.22256549e-02 -4.37745206e+01] [ 7.76662744e-01 -1.76324230e-02 6.29669818e-01 3.07575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.77, Z:3.07 [[-6.28132744e-01 -1.02022973e-01 7.71388728e-01 9.06767906e+01] [ 4.97038086e-02 -9.94603164e-01 -9.10718286e-02 -4.37741416e+01] [ 7.76517088e-01 -1.88642399e-02 6.29813745e-01 3.07478902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.77, Z:3.08 [[-6.29992441e-01 -9.91886140e-02 7.70240964e-01 9.06756794e+01] [ 4.68568603e-02 -9.94857971e-01 -8.97889345e-02 -4.37700102e+01] [ 7.75186402e-01 -2.04752768e-02 6.31400669e-01 3.07611628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.77, Z:3.08 [[-6.31515834e-01 -9.67900413e-02 7.69298017e-01 9.06757189e+01] [ 4.46537143e-02 -9.95071232e-01 -8.85397550e-02 -4.37665366e+01] [ 7.74076093e-01 -2.15622433e-02 6.32725274e-01 3.07943783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.76, Z:3.08 [[-6.30626192e-01 -9.42969494e-02 7.70336739e-01 9.06767046e+01] [ 4.19069001e-02 -9.95280388e-01 -8.75257692e-02 -4.37617738e+01] [ 7.74954461e-01 -2.29136178e-02 6.31601574e-01 3.07970512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.76, Z:3.08 [[-6.29068901e-01 -9.17057296e-02 7.71921225e-01 9.06761575e+01] [ 3.88857912e-02 -9.95486049e-01 -8.65761044e-02 -4.37556167e+01] [ 7.76376335e-01 -2.44455673e-02 6.29795364e-01 3.07854587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.76, Z:3.08 [[-6.29124272e-01 -9.02773550e-02 7.72044461e-01 9.06775798e+01] [ 3.79846718e-02 -9.95616645e-01 -8.54673036e-02 -4.37567063e+01] [ 7.76376079e-01 -2.44436997e-02 6.29795753e-01 3.07656096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.75, Z:3.08 [[-6.26839916e-01 -8.76696977e-02 7.74200067e-01 9.06740678e+01] [ 3.48094086e-02 -9.95808430e-01 -8.45805884e-02 -4.37498407e+01] [ 7.78370108e-01 -2.60690425e-02 6.27264203e-01 3.07813972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-43.74, Z:3.08 [[-6.28401224e-01 -8.50054711e-02 7.73230865e-01 9.06726100e+01] [ 3.21580467e-02 -9.96000400e-01 -8.33610377e-02 -4.37383891e+01] [ 7.77224396e-01 -2.75185839e-02 6.28621481e-01 3.08044419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.74, Z:3.08 [[-6.30160946e-01 -8.38057921e-02 7.71928605e-01 9.06768072e+01] [ 3.18782335e-02 -9.96112401e-01 -8.21210285e-02 -4.37360102e+01] [ 7.75809874e-01 -2.71417447e-02 6.30382714e-01 3.07896628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-43.73, Z:3.07 [[-6.31081835e-01 -8.37195120e-02 7.71185296e-01 9.06838867e+01] [ 3.32329927e-02 -9.96164166e-01 -8.09476531e-02 -4.37348959e+01] [ 7.75004055e-01 -2.54557981e-02 6.31443360e-01 3.07318881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.69, Y:-43.73, Z:3.06 [[-6.28271146e-01 -8.67474588e-02 7.73143095e-01 9.06940917e+01] [ 3.90208644e-02 -9.96027100e-01 -8.00461609e-02 -4.37286953e+01] [ 7.77015276e-01 -2.01219814e-02 6.29160049e-01 3.05780763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.73, Z:3.05 [[-6.27121098e-01 -8.83283542e-02 7.73897429e-01 9.06996597e+01] [ 4.27906017e-02 -9.95955972e-01 -7.89978884e-02 -4.37252323e+01] [ 7.77745519e-01 -1.64257059e-02 6.28364626e-01 3.04729238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.72, Z:3.03 [[-6.25988972e-01 -9.05431368e-02 7.74557775e-01 9.07088808e+01] [ 4.76299695e-02 -9.95821659e-01 -7.79141118e-02 -4.37229536e+01] [ 7.78375997e-01 -1.18812115e-02 6.27685944e-01 3.03353063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.72, Z:3.02 [[-6.26082820e-01 -9.21693802e-02 7.74290067e-01 9.07172933e+01] [ 5.17098411e-02 -9.95711275e-01 -7.67147230e-02 -4.37218621e+01] [ 7.78040098e-01 -7.99135383e-03 6.28163787e-01 3.02202792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.72, Z:3.01 [[-6.26223604e-01 -9.58332138e-02 7.73731215e-01 9.07312006e+01] [ 5.90914788e-02 -9.95396222e-01 -7.54623040e-02 -4.37206515e+01] [ 7.77400923e-01 -1.53535432e-03 6.29003536e-01 3.00754191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.72, Z:3.01 [[-6.26808801e-01 -9.61642239e-02 7.73216120e-01 9.07298405e+01] [ 6.11964563e-02 -9.95365145e-01 -7.41837084e-02 -4.37198039e+01] [ 7.76766194e-01 8.19085192e-04 6.29788543e-01 3.00956937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.72, Z:3.01 [[-6.27861772e-01 -9.68440745e-02 7.72276389e-01 9.07282015e+01] [ 6.39087037e-02 -9.95293005e-01 -7.28526713e-02 -4.37193875e+01] [ 7.75696637e-01 3.61377562e-03 6.31095609e-01 3.01329230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.72, Z:3.02 [[-6.29230735e-01 -1.00460869e-01 7.70698576e-01 9.07217898e+01] [ 7.12901706e-02 -9.94891099e-01 -7.14801604e-02 -4.37178811e+01] [ 7.73942112e-01 9.96571911e-03 6.33177930e-01 3.02395927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.72, Z:3.03 [[-6.28764428e-01 -1.01476738e-01 7.70946020e-01 9.07168791e+01] [ 7.43471508e-02 -9.94751452e-01 -7.02997187e-02 -4.37176869e+01] [ 7.74033459e-01 1.31156776e-02 6.33008834e-01 3.02983797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.72, Z:3.03 [[-6.27006019e-01 -1.02330159e-01 7.72264197e-01 9.07128235e+01] [ 7.70455481e-02 -9.94620427e-01 -6.92400917e-02 -4.37191396e+01] [ 7.75195095e-01 1.60855641e-02 6.31517078e-01 3.03216773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.72, Z:3.03 [[-6.25777177e-01 -1.02957300e-01 7.73177030e-01 9.07082645e+01] [ 7.94093856e-02 -9.94509138e-01 -6.81595445e-02 -4.37222892e+01] [ 7.75949144e-01 1.87448255e-02 6.30516897e-01 3.03431627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.73, Z:3.04 [[-6.25448627e-01 -1.05010957e-01 7.73166679e-01 9.07017090e+01] [ 8.40865573e-02 -9.94202712e-01 -6.70105908e-02 -4.37285504e+01] [ 7.75721255e-01 2.31012422e-02 6.30652731e-01 3.04199600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.73, Z:3.04 [[-6.26444527e-01 -1.04227205e-01 7.72466144e-01 9.07030799e+01] [ 8.42593825e-02 -9.94267426e-01 -6.58228012e-02 -4.37301549e+01] [ 7.74898452e-01 2.38531867e-02 6.31635508e-01 3.04414255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.73, Z:3.04 [[-6.27502342e-01 -1.02439379e-01 7.71846477e-01 9.07076609e+01] [ 8.28130648e-02 -9.94465272e-01 -6.46592480e-02 -4.37306738e+01] [ 7.74198170e-01 2.33451427e-02 6.32512607e-01 3.04248378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.68, Z:3.04 [[-6.33209395e-01 -1.48910283e-01 7.59520632e-01 9.07203806e+01] [ 8.22286752e-02 -9.88706615e-01 -1.25290358e-01 -4.36790375e+01] [ 7.69600096e-01 -1.68806567e-02 6.38303013e-01 3.03693036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.77, Z:3.05 [[-6.12920114e-01 -7.54954333e-02 7.86529957e-01 9.06962062e+01] [ 8.07053862e-02 -9.96200496e-01 -3.27293746e-02 -4.37684668e+01] [ 7.86012452e-01 4.34167120e-02 6.16684210e-01 3.05012477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.77, Z:3.04 [[-6.25615538e-01 -7.99967751e-02 7.76019146e-01 9.06976377e+01] [ 8.38995009e-02 -9.95858641e-01 -3.50205899e-02 -4.37699232e+01] [ 7.75606906e-01 4.31981939e-02 6.29736328e-01 3.04024291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.75, Z:3.04 [[-6.23618412e-01 -1.00953181e-01 7.75182902e-01 9.06994464e+01] [ 8.40970627e-02 -9.94535245e-01 -6.18654254e-02 -4.37489577e+01] [ 7.77192229e-01 2.66101868e-02 6.28700356e-01 3.03918067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.76, Z:3.04 [[-6.25941581e-01 -1.00332066e-01 7.73389044e-01 9.07010442e+01] [ 8.45124523e-02 -9.94576315e-01 -6.06267163e-02 -4.37557595e+01] [ 7.75277229e-01 2.74122221e-02 6.31025980e-01 3.03990362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.70, Y:-43.76, Z:3.04 [[-6.26933385e-01 -9.85185567e-02 7.72818623e-01 9.07037544e+01] [ 8.29907211e-02 -9.94773158e-01 -5.94886830e-02 -4.37616948e+01] [ 7.74639962e-01 2.68413333e-02 6.31832630e-01 3.03940869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.77, Z:3.04 [[-6.27140971e-01 -9.61408880e-02 7.72949631e-01 9.07069690e+01] [ 8.05540281e-02 -9.95037568e-01 -5.84062171e-02 -4.37676484e+01] [ 7.74729147e-01 2.56352746e-02 6.31773363e-01 3.03601690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.77, Z:3.03 [[-6.26292420e-01 -9.36687947e-02 7.73940541e-01 9.07099918e+01] [ 7.79455849e-02 -9.95304724e-01 -5.73845955e-02 -4.37717839e+01] [ 7.75681823e-01 2.43857110e-02 6.30652873e-01 3.02982431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.77, Z:3.02 [[-6.23210592e-01 -8.86807150e-02 7.77009838e-01 9.07135473e+01] [ 7.12604525e-02 -9.95856124e-01 -5.65024562e-02 -4.37747178e+01] [ 7.78800684e-01 2.01571435e-02 6.26947513e-01 3.01625907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.78, Z:3.01 [[-6.23232172e-01 -8.64387859e-02 7.77245133e-01 9.07154385e+01] [ 6.90595501e-02 -9.96073111e-01 -5.53997898e-02 -4.37776244e+01] [ 7.78981668e-01 1.91492679e-02 6.26754232e-01 3.01102107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.78, Z:3.01 [[-6.25062431e-01 -8.43081333e-02 7.76008438e-01 9.07200992e+01] [ 6.71098452e-02 -9.96273317e-01 -5.41825302e-02 -4.37819573e+01] [ 7.77684528e-01 1.82103421e-02 6.28390928e-01 3.00594447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.79, Z:3.01 [[-6.27616046e-01 -8.24263019e-02 7.74147275e-01 9.07225997e+01] [ 6.55894453e-02 -9.96442407e-01 -5.29202591e-02 -4.37867591e+01] [ 7.75755196e-01 1.75622866e-02 6.30789539e-01 3.00535210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.80, Z:3.01 [[-6.29131646e-01 -8.10840247e-02 7.73058053e-01 9.07256801e+01] [ 6.48975672e-02 -9.96551214e-01 -5.17105667e-02 -4.37953082e+01] [ 7.74584843e-01 1.76368330e-02 6.32224061e-01 3.00671963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.76, Z:3.00 [[-6.28671593e-01 -1.12952048e-01 7.69424372e-01 9.07293168e+01] [ 6.51933176e-02 -9.93567855e-01 -9.25891354e-02 -4.37626003e+01] [ 7.74933455e-01 -8.04683179e-03 6.31991605e-01 3.00220151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.84, Z:3.00 [[-6.26857132e-01 -4.38300171e-02 7.77900421e-01 9.07210397e+01] [ 6.34412400e-02 -9.97972510e-01 -5.10676978e-03 -4.38427564e+01] [ 7.76547066e-01 4.61497523e-02 6.28366816e-01 3.00450304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.78, Z:3.01 [[-6.12839042e-01 -1.05115481e-01 7.83185191e-01 9.07195019e+01] [ 6.12996518e-02 -9.94450328e-01 -8.55037928e-02 -4.37773410e+01] [ 7.87826542e-01 -4.39108302e-03 6.15881529e-01 3.00859827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.72, Y:-43.84, Z:3.00 [[-6.27916891e-01 -5.21420851e-02 7.76531764e-01 9.07240701e+01] [ 6.22688476e-02 -9.97920420e-01 -1.66560994e-02 -4.38403287e+01] [ 7.75785388e-01 3.78950920e-02 6.29857916e-01 3.00062170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-43.82, Z:2.99 [[-6.28017277e-01 -7.45032883e-02 7.74624787e-01 9.07309678e+01] [ 5.89827627e-02 -9.97100401e-01 -4.80814264e-02 -4.38158146e+01] [ 7.75960910e-01 1.54935436e-02 6.30590688e-01 2.99402516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-43.82, Z:2.99 [[-6.27835394e-01 -7.16075391e-02 7.75045210e-01 9.07357237e+01] [ 5.57754985e-02 -9.97338203e-01 -4.69638439e-02 -4.38201230e+01] [ 7.76345163e-01 1.37429696e-02 6.30158170e-01 2.98767384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-43.82, Z:2.97 [[-6.26451857e-01 -6.46451959e-02 7.76774787e-01 9.07452905e+01] [ 4.60494859e-02 -9.97883686e-01 -4.59085452e-02 -4.38196864e+01] [ 7.78098654e-01 7.01058613e-03 6.28102966e-01 2.97005071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-43.82, Z:2.96 [[-6.27811331e-01 -6.03113211e-02 7.76025436e-01 9.07534840e+01] [ 4.06539151e-02 -9.98173502e-01 -4.46869039e-02 -4.38181441e+01] [ 7.77303153e-01 3.49352763e-03 6.29116526e-01 2.95886637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.95 [[-6.27562233e-01 -5.64587489e-02 7.76516615e-01 9.07584328e+01] [ 3.59919215e-02 -9.98404723e-01 -4.35039126e-02 -4.38187399e+01] [ 7.77734032e-01 6.46912511e-04 6.28593157e-01 2.95317271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.29362353e-01 -5.29241816e-02 7.75307719e-01 9.07625522e+01] [ 3.19733287e-02 -9.98596952e-01 -4.22117777e-02 -4.38260987e+01] [ 7.76453949e-01 -1.77733521e-03 6.30171490e-01 2.94913207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.27878340e-01 -5.10063562e-02 7.76638360e-01 9.07639924e+01] [ 3.03625011e-02 -9.98695928e-01 -4.10434059e-02 -4.38290566e+01] [ 7.77719043e-01 -2.18958245e-03 6.28608222e-01 2.94586082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.28285844e-01 -4.88414285e-02 7.76447946e-01 9.07630637e+01] [ 2.84704992e-02 -9.98802353e-01 -3.97905903e-02 -4.38289233e+01] [ 7.77461465e-01 -2.89400394e-03 6.28923919e-01 2.94572707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.27032497e-01 -4.64393046e-02 7.77607638e-01 9.07620048e+01] [ 2.61046697e-02 -9.98913469e-01 -3.86060645e-02 -4.38270120e+01] [ 7.78555582e-01 -3.90806647e-03 6.27563490e-01 2.94525442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.95 [[-6.28202405e-01 -4.21848937e-02 7.76905511e-01 9.07596034e+01] [ 2.09136275e-02 -9.99083820e-01 -3.73382003e-02 -4.38233341e+01] [ 7.77768833e-01 -7.20803480e-03 6.28509098e-01 2.95326422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.95 [[-6.29448072e-01 -3.93583930e-02 7.76045128e-01 9.07587814e+01] [ 1.79940073e-02 -9.99186876e-01 -3.60805004e-02 -4.38231599e+01] [ 7.76834178e-01 -8.74663972e-03 6.29644468e-01 2.95497455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.96 [[-6.29575813e-01 -3.68445633e-02 7.76064929e-01 9.07591322e+01] [ 1.54837117e-02 -9.99271536e-01 -3.48805261e-02 -4.38232658e+01] [ 7.76784752e-01 -9.94356994e-03 6.29687680e-01 2.95552933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.96 [[-6.30643868e-01 -3.37069697e-02 7.75340023e-01 9.07558729e+01] [ 1.20352812e-02 -9.99360982e-01 -3.36567871e-02 -4.38207820e+01] [ 7.75979035e-01 -1.18940112e-02 6.30646549e-01 2.95772459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.96 [[-6.30426955e-01 -3.22053612e-02 7.75580214e-01 9.07567841e+01] [ 1.10914859e-02 -9.99410708e-01 -3.24840818e-02 -4.38201366e+01] [ 7.76169333e-01 -1.18765038e-02 6.30412655e-01 2.95677734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.79, Z:2.95 [[-6.29762327e-01 -6.00086881e-02 7.74466506e-01 9.07616279e+01] [ 1.44665774e-02 -9.97744705e-01 -6.55455659e-02 -4.37882771e+01] [ 7.76653159e-01 -3.00742484e-02 6.29210148e-01 2.95222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.85, Z:2.95 [[-6.28995785e-01 2.00019652e-03 7.77406137e-01 9.07615626e+01] [ 1.09775911e-02 -9.99874135e-01 1.14545060e-02 -4.38541560e+01] [ 7.77331200e-01 1.57388827e-02 6.28894659e-01 2.95292079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.81, Z:2.94 [[-6.28501605e-01 -3.29043427e-02 7.77111985e-01 9.07693026e+01] [ 1.52167670e-02 -9.99433733e-01 -3.00110512e-02 -4.38120227e+01] [ 7.77659426e-01 -7.03686186e-03 6.28646403e-01 2.94312906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.79, Z:2.95 [[-6.14402419e-01 -5.24565633e-02 7.87247087e-01 9.07681472e+01] [ 1.76357377e-02 -9.98451166e-01 -5.27659963e-02 -4.37901085e+01] [ 7.88795695e-01 -1.85358727e-02 6.14375922e-01 2.94639214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-43.84, Z:2.93 [[-6.28869237e-01 -1.28534909e-02 7.77404831e-01 9.07811034e+01] [ 1.88654772e-02 -9.99821225e-01 -1.26996218e-03 -4.38359239e+01] [ 7.77282173e-01 1.38674729e-02 6.28999297e-01 2.92852116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.81, Z:2.93 [[-6.30147712e-01 -3.50789014e-02 7.75682494e-01 9.07861499e+01] [ 2.19611444e-02 -9.99384525e-01 -2.73546799e-02 -4.38146677e+01] [ 7.76164653e-01 -2.02613742e-04 6.30530245e-01 2.92548489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-43.82, Z:2.94 [[-6.30152502e-01 -3.90772960e-02 7.75487453e-01 9.07760173e+01] [ 2.98379685e-02 -9.99213803e-01 -2.61050040e-02 -4.38186252e+01] [ 7.75897880e-01 6.68883663e-03 6.30823065e-01 2.94153962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.82, Z:2.95 [[-6.27600847e-01 -4.03018081e-02 7.77491441e-01 9.07721920e+01] [ 3.32575765e-02 -9.99135468e-01 -2.49449468e-02 -4.38203536e+01] [ 7.77824601e-01 1.02020113e-02 6.28398607e-01 2.94762802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.82, Z:2.95 [[-6.25652272e-01 -4.12485317e-02 7.79010778e-01 9.07681917e+01] [ 3.62343545e-02 -9.99059899e-01 -2.37989617e-02 -4.38223417e+01] [ 7.79260102e-01 1.33370783e-02 6.26558710e-01 2.95019781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.82, Z:2.95 [[-6.23369615e-01 -4.20571483e-02 7.80795440e-01 9.07639658e+01] [ 3.89991941e-02 -9.98981968e-01 -2.26735701e-02 -4.38243173e+01] [ 7.80954151e-01 1.63163782e-02 6.24375200e-01 2.95370411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.96 [[-6.24636432e-01 -4.25434595e-02 7.79755976e-01 9.07590038e+01] [ 4.12154337e-02 -9.98919264e-01 -2.14846956e-02 -4.38268645e+01] [ 7.79827299e-01 1.87178572e-02 6.25714812e-01 2.95694015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.26635190e-01 -4.09850675e-02 7.78234260e-01 9.07617344e+01] [ 4.01251048e-02 -9.98988388e-01 -2.03021181e-02 -4.38274948e+01] [ 7.78279073e-01 1.85047096e-02 6.27645809e-01 2.95466505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.95 [[-6.27059804e-01 -3.92909424e-02 7.77979578e-01 9.07638391e+01] [ 3.88269157e-02 -9.99062213e-01 -1.91615540e-02 -4.38279344e+01] [ 7.78002874e-01 1.81911072e-02 6.27997302e-01 2.95249788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.83, Z:2.95 [[-6.26867684e-01 -3.73160141e-02 7.78231599e-01 9.07666808e+01] [ 3.70922509e-02 -9.99149161e-01 -1.80310473e-02 -4.38291152e+01] [ 7.78242296e-01 1.75632809e-02 6.27718456e-01 2.95045261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.81, Z:2.96 [[-6.09299415e-01 -5.12217376e-02 7.91284119e-01 9.07621480e+01] [ 3.40748228e-02 -9.98680959e-01 -3.84089655e-02 -4.38145780e+01] [ 7.92207756e-01 3.56030591e-03 6.10241096e-01 2.95959401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-43.83, Z:2.96 [[-6.09616603e-01 -3.31149179e-02 7.92004419e-01 9.07631583e+01] [ 3.32905035e-02 -9.99315084e-01 -1.61587399e-02 -4.38340692e+01] [ 7.91997058e-01 1.65155897e-02 6.10301480e-01 2.95763624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.85, Z:2.94 [[-6.26238268e-01 -1.67502588e-02 7.79451769e-01 9.07699588e+01] [ 3.43695374e-02 -9.99390350e-01 6.13697052e-03 -4.38548736e+01] [ 7.78873781e-01 3.06326025e-02 6.26432181e-01 2.94483825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.84, Z:2.95 [[-6.25771302e-01 -3.30748456e-02 7.79305032e-01 9.07692679e+01] [ 3.53143009e-02 -9.99277433e-01 -1.40538946e-02 -4.38383969e+01] [ 7.79206762e-01 1.87260885e-02 6.26487155e-01 2.94512812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.84, Z:2.94 [[-6.25997959e-01 -3.14760650e-02 7.79189202e-01 9.07721158e+01] [ 3.41750390e-02 -9.99332440e-01 -1.29128435e-02 -4.38399387e+01] [ 7.79075492e-01 1.85454077e-02 6.26655764e-01 2.94293793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-43.84, Z:2.94 [[-6.26811511e-01 -2.91586880e-02 7.78625135e-01 9.07767172e+01] [ 3.18724568e-02 -9.99422649e-01 -1.17692455e-02 -4.38404878e+01] [ 7.78518770e-01 1.74395974e-02 6.27378980e-01 2.93944708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.78, Y:-43.84, Z:2.93 [[-6.26920442e-01 -2.67219578e-02 7.78624875e-01 9.07806999e+01] [ 2.94006879e-02 -9.99511179e-01 -1.06302836e-02 -4.38399442e+01] [ 7.78528329e-01 1.62277648e-02 6.27399634e-01 2.93462671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:-43.84, Z:2.93 [[-6.27465913e-01 -2.43523708e-02 7.78263124e-01 9.07848998e+01] [ 2.70354356e-02 -9.99589516e-01 -9.48080406e-03 -4.38395730e+01] [ 7.78174539e-01 1.50918012e-02 6.27866725e-01 2.93116170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.84, Z:2.92 [[-6.29507157e-01 -2.08983617e-02 7.76713588e-01 9.07908339e+01] [ 2.29295741e-02 -9.99702509e-01 -8.31427918e-03 -4.38422896e+01] [ 7.76656278e-01 1.25758135e-02 6.29799075e-01 2.92487658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.85, Z:2.92 [[-6.28533698e-01 -1.89421243e-02 7.77551661e-01 9.07928222e+01] [ 2.12691714e-02 -9.99748131e-01 -7.16217666e-03 -4.38462842e+01] [ 7.77491487e-01 1.20362102e-02 6.28778274e-01 2.92043615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.85, Z:2.92 [[-6.25825440e-01 -1.80639626e-02 7.79753943e-01 9.07923434e+01] [ 2.13718796e-02 -9.99753545e-01 -6.00759349e-03 -4.38504819e+01] [ 7.79670290e-01 1.29051025e-02 6.26057264e-01 2.91893340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.85, Z:2.92 [[-6.24128839e-01 -1.66296891e-02 7.81144446e-01 9.07909277e+01] [ 2.05790769e-02 -9.99776505e-01 -4.84158487e-03 -4.38532007e+01] [ 7.81050379e-01 1.30534589e-02 6.24331573e-01 2.91691551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.85, Z:2.92 [[-6.23798061e-01 -1.66096212e-02 7.81409048e-01 9.07905231e+01] [ 2.20201571e-02 -9.99750783e-01 -3.67202106e-03 -4.38541316e+01] [ 7.81275299e-01 1.49161504e-02 6.24008346e-01 2.91834403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.86, Z:2.92 [[-6.25447602e-01 -1.54647279e-02 7.80112902e-01 9.07921259e+01] [ 2.15966984e-02 -9.99763628e-01 -2.50408532e-03 -4.38556085e+01] [ 7.79967230e-01 1.52816889e-02 6.25633751e-01 2.91897416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.86, Z:2.92 [[-6.28392932e-01 -1.46585495e-02 7.77757963e-01 9.07943298e+01] [ 2.16559640e-02 -9.99764576e-01 -1.34571919e-03 -4.38585381e+01] [ 7.77594587e-01 1.59974581e-02 6.28562439e-01 2.91936530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.86, Z:2.92 [[-6.29272983e-01 -1.37815566e-02 7.77062147e-01 9.07968773e+01] [ 2.16530534e-02 -9.99765526e-01 -1.96436860e-04 -4.38626381e+01] [ 7.76882654e-01 1.67021558e-02 6.29423848e-01 2.91759630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.79, Y:-43.85, Z:2.93 [[-6.16056859e-01 -2.85909677e-02 7.87182637e-01 9.07881976e+01] [ 1.93952998e-02 -9.99588657e-01 -2.11267357e-02 -4.38498320e+01] [ 7.87462868e-01 2.25237275e-03 6.16357979e-01 2.92616400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.89, Z:2.91 [[-6.29233005e-01 4.20470379e-03 7.77205343e-01 9.07964166e+01] [ 1.94744496e-02 -9.99586108e-01 2.11744941e-02 -4.38876012e+01] [ 7.76972696e-01 2.84593368e-02 6.28890686e-01 2.91319420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.87, Z:2.91 [[-6.28846908e-01 -9.70825323e-03 7.77468531e-01 9.07977778e+01] [ 1.82207728e-02 -9.99831450e-01 2.25277253e-03 -4.38713155e+01] [ 7.77315618e-01 1.55827265e-02 6.28917808e-01 2.90862639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-43.85, Z:2.91 [[-6.19460717e-01 -3.21054961e-02 7.84370867e-01 9.07992250e+01] [ 1.63688589e-02 -9.99474378e-01 -2.79826248e-02 -4.38458897e+01] [ 7.84856981e-01 -4.49488075e-03 6.19660646e-01 2.90620263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-43.91, Z:2.90 [[-6.25238172e-01 2.57825373e-02 7.80008006e-01 9.08058603e+01] [ 1.22424418e-02 -9.99007164e-01 4.28346647e-02 -4.39113701e+01] [ 7.80337972e-01 3.63310701e-02 6.24301772e-01 2.90266939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.81, Y:-43.88, Z:2.90 [[-6.25369187e-01 -2.59169526e-03 7.80324716e-01 9.08086167e+01] [ 1.01603319e-02 -9.99936758e-01 4.82161732e-03 -4.38812522e+01] [ 7.80262871e-01 1.09436490e-02 6.25355970e-01 2.89534013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-43.89, Z:2.89 [[-6.25521863e-01 -5.28790006e-04 7.80206459e-01 9.08116392e+01] [ 8.32488872e-03 -9.99947367e-01 5.99666623e-03 -4.38855426e+01] [ 7.80162224e-01 1.02461778e-02 6.25493342e-01 2.89195009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:-43.89, Z:2.89 [[-6.28341301e-01 2.06425295e-03 7.77935054e-01 9.08147408e+01] [ 5.57393421e-03 -9.99958864e-01 7.15548307e-03 -4.38899180e+01] [ 7.77917824e-01 8.83224436e-03 6.28303948e-01 2.88872177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-43.89, Z:2.89 [[-6.28675663e-01 4.17788207e-03 7.77656387e-01 9.08178964e+01] [ 3.66629497e-03 -9.99958533e-01 8.33609723e-03 -4.38915234e+01] [ 7.77658967e-01 8.09181915e-03 6.28634276e-01 2.88504807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-43.89, Z:2.88 [[-6.27897221e-01 6.23004700e-03 7.78271332e-01 9.08204958e+01] [ 1.89386177e-03 -9.99952771e-01 9.53254089e-03 -4.38933212e+01] [ 7.78293964e-01 7.45939425e-03 6.27855767e-01 2.88163446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.90, Z:2.88 [[-6.28134155e-01 8.57589398e-03 7.78057798e-01 9.08251551e+01] [-3.70962998e-04 -9.99942448e-01 1.07220645e-02 -4.38962964e+01] [ 7.78104971e-01 6.44626426e-03 6.28101186e-01 2.87593223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.90, Z:2.87 [[-6.27092802e-01 1.24556603e-02 7.78844962e-01 9.08281013e+01] [-5.03690346e-03 -9.99916082e-01 1.19356349e-02 -4.39009091e+01] [ 7.78928268e-01 3.56178386e-03 6.27102915e-01 2.86691422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-43.89, Z:2.87 [[-6.10542531e-01 2.09867226e-03 7.91980690e-01 9.08215044e+01] [-7.59382000e-03 -9.99966033e-01 -3.20430680e-03 -4.38866224e+01] [ 7.91947064e-01 -7.97052439e-03 6.10537729e-01 2.87320116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.92, Z:2.86 [[-6.27033621e-01 3.32401822e-02 7.78282679e-01 9.08372027e+01] [-1.11845958e-02 -9.99370361e-01 3.36717442e-02 -4.39166349e+01] [ 7.78911897e-01 1.24085385e-02 6.27010594e-01 2.85594052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.90, Z:2.85 [[-6.28078950e-01 1.98920517e-02 7.77895326e-01 9.08397714e+01] [-1.34631872e-02 -9.99801361e-01 1.46962651e-02 -4.38959123e+01] [ 7.78033145e-01 -1.24253567e-03 6.28222000e-01 2.85443610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.90, Z:2.85 [[-6.28766195e-01 2.18797575e-02 7.77286529e-01 9.08411730e+01] [-1.51017312e-02 -9.99759122e-01 1.59259534e-02 -4.38962789e+01] [ 7.77447754e-01 -1.72467111e-03 6.28945161e-01 2.85286126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.86, Z:2.84 [[-6.33593925e-01 -7.97848101e-03 7.73624639e-01 9.08471682e+01] [-1.39128647e-02 -9.99667624e-01 -2.17042411e-02 -4.38622055e+01] [ 7.73540672e-01 -2.45150103e-02 6.33272330e-01 2.83975093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.93, Z:2.85 [[-6.26682723e-01 5.89351112e-02 7.77042738e-01 9.08440218e+01] [-1.70981803e-02 -9.97935940e-01 6.18992097e-02 -4.39335534e+01] [ 7.79086912e-01 2.55051485e-02 6.26396896e-01 2.85207301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.89, Z:2.85 [[-6.26697741e-01 2.45040017e-02 7.78877073e-01 9.08425324e+01] [-1.67988222e-02 -9.99698030e-01 1.79345608e-02 -4.38926977e+01] [ 7.79081344e-01 -1.84466876e-03 6.26920136e-01 2.84874477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.89, Z:2.85 [[-6.28154189e-01 2.52717108e-02 7.77678375e-01 9.08469396e+01] [-1.65166135e-02 -9.99680284e-01 1.91449982e-02 -4.38918250e+01] [ 7.77913566e-01 -8.18602315e-04 6.28370761e-01 2.84528946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.89, Z:2.85 [[-6.28536241e-01 2.56429285e-02 7.77357469e-01 9.08491214e+01] [-1.55798368e-02 -9.99670922e-01 2.03792960e-02 -4.38913239e+01] [ 7.77624242e-01 6.98023565e-04 6.28728916e-01 2.84544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.89, Z:2.85 [[-6.29789762e-01 2.46898158e-02 7.76373151e-01 9.08460156e+01] [-1.25697959e-02 -9.99687779e-01 2.15950003e-02 -4.38927218e+01] [ 7.76663927e-01 3.84145808e-03 6.29903474e-01 2.85247224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.89, Z:2.85 [[-6.28521198e-01 2.47844520e-02 7.77397475e-01 9.08457001e+01] [-1.11493354e-02 -9.99676577e-01 2.28568307e-02 -4.38946445e+01] [ 7.77712540e-01 5.69853745e-03 6.28594250e-01 2.85339158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.90, Z:2.86 [[-6.27756508e-01 2.51385660e-02 7.78003740e-01 9.08435873e+01] [-1.01720644e-02 -9.99657971e-01 2.40929282e-02 -4.38955301e+01] [ 7.78343302e-01 7.21058830e-03 6.27797508e-01 2.85567297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.88, Z:2.87 [[-6.09252351e-01 1.36949238e-02 7.92858135e-01 9.08334072e+01] [-9.94230548e-03 -9.99904190e-01 9.63127998e-03 -4.38813119e+01] [ 7.92914071e-01 -2.01495781e-03 6.09330137e-01 2.86914584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.88, Z:2.86 [[-6.26571315e-01 1.20368492e-02 7.79271135e-01 9.08396369e+01] [-5.67842972e-03 -9.99924694e-01 1.08793990e-02 -4.38802598e+01] [ 7.79343405e-01 2.39168295e-03 6.26592481e-01 2.85664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.92, Z:2.86 [[-6.25875796e-01 4.78060272e-02 7.78456210e-01 9.08389980e+01] [-5.05608907e-03 -9.98347371e-01 5.72447586e-02 -4.39228911e+01] [ 7.79906356e-01 3.18921649e-02 6.25083168e-01 2.86327002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.90, Z:2.87 [[-6.24833942e-01 2.22906524e-02 7.80439410e-01 9.08338314e+01] [-1.82885188e-03 -9.99631409e-01 2.70869298e-02 -4.39024193e+01] [ 7.80755532e-01 1.54975250e-02 6.24644400e-01 2.86714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.91, Z:2.87 [[-6.24725074e-01 2.20295517e-02 7.80533972e-01 9.08299727e+01] [ 5.62654911e-05 -9.99600677e-01 2.82574572e-02 -4.39067350e+01] [ 7.80844785e-01 1.76970592e-02 6.24474367e-01 2.87136810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.91, Z:2.87 [[-6.24048629e-01 2.18359851e-02 7.81080341e-01 9.08284079e+01] [ 1.85884288e-03 -9.99565142e-01 2.94291082e-02 -4.39108213e+01] [ 7.81383295e-01 1.98171002e-02 6.23736666e-01 2.87302726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.87, Z:2.87 [[-6.26202759e-01 -1.77251704e-02 7.79458737e-01 9.08277283e+01] [ 2.44989368e-03 -9.99781337e-01 -2.07671858e-02 -4.38690894e+01] [ 7.79656400e-01 -1.10948780e-02 6.26109256e-01 2.86646921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.96, Z:2.88 [[-6.25371719e-01 6.34147152e-02 7.77745966e-01 9.08310954e+01] [ 3.54405848e-03 -9.96451278e-01 8.40969042e-02 -4.39644622e+01] [ 7.80318943e-01 5.53482027e-02 6.22927703e-01 2.87845401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.92, Z:2.87 [[-6.27369878e-01 2.38125611e-02 7.78357243e-01 9.08300375e+01] [ 1.68625450e-03 -9.99488466e-01 3.19368588e-02 -4.39217332e+01] [ 7.78719586e-01 2.13487316e-02 6.27008803e-01 2.87312775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-43.92, Z:2.87 [[-6.27862035e-01 2.55902564e-02 7.77903853e-01 9.08334399e+01] [ 1.94268731e-04 -9.99454168e-01 3.30352681e-02 -4.39226490e+01] [ 7.78324629e-01 2.08927130e-02 6.27514356e-01 2.87017973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.92, Z:2.86 [[-6.28815247e-01 2.80512339e-02 7.77048591e-01 9.08375152e+01] [-2.42263607e-03 -9.99414871e-01 3.41181106e-02 -4.39246515e+01] [ 7.77550973e-01 1.95714822e-02 6.28515267e-01 2.86474848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.93, Z:2.86 [[-6.28513796e-01 2.99800080e-02 7.77220437e-01 9.08404087e+01] [-4.07676614e-03 -9.99370129e-01 3.52523164e-02 -4.39287716e+01] [ 7.77787753e-01 1.89880212e-02 6.28240134e-01 2.86301350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.94, Z:2.86 [[-6.27340373e-01 3.15093837e-02 7.78107458e-01 9.08406929e+01] [-5.01325895e-03 -9.99323792e-01 3.64256334e-02 -4.39388672e+01] [ 7.78729044e-01 1.89504163e-02 6.27074125e-01 2.85830657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-43.93, Z:2.86 [[-6.10710651e-01 2.74608673e-02 7.91377534e-01 9.08378564e+01] [-9.02780816e-03 -9.99575001e-01 2.77185248e-02 -4.39338528e+01] [ 7.91802374e-01 9.78359379e-03 6.10699011e-01 2.86103318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.95, Z:2.85 [[-6.25170667e-01 4.00650788e-02 7.79459060e-01 9.08483650e+01] [-9.64677908e-03 -9.99001944e-01 4.36125641e-02 -4.39495755e+01] [ 7.80428457e-01 1.97460265e-02 6.24933211e-01 2.84799882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.95, Z:2.84 [[-6.26106222e-01 3.87152227e-02 7.78776046e-01 9.08543334e+01] [-1.33200294e-02 -9.99151912e-01 3.89619527e-02 -4.39467666e+01] [ 7.79623996e-01 1.40210011e-02 6.26090917e-01 2.84019627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.95, Z:2.83 [[-6.25713633e-01 4.26926378e-02 7.78883681e-01 9.08618197e+01] [-1.82137654e-02 -9.99028554e-01 4.01273818e-02 -4.39482991e+01] [ 7.79840182e-01 1.09218452e-02 6.25883379e-01 2.83211707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.95, Z:2.81 [[-6.25901134e-01 5.04796333e-02 7.78267034e-01 9.08747011e+01] [-2.92327019e-02 -9.98720343e-01 4.12689398e-02 -4.39454090e+01] [ 7.79354361e-01 3.07942802e-03 6.26575852e-01 2.81359427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.94, Z:2.80 [[-6.25456413e-01 5.53599440e-02 7.78292716e-01 9.08805866e+01] [-3.55204235e-02 -9.98465880e-01 4.24757136e-02 -4.39434834e+01] [ 7.79450175e-01 -1.07857940e-03 6.26463297e-01 2.80351670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.94, Z:2.81 [[-6.25164883e-01 6.01803685e-02 7.78169128e-01 9.08746556e+01] [-4.16832400e-02 -9.98174427e-01 4.37072170e-02 -4.39433353e+01] [ 7.79378840e-01 -5.11239329e-03 6.26532112e-01 2.80932810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.90, Z:2.81 [[-6.26230690e-01 2.87000562e-02 7.79109382e-01 9.08676699e+01] [-4.44789539e-02 -9.99009771e-01 1.04933986e-03 -4.39048723e+01] [ 7.78368001e-01 -3.39968414e-02 6.26887127e-01 2.80934280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.99, Z:2.82 [[-6.25270994e-01 1.08904669e-01 7.72771608e-01 9.08709873e+01] [-5.36095215e-02 -9.93870078e-01 9.66865401e-02 -4.39857204e+01] [ 7.78564194e-01 1.90273729e-02 6.27276458e-01 2.82226835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.94, Z:2.82 [[-6.24557147e-01 7.06688403e-02 7.77775215e-01 9.08630861e+01] [-5.51312302e-02 -9.97402572e-01 4.63535975e-02 -4.39369487e+01] [ 7.79030755e-01 -1.39292338e-02 6.26830965e-01 2.82190164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.94, Z:2.82 [[-6.24473861e-01 7.21732277e-02 7.77703943e-01 9.08647717e+01] [-5.60707528e-02 -9.97294887e-01 4.75287182e-02 -4.39378384e+01] [ 7.79030467e-01 -1.39260033e-02 6.26831396e-01 2.81991626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.93, Z:2.82 [[-6.23543970e-01 7.50416374e-02 7.78178431e-01 9.08632613e+01] [-5.91736247e-02 -9.97057428e-01 4.87336370e-02 -4.39344864e+01] [ 7.79545637e-01 -1.56600729e-02 6.26149633e-01 2.82129936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.93, Z:2.83 [[-6.25464619e-01 7.88348640e-02 7.76259669e-01 9.08613469e+01] [-6.38490750e-02 -9.96717330e-01 4.97781082e-02 -4.39254572e+01] [ 7.77635715e-01 -1.84290163e-02 6.28444959e-01 2.82612409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.92, Z:2.82 [[-6.26638460e-01 8.15348855e-02 7.75033098e-01 9.08617317e+01] [-6.67608628e-02 -9.96472286e-01 5.08524469e-02 -4.39207084e+01] [ 7.76445251e-01 -1.98757793e-02 6.29871197e-01 2.82490840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.92, Z:2.83 [[-6.26565212e-01 8.40392721e-02 7.74824777e-01 9.08594082e+01] [-6.93376134e-02 -9.96237897e-01 5.19841034e-02 -4.39165561e+01] [ 7.76278513e-01 -2.11530700e-02 6.30035092e-01 2.82854942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.91, Z:2.83 [[-6.26551560e-01 8.62659545e-02 7.74591072e-01 9.08588470e+01] [-7.14818592e-02 -9.96027107e-01 5.31069362e-02 -4.39071783e+01] [ 7.76095024e-01 -2.20949762e-02 6.30228788e-01 2.82777747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.90, Z:2.83 [[-6.25981254e-01 8.71926341e-02 7.74948330e-01 9.08607127e+01] [-7.15510772e-02 -9.95959844e-01 5.42626233e-02 -4.39034154e+01] [ 7.76548719e-01 -2.14810028e-02 6.29690919e-01 2.82591360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.90, Z:2.82 [[-6.25143284e-01 8.74557051e-02 7.75594852e-01 9.08641422e+01] [-7.05515803e-02 -9.95966369e-01 5.54388601e-02 -4.38993907e+01] [ 7.77314833e-01 -2.00622114e-02 6.28791824e-01 2.82256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.90, Z:2.82 [[-6.25540054e-01 8.71174078e-02 7.75312968e-01 9.08697548e+01] [-6.86251902e-02 -9.96038454e-01 5.65506896e-02 -4.38959173e+01] [ 7.77168080e-01 -1.78312785e-02 6.29040397e-01 2.81524740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.89, Z:2.80 [[-6.26471155e-01 8.36795981e-02 7.74939751e-01 9.08801158e+01] [-6.17658198e-02 -9.96423551e-01 5.76636026e-02 -4.38881072e+01] [ 7.76993485e-01 -1.17402054e-02 6.29399151e-01 2.80004299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-43.89, Z:2.79 [[-6.26391393e-01 8.27040857e-02 7.75108933e-01 9.08874236e+01] [-5.87646404e-02 -9.96536246e-01 5.88407026e-02 -4.38853080e+01] [ 7.77290512e-01 -8.69168806e-03 6.29081802e-01 2.78804582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-43.88, Z:2.78 [[-6.25468108e-01 8.16979433e-02 7.75960754e-01 9.08935327e+01] [-5.56176489e-02 -9.96641596e-01 6.01016259e-02 -4.38836291e+01] [ 7.78264944e-01 -5.56546261e-03 6.27911381e-01 2.77893555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:-43.88, Z:2.78 [[-6.24389910e-01 8.12275967e-02 7.76877930e-01 9.08965028e+01] [-5.32745863e-02 -9.96690898e-01 6.13927752e-02 -4.38821355e+01] [ 7.79293949e-01 -3.05482098e-03 6.26651107e-01 2.77503842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:-43.88, Z:2.77 [[-6.23215611e-01 7.88640095e-02 7.78063474e-01 9.08995515e+01] [-4.78436093e-02 -9.96883641e-01 6.27215624e-02 -4.38769467e+01] [ 7.80585223e-01 1.86369200e-03 6.25046587e-01 2.77158882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.86, Z:2.79 [[-6.07695238e-01 6.02732258e-02 7.91879811e-01 9.08844503e+01] [-4.33580212e-02 -9.98146690e-01 4.26997346e-02 -4.38576424e+01] [ 7.92985863e-01 -8.38591623e-03 6.09182319e-01 2.79098252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.89, Y:-43.90, Z:2.78 [[-6.23973984e-01 9.60941998e-02 7.75514263e-01 9.08938647e+01] [-4.13928053e-02 -9.95081542e-01 8.99964503e-02 -4.38992612e+01] [ 7.80348065e-01 2.40547327e-02 6.24882603e-01 2.78238351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.88, Z:2.79 [[-6.25348879e-01 7.27458081e-02 7.76947120e-01 9.08840867e+01] [-3.49919784e-02 -9.97257898e-01 6.52092477e-02 -4.38775027e+01] [ 7.79560351e-01 1.35916131e-02 6.26179628e-01 2.79214603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.88, Z:2.80 [[-6.26089565e-01 7.17279048e-02 7.76445081e-01 9.08794016e+01] [-3.19657856e-02 -9.97284030e-01 6.63532429e-02 -4.38772726e+01] [ 7.79095658e-01 1.67233960e-02 6.26681963e-01 2.79728673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.88, Z:2.80 [[-6.25481689e-01 7.03807446e-02 7.77058046e-01 9.08752306e+01] [-2.82760245e-02 -9.97313796e-01 6.75696651e-02 -4.38770864e+01] [ 7.79726313e-01 2.02914759e-02 6.25791605e-01 2.80269285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.052320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.88, Z:2.81 [[-6.24981174e-01 6.96027294e-02 7.77530702e-01 9.08716551e+01] [-2.55281391e-02 -9.97306769e-01 6.87569851e-02 -4.38778128e+01] [ 7.80222306e-01 2.31229094e-02 6.25074783e-01 2.80738027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.88, Z:2.82 [[-6.26071124e-01 6.75946312e-02 7.76830685e-01 9.08655248e+01] [-2.10443999e-02 -9.97337511e-01 6.98213539e-02 -4.38824081e+01] [ 7.79481931e-01 2.73651980e-02 6.25826706e-01 2.81501333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:-43.88, Z:2.82 [[-6.27365156e-01 6.79892743e-02 7.75751519e-01 9.08644026e+01] [-2.04956808e-02 -9.97277865e-01 7.08292810e-02 -4.38849334e+01] [ 7.78455450e-01 2.85362674e-02 6.27050870e-01 2.81610801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.89, Z:2.81 [[-6.27669151e-01 6.88100996e-02 7.75433174e-01 9.08651311e+01] [-2.05051697e-02 -9.97201657e-01 7.18915372e-02 -4.38852172e+01] [ 7.78210110e-01 2.92237113e-02 6.27323680e-01 2.81486546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.88, Z:2.81 [[-6.26623442e-01 6.99414772e-02 7.76177333e-01 9.08653373e+01] [-2.08107444e-02 -9.97111210e-01 7.30489391e-02 -4.38838780e+01] [ 7.79044270e-01 2.96213496e-02 6.26268792e-01 2.81263787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.82, Z:2.81 [[-6.27064324e-01 2.02167214e-02 7.78705091e-01 9.08691286e+01] [-2.38923353e-02 -9.99691990e-01 6.71430492e-03 -4.38207611e+01] [ 7.78600983e-01 -1.43947820e-02 6.27354206e-01 2.80619338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.94, Z:2.81 [[-6.26823329e-01 1.27328060e-01 7.68687244e-01 9.08769813e+01] [-2.53301304e-02 -9.89365711e-01 1.43226651e-01 -4.39428462e+01] [ 7.78749574e-01 7.03068584e-02 6.23382745e-01 2.80828842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-43.88, Z:2.80 [[-6.25418390e-01 7.45425690e-02 7.76720827e-01 9.08728803e+01] [-2.53422030e-02 -9.96841705e-01 7.52621273e-02 -4.38846276e+01] [ 7.79877946e-01 2.73865017e-02 6.25332207e-01 2.80385861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.89, Z:2.80 [[-6.25873345e-01 7.67831362e-02 7.76135881e-01 9.08755281e+01] [-2.76538380e-02 -9.96701064e-01 7.63036924e-02 -4.38878790e+01] [ 7.79434295e-01 2.62933113e-02 6.25931978e-01 2.80044169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.89, Z:2.79 [[-6.27611013e-01 7.90586118e-02 7.74502519e-01 9.08787953e+01] [-3.02152649e-02 -9.96554553e-01 7.72402736e-02 -4.38889198e+01] [ 7.77940521e-01 2.50750476e-02 6.27837389e-01 2.79382902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.88, Y:-43.89, Z:2.79 [[-6.27075846e-01 8.15767428e-02 7.74674847e-01 9.08820547e+01] [-3.28109261e-02 -9.96384702e-01 7.83643352e-02 -4.38872354e+01] [ 7.78266874e-01 2.37225826e-02 6.27485388e-01 2.78912382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-43.88, Z:2.78 [[-6.22737903e-01 8.61603984e-02 7.77672096e-01 9.08883747e+01] [-3.81734942e-02 -9.96080473e-01 7.97901956e-02 -4.38842392e+01] [ 7.81498745e-01 2.00019178e-02 6.23586109e-01 2.77948448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-43.88, Z:2.77 [[-6.21817220e-01 8.97280229e-02 7.78005287e-01 9.08948484e+01] [-4.24058203e-02 -9.95815215e-01 8.09555695e-02 -4.38829134e+01] [ 7.82013485e-01 1.73476148e-02 6.23020039e-01 2.77019764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:-43.88, Z:2.76 [[-6.22979737e-01 9.34151098e-02 7.76640112e-01 9.09008544e+01] [-4.71045397e-02 -9.95522024e-01 8.19576846e-02 -4.38819869e+01] [ 7.80818423e-01 1.44747018e-02 6.24590325e-01 2.76314713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.88, Z:2.76 [[-6.23268909e-01 9.68591657e-02 7.75985933e-01 9.09069531e+01] [-5.12649809e-02 -9.95225983e-01 8.30490437e-02 -4.38794774e+01] [ 7.80325425e-01 1.19809829e-02 6.25258896e-01 2.75519242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.87, Z:2.75 [[-6.24863755e-01 1.00436929e-01 7.74246544e-01 9.09140443e+01] [-5.57911843e-02 -9.94899835e-01 8.40336915e-02 -4.38742812e+01] [ 7.78737845e-01 9.31347640e-03 6.27280342e-01 2.74899032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:-43.88, Z:2.75 [[-6.24695774e-01 1.01766811e-01 7.74208438e-01 9.09158817e+01] [-5.64378802e-02 -9.94762524e-01 8.52190460e-02 -4.38752362e+01] [ 7.78826011e-01 9.54129486e-03 6.27167449e-01 2.74952603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:-43.88, Z:2.75 [[-6.24919923e-01 1.02436808e-01 7.73939138e-01 9.09175884e+01] [-5.60651850e-02 -9.94683120e-01 8.63839402e-02 -4.38783126e+01] [ 7.78673092e-01 1.05920043e-02 6.27340438e-01 2.74854053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.88, Z:2.75 [[-6.24435093e-01 1.02617054e-01 7.74306500e-01 9.09145259e+01] [-5.48065914e-02 -9.94645187e-01 8.76195672e-02 -4.38820150e+01] [ 7.79151495e-01 1.22756326e-02 6.26715451e-01 2.75045328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.88, Z:2.75 [[-6.25307441e-01 1.01736866e-01 7.73718434e-01 9.09113489e+01] [-5.20365400e-02 -9.94694802e-01 8.87380906e-02 -4.38815321e+01] [ 7.78641640e-01 1.52269582e-02 6.27284096e-01 2.75267209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.88, Z:2.75 [[-6.25733888e-01 1.02663777e-01 7.73251091e-01 9.09118557e+01] [-5.21417990e-02 -9.94588913e-01 8.98561465e-02 -4.38801719e+01] [ 7.78291934e-01 1.59073329e-02 6.27701062e-01 2.75214063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.91, Y:-43.88, Z:2.75 [[-6.25698990e-01 1.03764098e-01 7.73132450e-01 9.09131973e+01] [-5.24681797e-02 -9.94467075e-01 9.10072933e-02 -4.38802517e+01] [ 7.78298056e-01 1.63783192e-02 6.27681358e-01 2.75292680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:-43.88, Z:2.75 [[-6.26572115e-01 1.05872618e-01 7.72138831e-01 9.09182070e+01] [-5.45667471e-02 -9.94258228e-01 9.20491455e-02 -4.38836012e+01] [ 7.77450870e-01 1.55423235e-02 6.28751605e-01 2.74999150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:-43.89, Z:2.75 [[-6.26066398e-01 1.08428474e-01 7.72194361e-01 9.09212653e+01] [-5.71774963e-02 -9.94002721e-01 9.32165434e-02 -4.38853948e+01] [ 7.77670624e-01 1.42076053e-02 6.28511372e-01 2.74520833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-43.89, Z:2.74 [[-6.24946122e-01 1.10959579e-01 7.72742076e-01 9.09257819e+01] [-5.96507629e-02 -9.93740774e-01 9.44513663e-02 -4.38859903e+01] [ 7.78385593e-01 1.29323607e-02 6.27653266e-01 2.73776691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.93, Y:-43.89, Z:2.74 [[-6.24464913e-01 1.12686035e-01 7.72881252e-01 9.09255839e+01] [-6.09094231e-02 -9.93550089e-01 9.56465470e-02 -4.38857208e+01] [ 7.78674267e-01 1.26521614e-02 6.27300811e-01 2.73815552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-43.88, Z:2.73 [[-6.24369071e-01 1.15458386e-01 7.72549431e-01 9.09295105e+01] [-6.39163486e-02 -9.93250838e-01 9.67857128e-02 -4.38819679e+01] [ 7.78510092e-01 1.10514668e-02 6.27534781e-01 2.73162186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-43.88, Z:2.73 [[-6.23103572e-01 1.18018523e-01 7.73184045e-01 9.09321883e+01] [-6.64045771e-02 -9.92963500e-01 9.80505966e-02 -4.38809926e+01] [ 7.79315322e-01 9.75271741e-03 6.26556074e-01 2.72565701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:-43.88, Z:2.72 [[-6.22653484e-01 1.21022957e-01 7.73082196e-01 9.09365033e+01] [-6.97249628e-02 -9.92618395e-01 9.92328146e-02 -4.38797255e+01] [ 7.79385058e-01 7.88453035e-03 6.26495623e-01 2.71866068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.94, Y:-43.88, Z:2.71 [[-6.21570554e-01 1.24267283e-01 7.73438872e-01 9.09391873e+01] [-7.33355119e-02 -9.92232191e-01 1.00484739e-01 -4.38790573e+01] [ 7.79917911e-01 5.73781942e-03 6.25855518e-01 2.71351354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.88, Z:2.70 [[-6.22479230e-01 1.28218457e-01 7.72061938e-01 9.09470793e+01] [-7.83671211e-02 -9.91742306e-01 1.01517455e-01 -4.38773561e+01] [ 7.78702898e-01 2.68823569e-03 6.27387098e-01 2.70476689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.88, Z:2.70 [[-6.22378095e-01 1.30715176e-01 7.71724724e-01 9.09505700e+01] [-8.08778520e-02 -9.91418823e-01 1.02700976e-01 -4.38772636e+01] [ 7.78526994e-01 1.50339993e-03 6.27609321e-01 2.70074185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.88, Z:2.70 [[-6.23028544e-01 1.32349699e-01 7.70920872e-01 9.09526266e+01] [-8.20790329e-02 -9.91202076e-01 1.03833894e-01 -4.38758274e+01] [ 7.77880753e-01 1.41503988e-03 6.28410321e-01 2.69701593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.87, Z:2.69 [[-6.23308647e-01 1.34360285e-01 7.70346445e-01 9.09543286e+01] [-8.38330289e-02 -9.90932167e-01 1.05002206e-01 -4.38745756e+01] [ 7.77469198e-01 8.68307458e-04 6.28920418e-01 2.69437276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.87, Z:2.69 [[-6.25899435e-01 1.36254171e-01 7.67909304e-01 9.09573326e+01] [-8.57209187e-02 -9.90673804e-01 1.05911939e-01 -4.38726537e+01] [ 7.75178574e-01 4.64331529e-04 6.31742006e-01 2.69327149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.87, Z:2.69 [[-6.26200203e-01 1.38091766e-01 7.67335631e-01 9.09608699e+01] [-8.71971658e-02 -9.90419428e-01 1.07079461e-01 -4.38730898e+01] [ 7.74770909e-01 1.43687742e-04 6.32242057e-01 2.68987411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.87, Z:2.69 [[-6.25263953e-01 1.40384200e-01 7.67683051e-01 9.09633454e+01] [-8.92311791e-02 -9.90096831e-01 1.08379248e-01 -4.38720638e+01] [ 7.75295290e-01 -7.35626693e-04 6.31598506e-01 2.68586156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.87, Z:2.69 [[-6.22505555e-01 1.42957187e-01 7.69447904e-01 9.09593744e+01] [-9.14574847e-02 -9.89726925e-01 1.09891501e-01 -4.38679887e+01] [ 7.77253088e-01 -1.96370025e-03 6.29185014e-01 2.68561689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.87, Z:2.69 [[-6.22823418e-01 1.46089974e-01 7.68601788e-01 9.09565146e+01] [-9.50288191e-02 -9.89263662e-01 1.11026712e-01 -4.38660012e+01] [ 7.76569709e-01 -3.88928429e-03 6.30019333e-01 2.68659511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.82, Z:2.69 [[-6.24064601e-01 1.06462929e-01 7.74085925e-01 9.09537577e+01] [-9.43393172e-02 -9.93693348e-01 6.06104234e-02 -4.38166196e+01] [ 7.75656798e-01 -3.52019180e-02 6.30172482e-01 2.68581637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.91, Z:2.69 [[-6.21982542e-01 1.97254953e-01 7.57778464e-01 9.09591843e+01] [-1.01115830e-01 -9.79880656e-01 1.72074079e-01 -4.39125778e+01] [ 7.76474923e-01 3.04036753e-02 6.29414260e-01 2.69026708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.85, Z:2.70 [[-6.22120002e-01 1.53610461e-01 7.67704715e-01 9.09493432e+01] [-1.03774122e-01 -9.88090613e-01 1.13612820e-01 -4.38506615e+01] [ 7.76013940e-01 -8.98707468e-03 6.30651724e-01 2.69610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.85, Z:2.70 [[-6.20396924e-01 1.55702146e-01 7.68677109e-01 9.09480126e+01] [-1.05443454e-01 -9.87756211e-01 1.14975412e-01 -4.38468519e+01] [ 7.77167508e-01 -9.72157775e-03 6.29218687e-01 2.69655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.84, Z:2.69 [[-6.19308053e-01 1.57548687e-01 7.69178748e-01 9.09486343e+01] [-1.06813300e-01 -9.87458959e-01 1.16257146e-01 -4.38434905e+01] [ 7.77848606e-01 -1.01595337e-02 6.28369580e-01 2.69304644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.95, Y:-43.84, Z:2.69 [[-6.19042628e-01 1.58825722e-01 7.69129778e-01 9.09524168e+01] [-1.07366540e-01 -9.87257301e-01 1.17454025e-01 -4.38405908e+01] [ 7.77983709e-01 -9.86975484e-03 6.28206922e-01 2.69033939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.84, Z:2.69 [[-6.21329663e-01 1.59083652e-01 7.67229980e-01 9.09587064e+01] [-1.06607016e-01 -9.87230656e-01 1.18366277e-01 -4.38359559e+01] [ 7.76263096e-01 -8.24761960e-03 6.30355124e-01 2.68785990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-43.84, Z:2.69 [[-6.21164327e-01 1.60608709e-01 7.67046101e-01 9.09602425e+01] [-1.07569023e-01 -9.86983675e-01 1.19549703e-01 -4.38367386e+01] [ 7.76262703e-01 -8.25038840e-03 6.30355572e-01 2.68587358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.68 [[-6.20779426e-01 1.61074972e-01 7.67259902e-01 9.09656644e+01] [-1.06772423e-01 -9.86917832e-01 1.20800837e-01 -4.38342939e+01] [ 7.76680471e-01 -6.93152432e-03 6.29856651e-01 2.67942816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.67 [[-6.19303293e-01 1.61287661e-01 7.68407263e-01 9.09667721e+01] [-1.05387574e-01 -9.86893229e-01 1.22209710e-01 -4.38317952e+01] [ 7.78046844e-01 -5.29570149e-03 6.28183942e-01 2.67379832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.66 [[-6.17130911e-01 1.60205576e-01 7.70378876e-01 9.09692505e+01] [-1.01741392e-01 -9.87081648e-01 1.23767965e-01 -4.38273758e+01] [ 7.80255169e-01 -1.99838187e-03 6.25458135e-01 2.66367303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.66 [[-6.17172929e-01 1.60416707e-01 7.70301276e-01 9.09710839e+01] [-1.00530402e-01 -9.87049339e-01 1.25008961e-01 -4.38268573e+01] [ 7.80378891e-01 -2.86550033e-04 6.25306888e-01 2.66046401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.66 [[-6.17542245e-01 1.60562384e-01 7.69974868e-01 9.09710696e+01] [-9.92527527e-02 -9.87024518e-01 1.26220018e-01 -4.38275789e+01] [ 7.80250259e-01 1.52406797e-03 6.25465595e-01 2.66232018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.67 [[-6.20556132e-01 1.59030165e-01 7.67866847e-01 9.09664167e+01] [-9.56973845e-02 -9.87258912e-01 1.27129267e-01 -4.38285031e+01] [ 7.78300776e-01 5.40799740e-03 6.27868342e-01 2.67118333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.97, Y:-43.83, Z:2.67 [[-6.20640155e-01 1.59553289e-01 7.67690397e-01 9.09655021e+01] [-9.50314726e-02 -9.87166593e-01 1.28339926e-01 -4.38289927e+01] [ 7.78315371e-01 6.69816287e-03 6.27837811e-01 2.67104273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-43.80, Z:3.75 [[-5.72896518e-01 -2.19494375e-01 -7.89690952e-01 9.23873035e+01] [-1.87025571e-01 9.73064900e-01 -1.34781807e-01 -4.37960725e+01] [ 7.98004396e-01 7.04763730e-02 -5.98516553e-01 3.75291212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-43.69, Z:3.76 [[-5.47339030e-01 -3.42724449e-01 -7.63518132e-01 9.23738208e+01] [-2.60936541e-01 9.36713040e-01 -2.33411231e-01 -4.36935600e+01] [ 7.95193126e-01 7.14747039e-02 -6.02128939e-01 3.75971121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-43.59, Z:3.76 [[-5.13377476e-01 -4.59580503e-01 -7.24727072e-01 9.23468711e+01] [-3.31016371e-01 8.85205329e-01 -3.26863409e-01 -4.35929766e+01] [ 7.91752316e-01 7.20922133e-02 -6.06573147e-01 3.76458297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:-43.50, Z:3.77 [[-4.68561836e-01 -5.68454958e-01 -6.76246084e-01 9.23060227e+01] [-3.95725903e-01 8.19440054e-01 -4.14631172e-01 -4.34975647e+01] [ 7.89842273e-01 7.33277494e-02 -6.08910687e-01 3.76716939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-43.41, Z:3.77 [[-4.14848870e-01 -6.67507015e-01 -6.18332274e-01 9.22532482e+01] [-4.52849890e-01 7.40892155e-01 -4.95989710e-01 -4.34101351e+01] [ 7.89194141e-01 7.42509318e-02 -6.09638751e-01 3.77109356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.19, Y:-43.33, Z:3.77 [[-3.56464172e-01 -7.55035227e-01 -5.50322724e-01 9.21930641e+01] [-5.02970864e-01 6.51458052e-01 -5.67998871e-01 -4.33288610e+01] [ 7.87371326e-01 7.43250487e-02 -6.11982175e-01 3.77342818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.852320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.12, Y:-43.26, Z:3.78 [[-2.92420522e-01 -8.30643570e-01 -4.73836995e-01 9.21241381e+01] [-5.46944091e-01 5.51724613e-01 -6.29644433e-01 -4.32558497e+01] [ 7.84437633e-01 7.50413903e-02 -6.15651192e-01 3.77743598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.05, Y:-43.19, Z:3.78 [[-2.27801252e-01 -8.91823823e-01 -3.90841218e-01 9.20511258e+01] [-5.80807002e-01 4.46621970e-01 -6.80582135e-01 -4.31865240e+01] [ 7.81517636e-01 7.19658534e-02 -6.19718565e-01 3.77619895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.912320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.97, Y:-43.13, Z:3.77 [[-1.58039808e-01 -9.39725978e-01 -3.03213631e-01 9.19680194e+01] [-6.05762148e-01 3.34769197e-01 -7.21790694e-01 -4.31294558e+01] [ 7.79792049e-01 6.96036771e-02 -6.22157286e-01 3.77157122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.88, Y:-43.09, Z:3.77 [[-8.52136180e-02 -9.73543209e-01 -2.12019480e-01 9.18791797e+01] [-6.22271685e-01 2.18190326e-01 -7.51778513e-01 -4.30852300e+01] [ 7.78149465e-01 6.78719517e-02 -6.24401160e-01 3.77110517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.79, Y:-43.05, Z:3.77 [[-1.15153158e-02 -9.92913017e-01 -1.18284138e-01 9.17876577e+01] [-6.30705917e-01 9.90054144e-02 -7.69680436e-01 -4.30512525e+01] [ 7.75936494e-01 6.57393925e-02 -6.27376194e-01 3.76877908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-43.02, Z:3.77 [[ 6.22601623e-02 -9.97774554e-01 -2.38665464e-02 9.16944330e+01] [-6.32108476e-01 -2.09147513e-02 -7.74597604e-01 -4.30246658e+01] [ 7.72374616e-01 6.33128188e-02 -6.32003908e-01 3.76566900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-43.04, Z:3.79 [[ 1.37352195e-01 -9.88049614e-01 6.99452315e-02 9.15531528e+01] [-6.23095567e-01 -1.41079547e-01 -7.69316889e-01 -4.30412323e+01] [ 7.69991096e-01 6.20848000e-02 -6.35026920e-01 3.79165087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-43.07, Z:3.82 [[ 2.09921624e-01 -9.64228272e-01 1.61854104e-01 9.14159893e+01] [-6.04115727e-01 -2.58078667e-01 -7.53949329e-01 -4.30744597e+01] [ 7.68750350e-01 6.04916574e-02 -6.36681756e-01 3.81821136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-43.12, Z:3.84 [[ 2.79962205e-01 -9.26745889e-01 2.50525888e-01 9.12845108e+01] [-5.77251875e-01 -3.71022212e-01 -7.27408270e-01 -4.31246821e+01] [ 7.67073293e-01 5.90302849e-02 -6.38837999e-01 3.84283628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.14, Y:-43.20, Z:3.87 [[ 3.54586595e-01 -8.67172358e-01 3.49686214e-01 9.11410489e+01] [-5.60714313e-01 -4.96487223e-01 -6.62646133e-01 -4.31976117e+01] [ 7.48243147e-01 3.88913707e-02 -6.62283666e-01 3.86766724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:90.92, Y:-43.35, Z:3.89 [[ 3.99814407e-01 -7.28623643e-01 5.56107927e-01 9.09169785e+01] [-4.95722696e-01 -6.82210618e-01 -5.37445514e-01 -4.33525636e+01] [ 7.70978241e-01 -6.07968611e-02 -6.33952911e-01 3.89264793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:90.94, Y:-43.35, Z:3.91 [[ 4.59319860e-01 -7.41229153e-01 4.89494238e-01 9.09449817e+01] [-4.45832711e-01 -6.69001105e-01 -5.94702207e-01 -4.33527840e+01] [ 7.68282800e-01 5.49259913e-02 -6.37749696e-01 3.90628795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.85, Y:-43.45, Z:3.93 [[ 5.11278121e-01 -6.55715537e-01 5.55546413e-01 9.08532078e+01] [-3.89761858e-01 -7.53038136e-01 -5.30112497e-01 -4.34527941e+01] [ 7.65950636e-01 5.45041197e-02 -6.40584829e-01 3.93173900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.77, Y:-43.56, Z:3.96 [[ 5.54863252e-01 -5.61856410e-01 6.13550443e-01 9.07743652e+01] [-3.28530901e-01 -8.25532580e-01 -4.58871885e-01 -4.35625093e+01] [ 7.64325990e-01 5.30408663e-02 -6.42644884e-01 3.95735072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-43.68, Z:3.98 [[ 5.91025993e-01 -4.60100592e-01 6.62567522e-01 9.07104991e+01] [-2.61962973e-01 -8.86337235e-01 -3.81813706e-01 -4.36804617e+01] [ 7.62930978e-01 5.20936668e-02 -6.44377664e-01 3.98180107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:90.66, Y:-43.81, Z:4.01 [[ 6.19131936e-01 -3.52199678e-01 7.01876793e-01 9.06604838e+01] [-1.91527714e-01 -9.34517653e-01 -2.99989819e-01 -4.38061896e+01] [ 7.61572571e-01 5.13044195e-02 -6.46045722e-01 4.00595328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.62, Y:-43.94, Z:4.03 [[ 6.39432424e-01 -2.38828647e-01 7.30812598e-01 9.06236704e+01] [-1.16854914e-01 -9.69676347e-01 -2.14645546e-01 -4.39385601e+01] [ 7.59915196e-01 5.18522786e-02 -6.47950798e-01 4.03190736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.60, Y:-44.07, Z:4.06 [[ 6.51418550e-01 -1.22534858e-01 7.48758359e-01 9.06028207e+01] [-4.04384002e-02 -9.91076898e-01 -1.27009124e-01 -4.40740569e+01] [ 7.57640157e-01 5.24575092e-02 -6.50560990e-01 4.05822601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.60, Y:-44.21, Z:4.08 [[ 6.54775123e-01 -4.76777920e-03 7.55808711e-01 9.05978025e+01] [ 3.71696790e-02 -9.98567051e-01 -3.85001231e-02 -4.42100242e+01] [ 7.54909235e-01 5.33020900e-02 -6.53659647e-01 4.08381222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.61, Y:-44.34, Z:4.11 [[ 6.50274221e-01 1.13062002e-01 7.51239257e-01 9.06080194e+01] [ 1.15414083e-01 -9.92087958e-01 4.94072263e-02 -4.43380446e+01] [ 7.50881500e-01 5.45753443e-02 -6.58178171e-01 4.10926995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:-44.47, Z:4.13 [[ 6.35170538e-01 2.27969207e-01 7.37962349e-01 9.06340736e+01] [ 1.91088403e-01 -9.72128530e-01 1.35835720e-01 -4.44666292e+01] [ 7.48360615e-01 5.47371993e-02 -6.61029673e-01 4.13451952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-44.59, Z:4.16 [[ 6.10957185e-01 3.39364735e-01 7.15236251e-01 9.06748925e+01] [ 2.64458669e-01 -9.39048548e-01 2.19657543e-01 -4.45924872e+01] [ 7.46185587e-01 5.49490732e-02 -6.63466404e-01 4.15930952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-44.78, Z:4.18 [[ 5.94174497e-01 4.94247739e-01 6.34567443e-01 9.07542160e+01] [ 3.42519151e-01 -8.69302990e-01 3.56360692e-01 -4.47750171e+01] [ 7.27761842e-01 5.61106768e-03 -6.85806983e-01 4.18346658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.15, Y:-45.25, Z:4.13 [[ 0.52601388 0.82026722 0.22465771 91.14948113] [ 0.36091611 -0.4544851 0.8143604 -45.2487065 ] [ 0.77009672 -0.34728228 -0.53511312 4.13066697] [ 0. 0. 0. 1. ]] SLAMing on 150.572320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.87, Y:-44.91, Z:4.18 [[ 4.69019839e-01 6.21986779e-01 6.27019009e-01 9.08694888e+01] [ 4.31405147e-01 -7.80834689e-01 4.51870320e-01 -4.49142200e+01] [ 7.70655558e-01 5.85630831e-02 -6.34555258e-01 4.18465976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.00, Y:-45.07, Z:4.21 [[ 4.28559898e-01 7.52224039e-01 5.00495164e-01 9.10042470e+01] [ 5.01447247e-01 -6.58821635e-01 5.60807197e-01 -4.50678619e+01] [ 7.51589697e-01 1.06324473e-02 -6.59545206e-01 4.21010515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.15, Y:-44.25, Z:3.08 [[ 4.31484341e-01 -7.43234018e-01 -5.11296839e-01 9.21535371e+01] [ 5.01472403e-01 6.68745711e-01 -5.48912199e-01 -4.42490145e+01] [ 7.49897788e-01 -1.95542361e-02 6.61264652e-01 3.08127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:-45.09, Z:4.25 [[ 3.49153487e-01 7.92059569e-01 5.00732944e-01 9.10727310e+01] [ 5.35395857e-01 -6.07173715e-01 5.87104212e-01 -4.50879562e+01] [ 7.69053391e-01 6.31008610e-02 -6.36062232e-01 4.24905074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.15, Y:-44.18, Z:3.12 [[ 3.73057658e-01 -8.30608899e-01 -4.13420901e-01 9.21547523e+01] [ 5.51457647e-01 5.56843679e-01 -6.21143768e-01 -4.41813700e+01] [ 7.46138357e-01 3.73832165e-03 6.65780428e-01 3.12306656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.20, Y:-45.15, Z:4.29 [[ 2.80495081e-01 8.60492758e-01 4.25293690e-01 9.12008362e+01] [ 5.75681761e-01 -5.05359460e-01 6.42808157e-01 -4.51481887e+01] [ 7.68057953e-01 6.45292948e-02 -6.37120829e-01 4.29221577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:91.32, Y:-45.21, Z:4.32 [[ 2.09683915e-01 9.15197869e-01 3.44159142e-01 9.13241515e+01] [ 6.08447708e-01 -3.97663149e-01 6.86771728e-01 -4.52131221e+01] [ 7.65391431e-01 6.53978565e-02 -6.40233612e-01 4.31915213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.17, Y:-44.09, Z:3.19 [[ 2.36786831e-01 -9.38173068e-01 -2.52513944e-01 9.21655244e+01] [ 6.26493898e-01 3.46092367e-01 -6.98373446e-01 -4.40885313e+01] [ 7.42588306e-01 7.16718990e-03 6.69709817e-01 3.18558118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.17, Y:-44.07, Z:3.21 [[ 2.38790136e-01 -9.37774556e-01 -2.52107425e-01 9.21745501e+01] [ 6.25263831e-01 3.47120882e-01 -6.98965117e-01 -4.40705332e+01] [ 7.42983454e-01 9.27232110e-03 6.69245554e-01 3.20536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.46, Y:-45.23, Z:4.39 [[ 1.27298180e-01 9.57776486e-01 2.57797160e-01 9.14641221e+01] [ 6.34980815e-01 -2.78362784e-01 7.20634113e-01 -4.52296665e+01] [ 7.61967544e-01 7.19608394e-02 -6.43604770e-01 4.38978948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:91.60, Y:-45.26, Z:4.41 [[ 4.45449895e-02 9.84438517e-01 1.69989851e-01 9.16046392e+01] [ 6.47290680e-01 -1.58050647e-01 7.45677389e-01 -4.52607614e+01] [ 7.60940550e-01 7.68166545e-02 -6.44258241e-01 4.41324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:92.16, Y:-43.98, Z:3.27 [[ 9.76802590e-02 -9.92074009e-01 -7.90425628e-02 9.21569055e+01] [ 6.70091854e-01 1.24283126e-01 -7.31799571e-01 -4.39810024e+01] [ 7.35822991e-01 1.85165943e-02 6.76920720e-01 3.27316477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.75, Y:-45.26, Z:4.46 [[-3.65996374e-02 9.96143088e-01 7.97459370e-02 9.17526183e+01] [ 6.53257688e-01 -3.65400739e-02 7.56253408e-01 -4.52613330e+01] [ 7.56250527e-01 7.97732469e-02 -6.49400777e-01 4.46094646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.09195511e-02 -9.99746393e-01 8.33804961e-03 9.21433877e+01] [ 6.76692378e-01 8.01947744e-03 -7.36222190e-01 -4.39414123e+01] [ 7.35968612e-01 2.10437323e-02 6.76688528e-01 3.29281911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.18, Y:-43.94, Z:3.30 [[ 1.98306369e-02 -9.99179061e-01 -3.53263229e-02 9.21845766e+01] [ 6.76599681e-01 3.94250320e-02 -7.35294865e-01 -4.39436845e+01] [ 7.36083974e-01 -9.32041338e-03 6.76826058e-01 3.29880878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-43.93, Z:3.29 [[ 2.32879035e-02 -9.98667331e-01 4.60568734e-02 9.21119891e+01] [ 6.79981904e-01 -1.79486777e-02 -7.33009179e-01 -4.39339597e+01] [ 7.32858980e-01 4.83880875e-02 6.78657726e-01 3.29265616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.27212666e-02 -9.99689525e-01 1.02273179e-02 9.21428108e+01] [ 6.79394560e-01 7.93507610e-03 -7.33730241e-01 -4.39408228e+01] [ 7.33421281e-01 2.36196645e-02 6.79363920e-01 3.29184972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.22524769e-02 -9.99689669e-01 1.11979338e-02 9.21413980e+01] [ 6.79238482e-01 6.89888162e-03 -7.33885202e-01 -4.39414836e+01] [ 7.33580202e-01 2.39368310e-02 6.79181210e-01 3.29228820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.28704970e-02 -9.99663989e-01 1.22004022e-02 9.21429480e+01] [ 6.77246763e-01 6.51499254e-03 -7.35727108e-01 -4.39388758e+01] [ 7.35400410e-01 2.50891276e-02 6.77168202e-01 3.29247220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-43.94, Z:3.30 [[ 1.84703488e-02 -9.99768861e-01 -1.10031953e-02 9.21629000e+01] [ 6.66033243e-01 2.05110298e-02 -7.45640005e-01 -4.39394914e+01] [ 7.45693345e-01 6.44373710e-03 6.66258143e-01 3.29629224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.94, Z:3.29 [[ 2.24289524e-02 -9.99312057e-01 2.95356550e-02 9.21262445e+01] [ 6.76483278e-01 -6.58261750e-03 -7.36428573e-01 -4.39371277e+01] [ 7.36116374e-01 3.64976982e-02 6.75870255e-01 3.28803781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.19501568e-02 -9.99657369e-01 1.42595911e-02 9.21382091e+01] [ 6.76084033e-01 4.33500123e-03 -7.36811773e-01 -4.39397784e+01] [ 7.36497503e-01 2.58138158e-02 6.75947539e-01 3.28882532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-43.94, Z:3.29 [[ 2.14740448e-02 -9.99653826e-01 1.52017305e-02 9.21353582e+01] [ 6.77082249e-01 3.35390651e-03 -7.35899708e-01 -4.39430280e+01] [ 7.35593974e-01 2.60955652e-02 6.76919883e-01 3.28889440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.94, Z:3.29 [[ 2.09773414e-02 -9.99649383e-01 1.61574253e-02 9.21342862e+01] [ 6.77250829e-01 2.31993299e-03 -7.35748552e-01 -4.39439535e+01] [ 7.35453102e-01 2.63766782e-02 6.77062039e-01 3.28784267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.95, Z:3.29 [[ 2.00963023e-02 -9.99651543e-01 1.71152342e-02 9.21335229e+01] [ 6.77277873e-01 1.01900269e-03 -7.35726610e-01 -4.39454325e+01] [ 7.35452800e-01 2.63771537e-02 6.77062349e-01 3.28596426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.95, Z:3.28 [[ 1.94118349e-02 -9.99647779e-01 1.80969393e-02 9.21326891e+01] [ 6.76266738e-01 -2.03727110e-04 -7.36656811e-01 -4.39454448e+01] [ 7.36401032e-01 2.65382185e-02 6.76024588e-01 3.28363743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.95, Z:3.28 [[ 1.53487186e-02 -9.99701472e-01 1.90101201e-02 9.21301622e+01] [ 6.78084063e-01 -3.56531942e-03 -7.34975709e-01 -4.39516962e+01] [ 7.34824075e-01 2.41713948e-02 6.77826912e-01 3.27620301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.96, Z:3.27 [[ 1.34567247e-02 -9.99710414e-01 1.99500703e-02 9.21278064e+01] [ 6.78884926e-01 -5.51384922e-03 -7.34223981e-01 -4.39552661e+01] [ 7.34121361e-01 2.34240520e-02 6.78614132e-01 3.27274893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.12, Y:-43.96, Z:3.27 [[ 1.14429300e-02 -9.99716412e-01 2.08843098e-02 9.21243066e+01] [ 6.80108259e-01 -7.52942823e-03 -7.33073028e-01 -4.39596251e+01] [ 7.33022384e-01 2.25920949e-02 6.79829230e-01 3.26958825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.11, Y:-43.96, Z:3.27 [[ 9.21711048e-03 -9.99718313e-01 2.18709761e-02 9.21143810e+01] [ 6.79542479e-01 -9.78324992e-03 -7.33570928e-01 -4.39644809e+01] [ 7.33578260e-01 2.16236616e-02 6.79260888e-01 3.26739658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.11, Y:-43.97, Z:3.26 [[ 7.95864609e-03 -9.99706835e-01 2.28671032e-02 9.21080403e+01] [ 6.78848776e-01 -1.13894151e-02 -7.34189772e-01 -4.39658655e+01] [ 7.34234976e-01 2.13664616e-02 6.78559117e-01 3.26452982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.13, Y:-43.96, Z:3.27 [[ 3.46308668e-03 -9.99984056e-01 -4.46042109e-03 9.21276361e+01] [ 6.70101467e-01 5.63144854e-03 -7.42248146e-01 -4.39647880e+01] [ 7.42261430e-01 -4.18465049e-04 6.70110285e-01 3.26911873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:92.08, Y:-43.97, Z:3.26 [[ 5.78405840e-03 -9.99027783e-01 4.37039368e-02 9.20832933e+01] [ 6.80992555e-01 -2.80688402e-02 -7.31752199e-01 -4.39650959e+01] [ 7.32267495e-01 3.39945530e-02 6.80168130e-01 3.25985052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.10, Y:-43.97, Z:3.26 [[ 3.61816575e-03 -9.99683286e-01 2.49045675e-02 9.20991357e+01] [ 6.80233902e-01 -1.57944912e-02 -7.32824926e-01 -4.39715387e+01] [ 7.32986185e-01 1.95924132e-02 6.79961315e-01 3.25537832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.10, Y:-43.98, Z:3.25 [[-4.00353828e-04 -9.99664449e-01 2.59003765e-02 9.20981042e+01] [ 6.79739312e-01 -1.92687746e-02 -7.33200642e-01 -4.39763803e+01] [ 7.33453685e-01 1.73119644e-02 6.79518939e-01 3.24700886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.10, Y:-43.98, Z:3.24 [[-4.99894028e-03 -9.99625419e-01 2.69078403e-02 9.20967670e+01] [ 6.79219032e-01 -2.31428464e-02 -7.33570662e-01 -4.39806399e+01] [ 7.33918604e-01 1.46092413e-02 6.79080299e-01 3.24035900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.09, Y:-43.99, Z:3.23 [[-1.37987128e-02 -9.99516519e-01 2.78625932e-02 9.20928405e+01] [ 6.80318587e-01 -2.98059925e-02 -7.32310196e-01 -4.39923614e+01] [ 7.32786610e-01 8.85050191e-03 6.80400950e-01 3.22779735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.00, Z:3.22 [[-1.83581394e-02 -9.99413116e-01 2.89206248e-02 9.20903161e+01] [ 6.79145709e-01 -3.36930883e-02 -7.33229761e-01 -4.40001209e+01] [ 7.33773865e-01 6.18058408e-03 6.79365671e-01 3.21927445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.00, Z:3.21 [[-2.26548249e-02 -9.99293519e-01 2.99870381e-02 9.20883992e+01] [ 6.78386372e-01 -3.73982215e-02 -7.33752890e-01 -4.40043246e+01] [ 7.34355969e-01 3.71975474e-03 6.78754355e-01 3.21334049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.00, Z:3.22 [[-2.71671403e-02 -9.99396518e-01 2.16459484e-02 9.20963719e+01] [ 6.61933724e-01 -3.42115720e-02 -7.48781219e-01 -4.39998488e+01] [ 7.49069884e-01 -6.01406123e-03 6.62463689e-01 3.21721288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.01, Z:3.20 [[-3.18799844e-02 -9.98792558e-01 3.73776910e-02 9.20865048e+01] [ 6.78380531e-01 -4.90864619e-02 -7.33069147e-01 -4.40109789e+01] [ 7.34018747e-01 1.98606495e-03 6.79126302e-01 3.20161082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.01, Z:3.20 [[-3.42133825e-02 -9.98894485e-01 3.22374432e-02 9.20933699e+01] [ 6.79827142e-01 -4.69046863e-02 -7.31870896e-01 -4.40108009e+01] [ 7.32573888e-01 -3.12389004e-03 6.80680350e-01 3.20409479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.01, Z:3.21 [[-3.79467965e-02 -9.98726056e-01 3.32611766e-02 9.20958460e+01] [ 6.80768184e-01 -5.02034144e-02 -7.30776503e-01 -4.40087177e+01] [ 7.31515359e-01 -5.08747649e-03 6.81805982e-01 3.20961963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.01, Z:3.21 [[-3.99647047e-02 -9.98609197e-01 3.43874011e-02 9.20953576e+01] [ 6.79174328e-01 -5.23910478e-02 -7.32104781e-01 -4.40097353e+01] [ 7.32888159e-01 -5.90331126e-03 6.80323524e-01 3.20757419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.01, Z:3.21 [[-4.12926947e-02 -9.98515092e-01 3.55320081e-02 9.20947263e+01] [ 6.77115861e-01 -5.41166635e-02 -7.33883845e-01 -4.40087991e+01] [ 7.34716969e-01 -6.24475524e-03 6.78345029e-01 3.20607477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.01, Z:3.21 [[-4.29114996e-02 -9.99074576e-01 -2.93167095e-03 9.21305030e+01] [ 6.73436893e-01 -2.67571466e-02 -7.38760317e-01 -4.40072471e+01] [ 7.37998207e-01 -3.36756084e-02 6.73961868e-01 3.21145422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-44.01, Z:3.20 [[-4.30270746e-02 -9.96346573e-01 7.37711172e-02 9.20671286e+01] [ 6.78215543e-01 -8.33479843e-02 -7.30121080e-01 -4.40091808e+01] [ 7.33602309e-01 1.86177441e-02 6.79323952e-01 3.20073081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.01, Z:3.20 [[-4.37547104e-02 -9.98331596e-01 3.76769109e-02 9.21021378e+01] [ 6.78595237e-01 -5.73770612e-02 -7.32267968e-01 -4.40119409e+01] [ 7.33208040e-01 -6.47280064e-03 6.79973583e-01 3.20414910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.01, Z:3.20 [[-4.53978006e-02 -9.98217518e-01 3.87405104e-02 9.21024999e+01] [ 6.78219698e-01 -5.92713999e-02 -7.32464977e-01 -4.40146630e+01] [ 7.33455575e-01 -6.97772168e-03 6.79701575e-01 3.20138124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.02, Z:3.20 [[-4.52863967e-02 -9.98181239e-01 3.97914125e-02 9.21012454e+01] [ 6.78205061e-01 -5.99666319e-02 -7.32421940e-01 -4.40159319e+01] [ 7.33475996e-01 -6.18201318e-03 6.79687241e-01 3.19833055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.02, Z:3.19 [[-4.58367542e-02 -9.98113248e-01 4.08526159e-02 9.21005142e+01] [ 6.77995649e-01 -6.11178191e-02 -7.32520657e-01 -4.40191822e+01] [ 7.33635395e-01 -5.87847347e-03 6.79517882e-01 3.19321281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:92.14, Y:-44.02, Z:3.19 [[-4.58586329e-02 -9.98947479e-01 -9.59565193e-04 9.21401638e+01] [ 6.81283235e-01 -3.05730887e-02 -7.31381186e-01 -4.40245320e+01] [ 7.30582055e-01 -3.41938770e-02 6.81968210e-01 3.19181281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.07, Y:-44.02, Z:3.18 [[-4.28617032e-02 -9.95889528e-01 7.97930020e-02 9.20702833e+01] [ 6.76586683e-01 -8.76985617e-02 -7.31122030e-01 -4.40241559e+01] [ 7.35114505e-01 2.26497471e-02 6.77564502e-01 3.18206702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-44.03, Z:3.19 [[-4.17618147e-02 -9.99126036e-01 1.76466502e-03 9.21412276e+01] [ 6.72761559e-01 -2.94260318e-02 -7.39273964e-01 -4.40278559e+01] [ 7.38679792e-01 -2.96862235e-02 6.73402475e-01 3.18824639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.07, Y:-44.03, Z:3.18 [[-4.03467842e-02 -9.95766779e-01 8.25872809e-02 9.20683296e+01] [ 6.76411493e-01 -8.80550137e-02 -7.31241278e-01 -4.40254764e+01] [ 7.35417996e-01 2.63597519e-02 6.77100830e-01 3.17912624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.03, Z:3.18 [[-3.90605048e-02 -9.98260864e-01 4.41534298e-02 9.21032863e+01] [ 6.77243825e-01 -5.89378583e-02 -7.33394253e-01 -4.40273519e+01] [ 7.34721089e-01 1.25588798e-03 6.78368148e-01 3.18177490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.02, Z:3.19 [[-3.89553645e-02 -9.98836272e-01 2.84355653e-02 9.21198161e+01] [ 6.61900807e-01 -4.71123283e-02 -7.48109451e-01 -4.40169120e+01] [ 7.48578520e-01 -1.03213527e-02 6.62965813e-01 3.19439776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.09, Y:-44.02, Z:3.18 [[-3.69257729e-02 -9.97585514e-01 5.88186116e-02 9.20936602e+01] [ 6.74957181e-01 -6.83016064e-02 -7.34688842e-01 -4.40237683e+01] [ 7.36932352e-01 1.25710910e-02 6.75849596e-01 3.18229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.03, Z:3.18 [[-3.78134761e-02 -9.98195127e-01 4.66543577e-02 9.21041884e+01] [ 6.74561729e-01 -5.99430914e-02 -7.35780741e-01 -4.40272506e+01] [ 7.37249357e-01 3.64881670e-03 6.75610888e-01 3.18176664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.03, Z:3.18 [[-3.91365257e-02 -9.98095974e-01 4.76734719e-02 9.21020773e+01] [ 6.75284388e-01 -6.15846803e-02 -7.34981852e-01 -4.40289214e+01] [ 7.36518383e-01 3.42851519e-03 6.76408839e-01 3.17870269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.03, Z:3.18 [[-4.11892652e-02 -9.97963868e-01 4.86986906e-02 9.21025730e+01] [ 6.75851462e-01 -6.37259443e-02 -7.34277744e-01 -4.40308622e+01] [ 7.35886028e-01 2.66872050e-03 6.77100164e-01 3.17732973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.03, Z:3.18 [[-4.24992760e-02 -9.97851895e-01 4.98538612e-02 9.21030945e+01] [ 6.74393817e-01 -6.54675895e-02 -7.35463782e-01 -4.40317095e+01] [ 7.37147740e-01 2.36445746e-03 6.75727473e-01 3.17506258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.03, Z:3.18 [[-4.38017624e-02 -9.98701953e-01 2.59964336e-02 9.21247745e+01] [ 6.58680554e-01 -4.84339787e-02 -7.50862222e-01 -4.40297950e+01] [ 7.51146679e-01 -1.57657433e-02 6.59947050e-01 3.18318590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:92.08, Y:-44.04, Z:3.17 [[-4.38183570e-02 -9.95995798e-01 7.79251052e-02 9.20775398e+01] [ 6.74343081e-01 -8.70373171e-02 -7.33270696e-01 -4.40354426e+01] [ 7.37116924e-01 2.04175384e-02 6.75456708e-01 3.16919586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49232058799998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.04, Z:3.17 [[-4.50997834e-02 -9.97618128e-01 5.21927247e-02 9.21019054e+01] [ 6.73511634e-01 -6.89508900e-02 -7.35953703e-01 -4.40396271e+01] [ 7.37799490e-01 1.96105468e-03 6.75017086e-01 3.16983512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.04, Z:3.17 [[-4.66963741e-02 -9.97488471e-01 5.32559771e-02 9.21024243e+01] [ 6.73606254e-01 -7.08127220e-02 -7.35690269e-01 -4.40411068e+01] [ 7.37613762e-01 1.51949121e-03 6.75221170e-01 3.16865628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.04, Z:3.16 [[-5.00977348e-02 -9.97265949e-01 5.43216677e-02 9.21015579e+01] [ 6.73518813e-01 -7.38956003e-02 -7.35467096e-01 -4.40447538e+01] [ 7.37470424e-01 -2.58570391e-04 6.75379380e-01 3.16259007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-44.05, Z:3.16 [[-3.67747567e-02 -9.99034968e-01 2.40155997e-02 9.21431813e+01] [ 6.68969674e-01 -4.24635699e-02 -7.42075751e-01 -4.40482757e+01] [ 7.42379413e-01 -1.12239473e-02 6.69885685e-01 3.15854884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.01, Y:-44.05, Z:3.15 [[-5.50682486e-02 -9.87164780e-01 1.49910591e-01 9.20149994e+01] [ 6.75366492e-01 -1.47408669e-01 -7.22600018e-01 -4.40469185e+01] [ 7.35423409e-01 6.14522728e-02 6.74815551e-01 3.15192631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.05, Z:3.16 [[-5.60465869e-02 -9.96814430e-01 5.67430363e-02 9.21014412e+01] [ 6.76286858e-01 -7.97111544e-02 -7.32312923e-01 -4.40478725e+01] [ 7.34503142e-01 -2.66907007e-03 6.78600037e-01 3.16028011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.04, Z:3.16 [[-5.91795515e-02 -9.96557120e-01 5.80662395e-02 9.21041761e+01] [ 6.72743317e-01 -8.27896902e-02 -7.35229417e-01 -4.40436310e+01] [ 7.37505396e-01 -4.44687255e-03 6.75326599e-01 3.16336298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.04, Z:3.16 [[-6.17827001e-02 -9.96340535e-01 5.90629942e-02 9.21056659e+01] [ 6.73561999e-01 -8.52902506e-02 -7.34193303e-01 -4.40423938e+01] [ 7.36544046e-01 -5.57785619e-03 6.76366584e-01 3.16321749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.04, Z:3.16 [[-6.32043798e-02 -9.96190036e-01 6.00884163e-02 9.21083204e+01] [ 6.73929292e-01 -8.70109072e-02 -7.33654149e-01 -4.40427274e+01] [ 7.36087301e-01 -5.87481161e-03 6.76861117e-01 3.16360064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.03, Z:3.18 [[-6.40045832e-02 -9.97140549e-01 4.01763530e-02 9.21298224e+01] [ 6.60527476e-01 -7.25076056e-02 -7.47292513e-01 -4.40327223e+01] [ 7.48068758e-01 -2.12925607e-02 6.63279549e-01 3.17962803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.04, Z:3.16 [[-6.55608951e-02 -9.94479682e-01 8.19263810e-02 9.20953528e+01] [ 6.74384567e-01 -1.04672993e-01 -7.30923403e-01 -4.40421731e+01] [ 7.35463952e-01 7.32989445e-03 6.77524205e-01 3.16105036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.16 [[-6.44191407e-02 -9.95969435e-01 6.24104097e-02 9.21168349e+01] [ 6.72814381e-01 -8.95355438e-02 -7.34373335e-01 -4.40454188e+01] [ 7.37001345e-01 -5.31707796e-03 6.75870362e-01 3.15923673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-6.43235220e-02 -9.95909418e-01 6.34579793e-02 9.21189941e+01] [ 6.72893010e-01 -9.02437719e-02 -7.34214587e-01 -4.40506711e+01] [ 7.36937909e-01 -4.52683745e-03 6.75945283e-01 3.15070461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-6.36642044e-02 -9.95883531e-01 6.45202473e-02 9.21219356e+01] [ 6.72958302e-01 -9.05813932e-02 -7.34113162e-01 -4.40510671e+01] [ 7.36935542e-01 -3.31729430e-03 6.75954882e-01 3.14823747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.06, Z:3.14 [[-6.35635306e-02 -9.95820808e-01 6.55789297e-02 9.21258491e+01] [ 6.73113472e-01 -9.12942379e-02 -7.33882563e-01 -4.40553532e+01] [ 7.36802505e-01 -2.50610574e-03 6.76103385e-01 3.14307811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.06, Z:3.14 [[-6.12816234e-02 -9.95892727e-01 6.66501301e-02 9.21313153e+01] [ 6.73361993e-01 -9.05409845e-02 -7.33747884e-01 -4.40570725e+01] [ 7.36768749e-01 -8.55971004e-05 6.76144809e-01 3.13943701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.06, Z:3.14 [[-6.02957119e-02 -9.95877425e-01 6.77685924e-02 9.21322344e+01] [ 6.73018899e-01 -9.06991333e-02 -7.34043070e-01 -4.40550788e+01] [ 7.37163475e-01 1.34989402e-03 6.75713097e-01 3.14043747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.16, Y:-44.06, Z:3.15 [[-6.10197686e-02 -9.97579053e-01 3.33559652e-02 9.21648641e+01] [ 6.65777909e-01 -6.55766172e-02 -7.43262728e-01 -4.40558082e+01] [ 7.43650700e-01 -2.31460549e-02 6.68167566e-01 3.14844571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.05, Z:3.14 [[-5.69057980e-02 -9.93559678e-01 9.79841687e-02 9.21069184e+01] [ 6.74728858e-01 -1.10610368e-01 -7.29730302e-01 -4.40512072e+01] [ 7.35868669e-01 2.45868610e-02 6.76677758e-01 3.14043442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:92.16, Y:-44.05, Z:3.16 [[-5.44558600e-02 -9.97700915e-01 4.03415969e-02 9.21596642e+01] [ 6.64967303e-01 -6.63747775e-02 -7.43917250e-01 -4.40469288e+01] [ 7.44884585e-01 -1.36848108e-02 6.67052982e-01 3.15971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.05, Z:3.15 [[-5.02508722e-02 -9.94568823e-01 9.11466245e-02 9.21137119e+01] [ 6.75163043e-01 -1.01078314e-01 -7.30710640e-01 -4.40452237e+01] [ 7.35954968e-01 2.48199853e-02 6.76575386e-01 3.15144061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.04, Z:3.16 [[-4.80579918e-02 -9.96336658e-01 7.07367937e-02 9.21319874e+01] [ 6.73508328e-01 -8.46208941e-02 -7.34319982e-01 -4.40443917e+01] [ 7.37615728e-01 1.23518760e-02 6.75107747e-01 3.15582913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.04, Z:3.16 [[-4.57883781e-02 -9.96360152e-01 7.19018272e-02 9.21282239e+01] [ 6.72191714e-01 -8.39751659e-02 -7.35599395e-01 -4.40415693e+01] [ 7.38959893e-01 1.46499093e-02 6.73590125e-01 3.15765745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.04, Z:3.16 [[-4.66147908e-02 -9.96252666e-01 7.28538751e-02 9.21268927e+01] [ 6.72885378e-01 -8.52203601e-02 -7.34821582e-01 -4.40422383e+01] [ 7.38276594e-01 1.47687529e-02 6.74336381e-01 3.15675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.05, Z:3.15 [[-4.75006184e-02 -9.96144040e-01 7.37613910e-02 9.21269749e+01] [ 6.73960225e-01 -8.64649485e-02 -7.33690281e-01 -4.40451395e+01] [ 7.37238975e-01 1.48615016e-02 6.75468599e-01 3.15459577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.05, Z:3.15 [[-4.84304142e-02 -9.96023894e-01 7.47723004e-02 9.21262685e+01] [ 6.73894378e-01 -8.78382725e-02 -7.33587626e-01 -4.40466154e+01] [ 7.37238674e-01 1.48606803e-02 6.75468947e-01 3.15271593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.05, Z:3.15 [[-4.94946164e-02 -9.95898985e-01 7.57330456e-02 9.21264276e+01] [ 6.74354242e-01 -8.92547941e-02 -7.32993819e-01 -4.40474464e+01] [ 7.36747338e-01 1.47916527e-02 6.76006337e-01 3.15259550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-5.01618213e-02 -9.95796073e-01 7.66418533e-02 9.21226448e+01] [ 6.75348961e-01 -9.03540111e-02 -7.31942575e-01 -4.40507686e+01] [ 7.35790441e-01 1.50444233e-02 6.77042165e-01 3.15197065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-4.96408017e-02 -9.95743086e-01 7.76627130e-02 9.21190363e+01] [ 6.75270518e-01 -9.07537270e-02 -7.31965497e-01 -4.40492397e+01] [ 7.35897763e-01 1.61079864e-02 6.76901038e-01 3.15137973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-4.94889897e-02 -9.95664262e-01 7.87624129e-02 9.21166864e+01] [ 6.74337247e-01 -9.14808799e-02 -7.32734963e-01 -4.40483961e+01] [ 7.36763271e-01 1.68501156e-02 6.75940793e-01 3.14977463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-4.94164373e-02 -9.95583449e-01 7.98223814e-02 9.21156496e+01] [ 6.73771236e-01 -9.22254440e-02 -7.33162185e-01 -4.40481527e+01] [ 7.37285791e-01 1.75517614e-02 6.75352943e-01 3.14818667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.05, Z:3.15 [[-5.11006290e-02 -9.95426757e-01 8.07112007e-02 9.21152265e+01] [ 6.74711689e-01 -9.39944485e-02 -7.32071841e-01 -4.40509751e+01] [ 7.36310303e-01 1.70474591e-02 6.76429244e-01 3.14629452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.11, Y:-44.06, Z:3.14 [[-5.45872092e-02 -9.95180374e-01 8.14632372e-02 9.21139090e+01] [ 6.76768857e-01 -9.68612809e-02 -7.29795729e-01 -4.40572416e+01] [ 7.34169020e-01 1.52942698e-02 6.78794472e-01 3.14157948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.06, Z:3.14 [[-5.75846042e-02 -9.94939298e-01 8.23395756e-02 9.21154925e+01] [ 6.77656134e-01 -9.95199450e-02 -7.28613715e-01 -4.40609950e+01] [ 7.33120848e-01 1.38409861e-02 6.79957535e-01 3.13882382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.07, Z:3.13 [[-6.01295871e-02 -9.94699161e-01 8.34147004e-02 9.21195250e+01] [ 6.76731532e-01 -1.02052095e-01 -7.29122626e-01 -4.40670554e+01] [ 7.33770309e-01 1.26075156e-02 6.79280637e-01 3.13137423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.07, Z:3.13 [[-6.22272633e-02 -9.94474078e-01 8.45522113e-02 9.21231766e+01] [ 6.75358940e-01 -1.04331475e-01 -7.30072082e-01 -4.40674818e+01] [ 7.34859218e-01 1.16727041e-02 6.78119221e-01 3.12695577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-44.06, Z:3.13 [[-6.49983998e-02 -9.96120420e-01 5.93238296e-02 9.21483551e+01] [ 6.61817333e-01 -8.75254860e-02 -7.44538183e-01 -4.40646471e+01] [ 7.46842035e-01 -9.13225183e-03 6.64938777e-01 3.13090139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.10, Y:-44.07, Z:3.12 [[-6.57513745e-02 -9.91239870e-01 1.14543779e-01 9.20972004e+01] [ 6.72834729e-01 -1.28812463e-01 -7.28492125e-01 -4.40671058e+01] [ 7.36865106e-01 2.91696741e-02 6.75410206e-01 3.11828541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.632320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.12, Y:-44.07, Z:3.12 [[-6.55726399e-02 -9.94046982e-01 8.70104914e-02 9.21230279e+01] [ 6.72670673e-01 -1.08441899e-01 -7.31952540e-01 -4.40696539e+01] [ 7.37030797e-01 1.05333455e-02 6.75777074e-01 3.12130775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-44.07, Z:3.13 [[-6.45319515e-02 -9.94034310e-01 8.79284804e-02 9.21271281e+01] [ 6.73800308e-01 -1.08396948e-01 -7.30919452e-01 -4.40712482e+01] [ 7.36090193e-01 1.20785786e-02 6.76775691e-01 3.12564689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.16, Y:-44.07, Z:3.14 [[-6.40729918e-02 -9.96586722e-01 5.20534142e-02 9.21608851e+01] [ 6.65161444e-01 -8.15330383e-02 -7.42234880e-01 -4.40666623e+01] [ 7.43945499e-01 -1.29332852e-02 6.68115129e-01 3.13776925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-45.32, Z:4.13 [[ -0.17442325 0.87382928 0.45387104 91.42288984] [ 0.66754949 -0.23390396 0.70687101 -45.32247533] [ 0.72384682 0.42627612 -0.542526 4.13349159] [ 0. 0. 0. 1. ]] SLAMing on 153.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:-45.41, Z:4.27 [[ 2.52171859e-01 -9.55812301e-01 -1.51103272e-01 9.23631399e+01] [-6.60378814e-01 -2.84116768e-01 6.95109692e-01 -4.54090752e+01] [-7.07325368e-01 -7.55017035e-02 -7.02844447e-01 4.26847087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-44.33, Z:2.99 [[ 1.90973284e-01 9.51817610e-01 2.39942580e-01 9.16298851e+01] [-6.52284744e-01 3.05719819e-01 -6.93584894e-01 -4.43314610e+01] [-7.33521519e-01 -2.40546994e-02 6.79240424e-01 2.98550963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.65, Y:-44.36, Z:2.95 [[ 1.84835170e-01 9.53973497e-01 2.36157845e-01 9.16482709e+01] [-6.55220560e-01 2.98719186e-01 -6.93868046e-01 -4.43642393e+01] [-7.32476605e-01 -2.64842571e-02 6.80276860e-01 2.94642757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:-44.40, Z:2.91 [[ 1.79773461e-01 9.55847839e-01 2.32457331e-01 9.16677372e+01] [-6.57197240e-01 2.92535207e-01 -6.94632954e-01 -4.43957598e+01] [-7.31965362e-01 -2.78937462e-02 6.80770628e-01 2.90631834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-44.43, Z:2.87 [[ 1.74373448e-01 9.57739515e-01 2.28755158e-01 9.16874766e+01] [-6.59633583e-01 2.86099067e-01 -6.95004216e-01 -4.44278641e+01] [-7.31079637e-01 -2.97043028e-02 6.81645229e-01 2.86563448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-44.46, Z:2.82 [[ 1.67294378e-01 9.59763211e-01 2.25537515e-01 9.17090805e+01] [-6.60481845e-01 2.78941917e-01 -6.97104827e-01 -4.44591418e+01] [-7.31967433e-01 -3.23417158e-02 6.80571591e-01 2.82491051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:-44.49, Z:2.79 [[ 1.61724820e-01 9.61557629e-01 2.21927937e-01 9.17274574e+01] [-6.62367253e-01 2.72473443e-01 -6.97873803e-01 -4.44925316e+01] [-7.31515348e-01 -3.41342824e-02 6.80970004e-01 2.78676714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:-44.53, Z:2.75 [[ 1.56211765e-01 9.63172099e-01 2.18854728e-01 9.17455486e+01] [-6.62392355e-01 2.66519009e-01 -7.00145689e-01 -4.45261687e+01] [-7.32689739e-01 -3.55967050e-02 6.79631239e-01 2.74718827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.76, Y:-44.56, Z:2.71 [[ 1.50511440e-01 9.64881347e-01 2.15291181e-01 9.17644127e+01] [-6.64165151e-01 2.59996701e-01 -7.00918232e-01 -4.45605441e+01] [-7.32277924e-01 -3.74926873e-02 6.79973043e-01 2.70736473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.79, Y:-44.59, Z:2.67 [[ 1.44941186e-01 9.66597528e-01 2.11379449e-01 9.17874593e+01] [-6.65940789e-01 2.53304702e-01 -7.01683400e-01 -4.45920360e+01] [-7.31788848e-01 -3.90633730e-02 6.80411004e-01 2.66681551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.81, Y:-44.62, Z:2.63 [[ 1.41942946e-01 9.67870474e-01 2.07554680e-01 9.18066070e+01] [-6.67727560e-01 2.48408992e-01 -7.01735619e-01 -4.46247043e+01] [-7.30747635e-01 -3.89835592e-02 6.81533694e-01 2.62609904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-44.66, Z:2.59 [[ 1.39364225e-01 9.69078351e-01 2.03628981e-01 9.18244763e+01] [-6.70055330e-01 2.43695590e-01 -7.01169248e-01 -4.46576814e+01] [-7.29111423e-01 -3.87247752e-02 6.83298561e-01 2.58573029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-44.69, Z:2.55 [[ 1.35797218e-01 9.70270858e-01 2.00333667e-01 9.18416055e+01] [-6.69998110e-01 2.38895315e-01 -7.02873787e-01 -4.46917724e+01] [-7.29836727e-01 -3.87748739e-02 6.82520960e-01 2.54576737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:-44.73, Z:2.51 [[ 1.32731387e-01 9.71340688e-01 1.97179225e-01 9.18624760e+01] [-6.69222795e-01 2.34573675e-01 -7.05064566e-01 -4.47263467e+01] [-7.31110956e-01 -3.83726341e-02 6.81178619e-01 2.50795053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.172320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.88, Y:-44.76, Z:2.47 [[ 1.29778628e-01 9.72413342e-01 1.93829309e-01 9.18821940e+01] [-6.69300979e-01 2.30140479e-01 -7.06449970e-01 -4.47618214e+01] [-7.31569346e-01 -3.80480382e-02 6.80704517e-01 2.46859111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:91.90, Y:-44.80, Z:2.43 [[ 1.26775849e-01 9.73582379e-01 1.89908493e-01 9.19021919e+01] [-6.69822392e-01 2.25234580e-01 -7.07536111e-01 -4.47967749e+01] [-7.31618649e-01 -3.75064699e-02 6.80681583e-01 2.42900056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.92, Y:-44.83, Z:2.39 [[ 1.23498120e-01 9.74749840e-01 1.86040219e-01 9.19205771e+01] [-6.70404634e-01 2.20176826e-01 -7.08575891e-01 -4.48314123e+01] [-7.31645981e-01 -3.72144340e-02 6.80668234e-01 2.38871244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-44.86, Z:2.35 [[ 1.21699818e-01 9.75724838e-01 1.82071950e-01 9.19395576e+01] [-6.71115091e-01 2.16040127e-01 -7.09176423e-01 -4.48637249e+01] [-7.31295897e-01 -3.58845914e-02 6.81115707e-01 2.34917868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:-44.90, Z:2.31 [[ 1.17878565e-01 9.76809589e-01 1.78739113e-01 9.19573262e+01] [-6.71235335e-01 2.11024901e-01 -7.10571330e-01 -4.48970104e+01] [-7.31811293e-01 -3.62148796e-02 6.80544425e-01 2.30885968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.98, Y:-44.93, Z:2.27 [[ 1.15778765e-01 9.77723490e-01 1.75077284e-01 9.19763376e+01] [-6.72180761e-01 2.06894226e-01 -7.10892259e-01 -4.49300848e+01] [-7.31278540e-01 -3.53773542e-02 6.81160877e-01 2.26796780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:-44.96, Z:2.23 [[ 1.14102393e-01 9.78566063e-01 1.71432508e-01 9.19948000e+01] [-6.72408442e-01 2.03097324e-01 -7.11771287e-01 -4.49631124e+01] [-7.31332709e-01 -3.40578585e-02 6.81169972e-01 2.22872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:-45.00, Z:2.19 [[ 1.14798450e-01 9.79134656e-01 1.67680176e-01 9.20152548e+01] [-6.73290055e-01 2.00801849e-01 -7.11589151e-01 -4.49977573e+01] [-7.30412088e-01 -3.12080632e-02 6.82293367e-01 2.18652439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-45.03, Z:2.15 [[ 1.12562925e-01 9.80077945e-01 1.63636212e-01 9.20315450e+01] [-6.73234129e-01 1.96346497e-01 -7.12884185e-01 -4.50338547e+01] [-7.30811464e-01 -2.99211536e-02 6.81923257e-01 2.14655796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-45.07, Z:2.11 [[ 1.09804290e-01 9.80951541e-01 1.60240735e-01 9.20487887e+01] [-6.72121776e-01 1.92048422e-01 -7.15101197e-01 -4.50700690e+01] [-7.32253601e-01 -2.91801084e-02 6.80406632e-01 2.10740744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.07, Y:-45.10, Z:2.07 [[ 1.07350973e-01 9.81849853e-01 1.56354197e-01 9.20673471e+01] [-6.71640425e-01 1.87571005e-01 -7.16740021e-01 -4.51045534e+01] [-7.33058598e-01 -2.80710603e-02 6.79585982e-01 2.06873299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-45.14, Z:2.03 [[ 1.07482618e-01 9.82376816e-01 1.52915916e-01 9.20877097e+01] [-6.70719452e-01 1.85181780e-01 -7.18222198e-01 -4.51359678e+01] [-7.33882078e-01 -2.53672772e-02 6.78803062e-01 2.02867022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.10, Y:-45.17, Z:1.99 [[ 1.06210206e-01 9.83092265e-01 1.49160955e-01 9.21011384e+01] [-6.72164708e-01 1.81528263e-01 -7.17803661e-01 -4.51706032e+01] [-7.32744156e-01 -2.40226545e-02 6.80080079e-01 1.98763574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-45.21, Z:1.94 [[ 1.03848847e-01 9.83931266e-01 1.45240077e-01 9.21155436e+01] [-6.73583623e-01 1.77019583e-01 -7.17599589e-01 -4.52084658e+01] [-7.31779010e-01 -2.33094472e-02 6.81143267e-01 1.94465125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-45.24, Z:1.91 [[ 1.02670380e-01 9.84693646e-01 1.40844653e-01 9.21354869e+01] [-6.72900428e-01 1.73032493e-01 -7.19211214e-01 -4.52425812e+01] [-7.32573414e-01 -2.09327388e-02 6.80366088e-01 1.90892495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-45.28, Z:1.87 [[ 9.83400730e-02 9.85587078e-01 1.37649342e-01 9.21527212e+01] [-6.72347694e-01 1.67778069e-01 -7.20970941e-01 -4.52771514e+01] [-7.33674184e-01 -2.16478826e-02 6.79156507e-01 1.87186463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:-45.31, Z:1.84 [[ 9.38577408e-02 9.86503084e-01 1.34172984e-01 9.21690629e+01] [-6.72339920e-01 1.62200413e-01 -7.22253458e-01 -4.53111750e+01] [-7.34268177e-01 -2.24207753e-02 6.78489169e-01 1.83523707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-45.35, Z:1.80 [[ 8.96066050e-02 9.87370569e-01 1.30652272e-01 9.21843061e+01] [-6.72623411e-01 1.56738075e-01 -7.23194941e-01 -4.53457212e+01] [-7.34539586e-01 -2.30767333e-02 6.78173326e-01 1.79802420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:-45.38, Z:1.76 [[ 8.51005923e-02 9.88232814e-01 1.27097579e-01 9.21989443e+01] [-6.73040723e-01 1.51074005e-01 -7.24011623e-01 -4.53797238e+01] [-7.34693183e-01 -2.39280287e-02 6.77977415e-01 1.76010942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-45.41, Z:1.72 [[ 8.29331819e-02 9.88894390e-01 1.23328715e-01 9.22155068e+01] [-6.74922702e-01 1.46787688e-01 -7.23140872e-01 -4.54125451e+01] [-7.33213089e-01 -2.32649759e-02 6.79600844e-01 1.72006716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.23, Y:-45.45, Z:1.68 [[ 8.02872300e-02 9.89596210e-01 1.19387193e-01 9.22285555e+01] [-6.77425853e-01 1.42033839e-01 -7.21748296e-01 -4.54473426e+01] [-7.31196399e-01 -2.29288000e-02 6.81781560e-01 1.67790904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.24, Y:-45.48, Z:1.64 [[ 7.84146043e-02 9.90269561e-01 1.14966717e-01 9.22405871e+01] [-6.79059344e-01 1.37487714e-01 -7.21093292e-01 -4.54803812e+01] [-7.29883249e-01 -2.15249785e-02 6.83232843e-01 1.63764953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.25, Y:-45.52, Z:1.60 [[ 7.64091040e-02 9.90837053e-01 1.11371372e-01 9.22525473e+01] [-6.78961933e-01 1.33504831e-01 -7.21932929e-01 -4.55154105e+01] [-7.30186512e-01 -2.04546738e-02 6.82941626e-01 1.60007442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.27, Y:-45.55, Z:1.56 [[ 7.47141705e-02 9.91324494e-01 1.08136675e-01 9.22655669e+01] [-6.76462530e-01 1.30058180e-01 -7.24902280e-01 -4.55510172e+01] [-7.32677445e-01 -1.89899364e-02 6.80311065e-01 1.56391957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-45.59, Z:1.53 [[ 7.26363703e-02 9.91829221e-01 1.04874945e-01 9.22820554e+01] [-6.73745911e-01 1.26328519e-01 -7.28084853e-01 -4.55873222e+01] [-7.35384529e-01 -1.77736247e-02 6.77416927e-01 1.52832732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:-45.62, Z:1.49 [[ 6.95674476e-02 9.92451243e-01 1.00999507e-01 9.22931193e+01] [-6.75890240e-01 1.21356852e-01 -7.26942156e-01 -4.56207436e+01] [-7.33711628e-01 -1.76930709e-02 6.79230595e-01 1.48959874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.30, Y:-45.65, Z:1.45 [[ 6.50840703e-02 9.93147548e-01 9.70670471e-02 9.23035472e+01] [-6.78710608e-01 1.15365353e-01 -7.25288044e-01 -4.56549351e+01] [-7.31516216e-01 -1.86757365e-02 6.81568223e-01 1.44815349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:-45.69, Z:1.41 [[ 5.96324075e-02 9.93876073e-01 9.30286348e-02 9.23155588e+01] [-6.80269764e-01 1.08664509e-01 -7.24862106e-01 -4.56872877e+01] [-7.30532015e-01 -2.00592949e-02 6.82583768e-01 1.40792058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-45.72, Z:1.37 [[ 5.51436268e-02 9.94451244e-01 8.95874049e-02 9.23278915e+01] [-6.78564798e-01 1.03144426e-01 -7.27262705e-01 -4.57233670e+01] [-7.32467744e-01 -2.06869561e-02 6.80487365e-01 1.37139461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.34, Y:-45.76, Z:1.34 [[ 5.14234581e-02 9.94950874e-01 8.61880835e-02 9.23395688e+01] [-6.76547827e-01 9.81882683e-02 -7.29823336e-01 -4.57609485e+01] [-7.34601025e-01 -2.07803209e-02 6.78181032e-01 1.33607530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.35, Y:-45.80, Z:1.30 [[ 4.76407715e-02 9.95437872e-01 8.26668036e-02 9.23505569e+01] [-6.75696833e-01 9.30679828e-02 -7.31281164e-01 -4.57976215e+01] [-7.35638598e-01 -2.10188986e-02 6.77048048e-01 1.30030738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.36, Y:-45.83, Z:1.26 [[ 4.42621720e-02 9.95889165e-01 7.90293047e-02 9.23595127e+01] [-6.75931541e-01 8.81044635e-02 -7.31678997e-01 -4.58333034e+01] [-7.35634020e-01 -2.10326981e-02 6.77052593e-01 1.26213927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-45.87, Z:1.22 [[ 4.11363996e-02 9.96316754e-01 7.52377757e-02 9.23728200e+01] [-6.77610228e-01 8.31573242e-02 -7.30704618e-01 -4.58673965e+01] [-7.34269825e-01 -2.09233292e-02 6.78535215e-01 1.22387914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:-45.90, Z:1.18 [[ 3.76474472e-02 9.96725866e-01 7.15557021e-02 9.23847442e+01] [-6.78475093e-01 7.80672926e-02 -7.30463583e-01 -4.59021436e+01] [-7.33658107e-01 -2.10486725e-02 6.79192709e-01 1.18296574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:-45.94, Z:1.14 [[ 3.51367713e-02 9.97075950e-01 6.78598340e-02 9.23955422e+01] [-6.77335180e-01 7.36865340e-02 -7.31974965e-01 -4.59365863e+01] [-7.34834989e-01 -2.02446159e-02 6.77943725e-01 1.14453010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.41, Y:-45.97, Z:1.11 [[ 3.29663033e-02 9.97377631e-01 6.44289077e-02 9.24075850e+01] [-6.74446744e-01 6.97734731e-02 -7.35019218e-01 -4.59733459e+01] [-7.37587155e-01 -1.92230006e-02 6.74978270e-01 1.10823181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.42, Y:-46.01, Z:1.07 [[ 2.98718127e-02 9.97708116e-01 6.07140072e-02 9.24182606e+01] [-6.75032166e-01 6.49335152e-02 -7.34925311e-01 -4.60112805e+01] [-7.37183322e-01 -1.90303565e-02 6.75424752e-01 1.07006210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-46.05, Z:1.03 [[ 2.68803815e-02 9.98020909e-01 5.68481398e-02 9.24290660e+01] [-6.75586766e-01 6.00526397e-02 -7.34830730e-01 -4.60468220e+01] [-7.36790314e-01 -1.86533205e-02 6.75863956e-01 1.03264552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:-46.08, Z:0.99 [[ 2.34690356e-02 9.98316718e-01 5.30371066e-02 9.24396217e+01] [-6.77672173e-01 5.48894926e-02 -7.33312737e-01 -4.60807053e+01] [-7.34989544e-01 -1.87316286e-02 6.77819663e-01 9.93659716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:-46.11, Z:0.96 [[ 2.21263786e-02 9.98540276e-01 4.92721117e-02 9.24536749e+01] [-6.78683644e-01 5.11904796e-02 -7.32644556e-01 -4.61149506e+01] [-7.34097360e-01 -1.72294055e-02 6.78825613e-01 9.55327101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:-46.15, Z:0.91 [[ 1.88555814e-02 9.98785103e-01 4.55278519e-02 9.24654990e+01] [-6.79185718e-01 4.62122006e-02 -7.32510200e-01 -4.61538807e+01] [-7.33724217e-01 -1.71099611e-02 6.79231935e-01 9.14192183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-46.19, Z:0.88 [[ 1.64612519e-02 9.99022412e-01 4.10273989e-02 9.24768348e+01] [-6.78486224e-01 4.13007035e-02 -7.33451222e-01 -4.61889093e+01] [-7.34428670e-01 -1.57629996e-02 6.78502805e-01 8.75893615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-46.22, Z:0.84 [[ 1.30202111e-02 9.99222073e-01 3.72253098e-02 9.24855915e+01] [-6.78924600e-01 3.61658183e-02 -7.33316726e-01 -4.62245975e+01] [-7.34092543e-01 -1.57252400e-02 6.78867333e-01 8.37702149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.49, Y:-46.26, Z:0.80 [[ 1.07238636e-02 9.99381109e-01 3.35021901e-02 9.24938432e+01] [-6.77254995e-01 3.19085284e-02 -7.35056133e-01 -4.62601041e+01] [-7.35670219e-01 -1.48068838e-02 6.77178031e-01 7.99089918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.50, Y:-46.30, Z:0.76 [[ 8.71821663e-03 9.99520036e-01 2.97269420e-02 9.25032256e+01] [-6.76609099e-01 2.77857788e-02 -7.35817965e-01 -4.62966442e+01] [-7.36290785e-01 -1.36984990e-02 6.76526593e-01 7.62307356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-46.34, Z:0.73 [[ 7.36606788e-03 9.98326452e-01 5.73588461e-02 9.24851317e+01] [-6.97666017e-01 4.62239959e-02 -7.14930396e-01 -4.63352334e+01] [-7.16385280e-01 -3.47510919e-02 6.96838928e-01 7.28251368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:-47.09, Z:1.26 [[ 4.10117550e-02 3.39385751e-02 -9.98582099e-01 9.34400159e+01] [-6.28393059e-01 -7.76143487e-01 -5.21867017e-02 -4.70880656e+01] [-7.76814134e-01 6.29642328e-01 -1.05042415e-02 1.25521183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:-46.47, Z:0.65 [[ 6.99263335e-04 9.99742365e-01 2.26873193e-02 9.25329765e+01] [-6.25328885e-01 1.81414650e-02 -7.80150417e-01 -4.64723996e+01] [-7.80361004e-01 -1.36415055e-02 6.25180464e-01 6.49455940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-46.51, Z:0.61 [[-1.49120341e-03 9.98133379e-01 6.10535270e-02 9.25060577e+01] [-6.49677881e-01 4.54464962e-02 -7.58849963e-01 -4.65069337e+01] [-7.60208147e-01 -4.07967257e-02 6.48397409e-01 6.12378844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.45, Y:-47.30, Z:1.08 [[ 2.99377845e-02 4.61177246e-02 -9.98487298e-01 9.34502102e+01] [-5.71850852e-01 -8.18515105e-01 -5.49511265e-02 -4.72995139e+01] [-8.19811157e-01 5.72630927e-01 1.86793125e-03 1.07640521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:-47.46, Z:1.00 [[ 1.44283899e-03 9.26334303e-03 -9.99956053e-01 9.34471720e+01] [-5.18198726e-01 -8.55216293e-01 -8.67022024e-03 -4.74607071e+01] [-8.55259024e-01 5.18188463e-01 3.56631314e-03 9.95703267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:-48.31, Z:1.32 [[ 9.24786330e-02 -9.95323462e-01 -2.79089263e-02 9.25257583e+01] [-5.44659257e-01 -7.40302090e-02 8.35383638e-01 -4.83100661e+01] [-8.33543038e-01 -6.20542818e-02 -5.48958349e-01 1.32008879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-46.83, Z:0.33 [[ 7.01004640e-02 9.88534771e-01 1.33734554e-01 9.24117846e+01] [-5.03941603e-01 1.50793044e-01 -8.50472997e-01 -4.68270254e+01] [-8.60888370e-01 -7.77585387e-03 5.08734460e-01 3.30652148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-46.86, Z:0.28 [[ 6.67799090e-02 9.89596430e-01 1.27433710e-01 9.24262440e+01] [-5.07094329e-01 1.43655785e-01 -8.49834312e-01 -4.68553911e+01] [-8.59299590e-01 -7.86905366e-03 5.11412057e-01 2.80720115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:-46.88, Z:0.23 [[ 6.29693834e-02 9.90764916e-01 1.20082209e-01 9.24418810e+01] [-5.09034873e-01 1.35377697e-01 -8.50033163e-01 -4.68812285e+01] [-8.58439488e-01 -7.59996810e-03 5.12858543e-01 2.34629513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-46.91, Z:0.19 [[ 5.97848054e-02 9.91673835e-01 1.14056044e-01 9.24563278e+01] [-5.10793861e-01 1.28559918e-01 -8.50036457e-01 -4.69080225e+01] [-8.57621950e-01 -7.43986282e-03 5.14226837e-01 1.90065468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:-46.94, Z:0.15 [[ 5.53267264e-02 9.92564406e-01 1.08419802e-01 9.24713192e+01] [-5.09225650e-01 1.21452726e-01 -8.52020230e-01 -4.69367783e+01] [-8.58852834e-01 -8.07065400e-03 5.12158836e-01 1.46576417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.46, Y:-46.97, Z:0.10 [[ 5.54971535e-02 9.90230268e-01 1.27922177e-01 9.24577631e+01] [-5.40819573e-01 1.37510068e-01 -8.29822373e-01 -4.69707521e+01] [-8.39305818e-01 -2.31300373e-02 5.43167328e-01 1.01617562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:-47.85, Z:0.52 [[ 8.53910911e-02 -4.96324750e-03 -9.96335148e-01 9.34476570e+01] [-4.59535532e-01 -8.87470923e-01 -3.49636393e-02 -4.78514274e+01] [-8.84044940e-01 4.60836986e-01 -7.80628990e-02 5.22227978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-47.09, Z:-0.01 [[ 5.26789949e-02 9.92097475e-01 1.13875037e-01 9.24836303e+01] [-4.41500591e-01 1.25421441e-01 -8.88451850e-01 -4.70861159e+01] [-8.95713208e-01 -3.47314561e-03 4.44618697e-01 -5.13395789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.49, Y:-47.11, Z:-0.05 [[ 5.27020254e-02 9.92888274e-01 1.06749104e-01 9.24949918e+01] [-4.44698339e-01 1.19047908e-01 -8.87733622e-01 -4.71095246e+01] [-8.94128561e-01 -6.85789217e-04 4.47809832e-01 -5.40104672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-47.13, Z:-0.10 [[ 5.16487967e-02 9.93706011e-01 9.94020371e-02 9.25062821e+01] [-4.47110941e-01 1.12010836e-01 -8.87437535e-01 -4.71336131e+01] [-8.92986119e-01 1.39134253e-03 4.50082054e-01 -1.02888096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:-47.16, Z:-0.15 [[ 5.02622990e-02 9.94474193e-01 9.21671297e-02 9.25167783e+01] [-4.48717742e-01 1.04930995e-01 -8.87491901e-01 -4.71580061e+01] [-8.92258981e-01 3.25035699e-03 4.51512287e-01 -1.51949368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:-47.18, Z:-0.20 [[ 4.63889284e-02 9.95300897e-01 8.49952414e-02 9.25268364e+01] [-4.48798291e-01 9.67818615e-02 -8.88376815e-01 -4.71842384e+01] [-8.92428239e-01 3.06512941e-03 4.51178948e-01 -2.01961124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-47.21, Z:-0.25 [[ 4.27757638e-02 9.96119224e-01 7.69202524e-02 9.25380008e+01] [-4.48974106e-01 8.79444838e-02 -8.89206399e-01 -4.72106948e+01] [-8.92520300e-01 3.50128135e-03 4.50993630e-01 -2.50238112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-47.24, Z:-0.30 [[ 3.86114488e-02 9.96815315e-01 6.97738061e-02 9.25495252e+01] [-4.47624349e-01 7.96822369e-02 -8.90664462e-01 -4.72366016e+01] [-8.93387709e-01 3.15739074e-03 4.49275453e-01 -2.97330848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:-47.27, Z:-0.35 [[ 3.25811730e-02 9.97495586e-01 6.27775717e-02 9.25617040e+01] [-4.46330133e-01 7.07210295e-02 -8.92069475e-01 -4.72656484e+01] [-8.94275058e-01 1.04514803e-03 4.47516511e-01 -3.51314729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-47.29, Z:-0.40 [[ 2.78248865e-02 9.98203324e-01 5.30650420e-02 9.25726280e+01] [-4.46697170e-01 5.99068909e-02 -8.92677323e-01 -4.72894671e+01] [-8.94252433e-01 1.13464112e-03 4.47561503e-01 -4.00594882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:-47.31, Z:-0.45 [[ 2.36846744e-02 9.98667488e-01 4.58506832e-02 9.25797114e+01] [-4.48050278e-01 5.16032386e-02 -8.92517817e-01 -4.73128119e+01] [-8.93694570e-01 5.95582528e-04 4.48675451e-01 -4.50142933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.59, Y:-47.34, Z:-0.50 [[ 2.07431164e-02 9.99039911e-01 3.85872944e-02 9.25853667e+01] [-4.51872977e-01 4.37968342e-02 -8.91006537e-01 -4.73373569e+01] [-8.91841093e-01 1.04569671e-03 4.52347622e-01 -4.98426441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.59, Y:-47.36, Z:-0.55 [[ 1.67928866e-02 9.99362641e-01 3.15009588e-02 9.25937131e+01] [-4.51200058e-01 3.56893839e-02 -8.91708907e-01 -4.73630274e+01] [-8.92264819e-01 7.61132170e-04 4.51511809e-01 -5.47141310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.60, Y:-47.39, Z:-0.60 [[ 1.37159762e-02 9.99612007e-01 2.42426820e-02 9.26018446e+01] [-4.52044302e-01 2.78248642e-02 -8.91561398e-01 -4.73906270e+01] [-8.91890028e-01 1.26986862e-03 4.52250557e-01 -5.97198454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.61, Y:-47.42, Z:-0.65 [[ 1.00995921e-02 9.99819210e-01 1.61104271e-02 9.26087304e+01] [-4.52014700e-01 1.89360190e-02 -8.91809474e-01 -4.74156416e+01] [-8.91953311e-01 1.72476208e-03 4.52124226e-01 -6.46190351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-47.44, Z:-0.69 [[ 7.53903113e-03 9.98517073e-01 5.39149093e-02 9.25717582e+01] [-4.71700737e-01 5.10919999e-02 -8.80277242e-01 -4.74407673e+01] [-8.81726476e-01 -1.87952649e-02 4.71386423e-01 -6.92427134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.52, Y:-48.32, Z:-0.42 [[ 1.39310524e-02 5.27124091e-02 -9.98512558e-01 9.35177944e+01] [-4.08713468e-01 -9.11075731e-01 -5.37988280e-02 -4.83153054e+01] [-9.12556424e-01 4.08855004e-01 8.85202777e-03 -4.16718283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-47.54, Z:-0.77 [[-2.31107736e-03 9.99973647e-01 -6.88222467e-03 9.26213794e+01] [-3.87344692e-01 -7.24014228e-03 -9.21906541e-01 -4.75382307e+01] [-9.21932074e-01 5.35195858e-04 3.87351216e-01 -7.67095706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-47.54, Z:-0.77 [[-1.02788326e-02 9.99811788e-01 -1.64540173e-02 9.26309474e+01] [-3.87742868e-01 -1.91526542e-02 -9.21568578e-01 -4.75423351e+01] [-9.21710266e-01 -3.09272131e-03 3.87866757e-01 -7.72870891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:-47.56, Z:-0.80 [[-2.23028706e-02 9.99409542e-01 -2.61371430e-02 9.26399605e+01] [-3.86236744e-01 -3.27272250e-02 -9.21818912e-01 -4.75552286e+01] [-9.22130012e-01 -1.04640829e-02 3.86738599e-01 -8.01503094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.64, Y:-47.57, Z:-0.84 [[-3.32387716e-02 9.98960929e-01 -3.11808521e-02 9.26421355e+01] [-4.04404119e-01 -4.19728580e-02 -9.13616762e-01 -4.75723507e+01] [-9.13976199e-01 -1.77578339e-02 4.05379041e-01 -8.41736808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-48.47, Z:-0.54 [[-2.52339452e-03 -3.66224478e-02 -9.99325987e-01 9.35147346e+01] [-3.28032756e-01 -9.44001960e-01 3.54232944e-02 -4.84681494e+01] [-9.44662979e-01 3.27901045e-01 -9.63127314e-03 -5.41543128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-48.41, Z:-0.61 [[-4.22941052e-02 4.07778734e-02 9.98272695e-01 9.17136199e+01] [-4.14403904e-01 9.08449801e-01 -5.46659181e-02 -4.84110202e+01] [-9.09109791e-01 -4.16000148e-01 -2.15235615e-02 -6.06487928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-47.63, Z:-0.99 [[-4.18008915e-02 9.97628150e-01 -5.46878386e-02 9.26569475e+01] [-3.85502597e-01 -6.66015358e-02 -9.20299942e-01 -4.76334430e+01] [-9.21759423e-01 -1.73870542e-02 3.87372246e-01 -9.90519354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.66, Y:-47.64, Z:-1.01 [[-4.79761442e-02 9.96806597e-01 -6.38349325e-02 9.26625718e+01] [-3.87073591e-01 -7.74685009e-02 -9.18788695e-01 -4.76426856e+01] [-9.20799829e-01 -1.93711225e-02 3.89554149e-01 -1.00787208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.67, Y:-47.65, Z:-1.02 [[-5.23416238e-02 9.95957049e-01 -7.30062407e-02 9.26736036e+01] [-3.85878433e-01 -8.75992294e-02 -9.18381299e-01 -4.76500469e+01] [-9.21063618e-01 -1.98980347e-02 3.88903432e-01 -1.02330618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:-47.66, Z:-1.05 [[-6.09246816e-02 9.94726896e-01 -8.25020287e-02 9.26866329e+01] [-3.84196634e-01 -9.96576196e-02 -9.17856909e-01 -4.76623304e+01] [-9.21238910e-01 -2.42231383e-02 3.88242334e-01 -1.04766972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-47.67, Z:-1.06 [[-6.57181866e-02 9.93091634e-01 -9.72117583e-02 9.27030802e+01] [-3.82407210e-01 -1.15049973e-01 -9.16803267e-01 -4.76700932e+01] [-9.21653865e-01 -2.30761709e-02 3.87326276e-01 -1.06496981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-47.68, Z:-1.08 [[-7.01353409e-02 9.91789057e-01 -1.06936897e-01 9.27084214e+01] [-3.78189650e-01 -1.25634636e-01 -9.17163305e-01 -4.76781037e+01] [-9.23067507e-01 -2.38831336e-02 3.83895784e-01 -1.07933628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-47.68, Z:-1.09 [[-7.30622408e-02 9.90525998e-01 -1.16276211e-01 9.27134481e+01] [-3.76469381e-01 -1.35353784e-01 -9.16487948e-01 -4.76848907e+01] [-9.23543564e-01 -2.31862301e-02 3.82791960e-01 -1.09137680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:-47.69, Z:-1.10 [[-7.47058165e-02 9.89243797e-01 -1.25760687e-01 9.27217251e+01] [-3.76734686e-01 -1.44764801e-01 -9.14939413e-01 -4.76910170e+01] [-9.23303860e-01 -2.09728829e-02 3.83497224e-01 -1.10157238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-47.70, Z:-1.12 [[-8.00660898e-02 9.87641929e-01 -1.34732484e-01 9.27337613e+01] [-3.77545711e-01 -1.55143413e-01 -9.12901833e-01 -4.76997866e+01] [-9.22522985e-01 -2.22248089e-02 3.85301701e-01 -1.12281109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:-47.71, Z:-1.13 [[-8.21732487e-02 9.84153153e-01 -1.57130928e-01 9.27540363e+01] [-3.76773038e-01 -1.76640202e-01 -9.09307603e-01 -4.77061502e+01] [-9.22653583e-01 -1.55180626e-02 3.85317473e-01 -1.13119038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:-47.71, Z:-1.14 [[-8.44873353e-02 9.82134379e-01 -1.68148600e-01 9.27628754e+01] [-3.76059194e-01 -1.87701174e-01 -9.07385118e-01 -4.77143550e+01] [-9.22735809e-01 -1.34287237e-02 3.85199035e-01 -1.14420470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:-47.72, Z:-1.15 [[-8.62215710e-02 9.80342235e-01 -1.77468149e-01 9.27701131e+01] [-3.74085776e-01 -1.96954471e-01 -9.06238804e-01 -4.77212901e+01] [-9.23377319e-01 -1.17490234e-02 3.83713809e-01 -1.15303492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.76, Y:-47.73, Z:-1.18 [[-9.21059367e-02 9.82153381e-01 -1.63985466e-01 9.27568501e+01] [-3.89939239e-01 -1.87109280e-01 -9.01630471e-01 -4.77297005e+01] [-9.16222618e-01 -1.91011513e-02 4.00214018e-01 -1.17555530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:-48.65, Z:-0.91 [[-5.99776015e-02 -6.07112810e-02 -9.96351759e-01 9.34939935e+01] [-3.26939436e-01 -9.41897130e-01 7.70740091e-02 -4.86496989e+01] [-9.43140124e-01 3.30369396e-01 3.66438187e-02 -9.09410327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-47.76, Z:-1.18 [[-8.57564892e-02 9.69841180e-01 -2.28153261e-01 9.28050812e+01] [-3.07834428e-01 -2.43584576e-01 -9.19730677e-01 -4.77563350e+01] [-9.47567301e-01 -8.63944534e-03 3.19439463e-01 -1.17812960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.80, Y:-47.77, Z:-1.22 [[-9.77399929e-02 9.70113360e-01 -2.22096744e-01 9.27954873e+01] [-3.24885733e-01 -2.42041554e-01 -9.14256609e-01 -4.77691143e+01] [-9.40689191e-01 -1.72033712e-02 3.38833129e-01 -1.21982300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-48.73, Z:-1.01 [[-6.44481898e-02 -1.09859022e-01 -9.91855547e-01 9.34790526e+01] [-2.64649604e-01 -9.56451069e-01 1.23133825e-01 -4.87343476e+01] [-9.62188660e-01 2.70429930e-01 3.25673933e-02 -1.01135764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-47.81, Z:-1.24 [[-7.62948055e-02 9.47766184e-01 -3.09706899e-01 9.28591718e+01] [-2.40063350e-01 -3.18935617e-01 -9.16869489e-01 -4.78086800e+01] [-9.67754458e-01 4.39689629e-03 2.51857056e-01 -1.23893026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-47.82, Z:-1.26 [[-7.70585947e-02 9.43042054e-01 -3.23625799e-01 9.28674081e+01] [-2.40071000e-01 -3.32590882e-01 -9.12002862e-01 -4.78162624e+01] [-9.67692042e-01 7.41551038e-03 2.52026035e-01 -1.25595267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.87, Y:-47.83, Z:-1.28 [[-7.80973850e-02 9.38192927e-01 -3.37186640e-01 9.28735680e+01] [-2.40014326e-01 -3.45965550e-01 -9.07028644e-01 -4.78250962e+01] [-9.67622820e-01 1.00930589e-02 2.52198748e-01 -1.27817635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.88, Y:-47.83, Z:-1.30 [[-7.84891819e-02 9.33266110e-01 -3.50505086e-01 9.28777059e+01] [-2.40310216e-01 -3.58934132e-01 -9.01896496e-01 -4.78323667e+01] [-9.67517673e-01 1.34408351e-02 2.52445827e-01 -1.29637802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.88, Y:-47.85, Z:-1.34 [[-8.96520742e-02 9.27241907e-01 -3.63572486e-01 9.28847781e+01] [-2.38381381e-01 -3.74409341e-01 -8.96098188e-01 -4.78475049e+01] [-9.67024727e-01 6.33184984e-03 2.54603780e-01 -1.33875326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.92, Y:-47.87, Z:-1.36 [[-9.26910765e-02 9.09349822e-01 -4.05575229e-01 9.29195665e+01] [-2.39415639e-01 -4.15733221e-01 -8.77408708e-01 -4.78654173e+01] [-9.66482548e-01 1.57730949e-02 2.56247328e-01 -1.35590658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.77, Y:-48.26, Z:-1.19 [[-1.58632987e-01 4.58104775e-01 8.74628830e-01 9.17691858e+01] [-2.80463836e-01 8.28446893e-01 -4.84784264e-01 -4.82569625e+01] [-9.46665523e-01 -3.22204532e-01 -2.93718320e-03 -1.19018044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-47.88, Z:-1.51 [[-1.28999776e-01 9.20064014e-01 -3.69920623e-01 9.28672032e+01] [-2.90331015e-01 -3.91733191e-01 -8.73071022e-01 -4.78825040e+01] [-9.48191415e-01 -5.22653599e-03 3.17656613e-01 -1.51080236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:-47.92, Z:-1.55 [[-1.41419977e-01 8.88338923e-01 -4.36868800e-01 9.29198289e+01] [-2.85420345e-01 -4.59152733e-01 -8.41257389e-01 -4.79204050e+01] [-9.47911186e-01 5.72064278e-03 3.18483371e-01 -1.55256321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:-47.94, Z:-1.57 [[-1.45116929e-01 8.69213132e-01 -4.72662255e-01 9.29480910e+01] [-2.85260164e-01 -4.94189575e-01 -8.21220618e-01 -4.79393885e+01] [-9.47400504e-01 1.56586983e-02 3.19667154e-01 -1.56536640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-47.96, Z:-1.63 [[-1.80408742e-01 8.57127578e-01 -4.82477980e-01 9.29419700e+01] [-2.66437829e-01 -5.14773294e-01 -8.14873818e-01 -4.79593629e+01] [-9.46817601e-01 -1.84599750e-02 3.21240813e-01 -1.63194855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-48.01, Z:-1.65 [[-1.84093203e-01 7.99853534e-01 -5.71265277e-01 9.30190199e+01] [-2.67052149e-01 -6.00038026e-01 -7.54080578e-01 -4.80102951e+01] [-9.45934904e-01 1.37365115e-02 3.24065527e-01 -1.64725676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.06, Y:-49.47, Z:-1.31 [[ -0.15774459 -0.82443778 -0.54352461 93.06239234] [ -0.26313056 -0.49542154 0.82784045 -49.46776603] [ -0.95177673 0.27360528 -0.13878471 -1.31062441] [ 0. 0. 0. 1. ]] SLAMing on 157.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:-47.99, Z:-1.67 [[-1.34676718e-01 8.40150870e-01 -5.25365299e-01 9.29462954e+01] [-2.28888466e-01 -5.42233553e-01 -8.08450891e-01 -4.79899764e+01] [-9.64091412e-01 1.13705449e-02 2.65327079e-01 -1.66839872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.95, Y:-48.00, Z:-1.68 [[-1.43750619e-01 8.31591157e-01 -5.36462401e-01 9.29541827e+01] [-2.25369153e-01 -5.55357676e-01 -8.00491472e-01 -4.79967287e+01] [-9.63610141e-01 5.83093232e-03 2.67248004e-01 -1.67594758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-48.01, Z:-1.69 [[-1.50106551e-01 8.21238208e-01 -5.50486901e-01 9.29637210e+01] [-2.22369041e-01 -5.70573224e-01 -7.90568280e-01 -4.80055089e+01] [-9.63337964e-01 3.74176658e-03 2.68264731e-01 -1.68635925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:-48.01, Z:-1.70 [[-1.56344610e-01 8.11899259e-01 -5.62473071e-01 9.29707654e+01] [-2.19449133e-01 -5.83796281e-01 -7.81680229e-01 -4.80134025e+01] [-9.63015286e-01 1.22273786e-03 2.69443990e-01 -1.69613968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.98, Y:-48.02, Z:-1.71 [[-1.61317865e-01 8.02040901e-01 -5.75071247e-01 9.29782854e+01] [-2.12745106e-01 -5.97264268e-01 -7.73314241e-01 -4.80222264e+01] [-9.63699158e-01 -2.40580940e-03 2.66979673e-01 -1.70669904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.99, Y:-48.04, Z:-1.73 [[-1.69054207e-01 7.90118606e-01 -5.89180162e-01 9.29869709e+01] [-2.04147706e-01 -6.12891299e-01 -7.63340009e-01 -4.80354198e+01] [-9.64232539e-01 -8.76606131e-03 2.64912753e-01 -1.72524913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.00, Y:-48.05, Z:-1.74 [[-1.74521285e-01 7.77747803e-01 -6.03863127e-01 9.29984232e+01] [-1.99160641e-01 -6.28480963e-01 -7.51895417e-01 -4.80494874e+01] [-9.64301488e-01 -1.09559875e-02 2.64580056e-01 -1.74453809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.01, Y:-48.06, Z:-1.77 [[-1.80995841e-01 7.67488149e-01 -6.14981663e-01 9.30071830e+01] [-1.96186807e-01 -6.40917398e-01 -7.42115642e-01 -4.80628208e+01] [-9.63717408e-01 -1.36685558e-02 2.66574433e-01 -1.76608221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.02, Y:-48.08, Z:-1.79 [[-1.91523198e-01 7.56272691e-01 -6.25596101e-01 9.30177940e+01] [-1.93217680e-01 -6.53974493e-01 -7.31426203e-01 -4.80803984e+01] [-9.62281556e-01 -1.92088584e-02 2.71376542e-01 -1.79259393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.03, Y:-48.10, Z:-1.82 [[-1.98685606e-01 7.43404419e-01 -6.38650060e-01 9.30270223e+01] [-1.87044750e-01 -6.68426660e-01 -7.19875032e-01 -4.80980226e+01] [-9.62049007e-01 -2.35726664e-02 2.71856650e-01 -1.81975886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.00, Y:-48.08, Z:-1.84 [[-2.00336426e-01 7.62165519e-01 -6.15604612e-01 9.30029606e+01] [-1.77433900e-01 -6.46177532e-01 -7.42274752e-01 -4.80846549e+01] [-9.63526091e-01 -3.94755438e-02 2.64686898e-01 -1.83560718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.20, Y:-49.35, Z:-1.70 [[-1.29054047e-01 -6.26000889e-01 -7.69069529e-01 9.31964539e+01] [-1.43354135e-01 -7.55630875e-01 6.39117808e-01 -4.93487437e+01] [-9.81220997e-01 1.92730037e-01 7.77740659e-03 -1.69610102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.05, Y:-48.16, Z:-1.88 [[-1.59256602e-01 6.97062561e-01 -6.99100223e-01 9.30520716e+01] [-1.18537810e-01 -7.16516467e-01 -6.87424862e-01 -4.81626117e+01] [-9.80094956e-01 -2.66071385e-02 1.96738247e-01 -1.87585939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.95, Y:-48.09, Z:-1.78 [[-2.38541599e-01 8.18163147e-01 5.23170116e-01 9.19455639e+01] [-1.70335494e-01 4.95120772e-01 -8.51963169e-01 -4.80905176e+01] [-9.56077259e-01 -2.92343097e-01 2.12553235e-02 -1.77677379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.09, Y:-48.23, Z:-2.02 [[-2.12895135e-01 6.34995728e-01 -7.42600894e-01 9.30893156e+01] [-1.53824627e-01 -7.72329004e-01 -6.16316392e-01 -4.82315000e+01] [-9.64890484e-01 -1.69804561e-02 2.62103068e-01 -2.01696663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:-48.24, Z:-2.03 [[-2.14962811e-01 6.23426344e-01 -7.51751676e-01 9.30968464e+01] [-1.52985337e-01 -7.81739173e-01 -6.04548883e-01 -4.82432404e+01] [-9.64565434e-01 -1.49485436e-02 2.63419940e-01 -2.02815634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:93.10, Y:-48.26, Z:-2.06 [[-2.20541423e-01 6.10366579e-01 -7.60798344e-01 9.31009712e+01] [-1.48186919e-01 -7.91916741e-01 -5.92375314e-01 -4.82582901e+01] [-9.64055039e-01 -1.79029320e-02 2.65098787e-01 -2.05576994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:-48.29, Z:-2.09 [[-2.25658318e-01 5.77096393e-01 -7.84880931e-01 9.31173797e+01] [-1.38361943e-01 -8.16479955e-01 -5.60550137e-01 -4.82917117e+01] [-9.64331010e-01 -1.78951504e-02 2.64093672e-01 -2.08881060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.14, Y:-48.33, Z:-2.11 [[-2.29691616e-01 5.40348974e-01 -8.09484248e-01 9.31362820e+01] [-1.34415042e-01 -8.41363327e-01 -5.23488633e-01 -4.83268313e+01] [-9.63936906e-01 -1.14340902e-02 2.65885132e-01 -2.11018983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:-48.06, Z:-1.94 [[-3.07588522e-01 8.59509639e-01 4.08206420e-01 9.20152391e+01] [-1.60183998e-01 3.76108053e-01 -9.12624687e-01 -4.80555157e+01] [-9.37939437e-01 -3.46101015e-01 2.19931703e-02 -1.94231979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-48.04, Z:-2.02 [[-3.63743289e-01 8.64299477e-01 3.47386288e-01 9.20535084e+01] [-1.80270135e-01 3.00566384e-01 -9.36569553e-01 -4.80410785e+01] [-9.13889215e-01 -4.03294263e-01 4.64783782e-02 -2.02422557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.71, Y:-49.71, Z:-2.00 [[ -0.29441542 -0.90928033 -0.29415786 92.7119665 ] [ -0.18827721 -0.24658139 0.95065731 -49.71022533] [ -0.93694784 0.33527139 -0.0985994 -2.00488307] [ 0. 0. 0. 1. ]] SLAMing on 158.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.39, Z:-2.39 [[-2.88069230e-01 5.08997030e-01 -8.11133862e-01 9.30742033e+01] [-1.68828230e-01 -8.60767162e-01 -4.80184257e-01 -4.83892723e+01] [-9.42609754e-01 -1.38401499e-03 3.33893601e-01 -2.38695306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.40, Z:-2.41 [[-2.87460031e-01 4.99094086e-01 -8.17478944e-01 9.30747606e+01] [-1.66718352e-01 -8.66547154e-01 -4.70426425e-01 -4.83975447e+01] [-9.43171099e-01 1.05994812e-03 3.32305815e-01 -2.40736983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.41, Z:-2.42 [[-2.88147066e-01 4.88496528e-01 -8.23615450e-01 9.30733562e+01] [-1.62527384e-01 -8.72565119e-01 -4.60667952e-01 -4.84058594e+01] [-9.43692809e-01 1.11994570e-03 3.30821142e-01 -2.42032393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.41, Z:-2.43 [[-2.90193057e-01 4.77651885e-01 -8.29238606e-01 9.30707457e+01] [-1.58168821e-01 -8.78549111e-01 -4.50703986e-01 -4.84144440e+01] [-9.43806449e-01 3.68525050e-04 3.30498488e-01 -2.43305475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.42, Z:-2.45 [[-2.91474578e-01 4.66199822e-01 -8.35284560e-01 9.30676797e+01] [-1.53868383e-01 -8.84679412e-01 -4.40075969e-01 -4.84238461e+01] [-9.44122392e-01 2.52927117e-04 3.29594972e-01 -2.44684711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-48.44, Z:-2.49 [[-3.04129029e-01 4.49129242e-01 -8.40112170e-01 9.30597350e+01] [-1.34386074e-01 -8.93294516e-01 -4.28911752e-01 -4.84371820e+01] [-9.43104404e-01 -1.75451386e-02 3.32033509e-01 -2.48762324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-48.48, Z:-2.50 [[-3.07050197e-01 4.00643719e-01 -8.63252447e-01 9.30815049e+01] [-1.29503559e-01 -9.16222238e-01 -3.79164395e-01 -4.84800692e+01] [-9.42840922e-01 -4.62823795e-03 3.33211006e-01 -2.50319927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-48.49, Z:-2.52 [[-3.08210610e-01 3.88217359e-01 -8.68500721e-01 9.30827816e+01] [-1.23021215e-01 -9.21543768e-01 -3.68270096e-01 -4.84913550e+01] [-9.43330271e-01 -6.66073670e-03 3.31788538e-01 -2.51984205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-48.50, Z:-2.54 [[-3.10820442e-01 3.75899900e-01 -8.72977616e-01 9.30817594e+01] [-1.16407767e-01 -9.26611456e-01 -3.57547816e-01 -4.85037625e+01] [-9.43313248e-01 -9.51179511e-03 3.31767450e-01 -2.53958213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.52, Z:-2.58 [[-3.16771647e-01 3.57998235e-01 -8.78346735e-01 9.30744838e+01] [-1.01269424e-01 -9.33507899e-01 -3.43958582e-01 -4.85218358e+01] [-9.43080181e-01 -2.00066591e-02 3.31963110e-01 -2.58281334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.07, Y:-48.55, Z:-2.62 [[-3.20645656e-01 3.22142598e-01 -8.90735937e-01 9.30747772e+01] [-8.72705627e-02 -9.46436780e-01 -3.10871791e-01 -4.85537359e+01] [-9.43170299e-01 -2.19446630e-02 3.31584408e-01 -2.61959026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-49.76, Z:-2.40 [[-2.54306135e-01 -9.21386013e-01 -2.93898290e-01 9.26187891e+01] [-9.34794317e-02 -2.79048093e-01 9.55716358e-01 -4.97610117e+01] [-9.62595442e-01 2.70517979e-01 -1.51669987e-02 -2.40365948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:-48.10, Z:-2.43 [[-3.48760953e-01 8.92959067e-01 2.84587251e-01 9.19194559e+01] [-9.40040535e-02 2.68792167e-01 -9.58600026e-01 -4.80965329e+01] [-9.32485408e-01 -3.61074614e-01 -9.80244041e-03 -2.43322264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:-49.78, Z:-2.55 [[-2.50491189e-01 -9.24741550e-01 -2.86543592e-01 9.25591673e+01] [-9.30210624e-02 -2.71620436e-01 9.57898440e-01 -4.97803686e+01] [-9.63639583e-01 2.66599708e-01 -1.79819154e-02 -2.55358217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:-49.79, Z:-2.62 [[-1.85902503e-01 -9.37884557e-01 -2.92938248e-01 9.25322694e+01] [-7.52489617e-02 -2.83670006e-01 9.55964916e-01 -4.97865483e+01] [-9.79682527e-01 1.99759570e-01 -1.78398751e-02 -2.62063298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-48.12, Z:-2.66 [[-2.90751272e-01 9.10909004e-01 2.92760114e-01 9.18434828e+01] [-7.30205788e-02 2.83961239e-01 -9.56051259e-01 -4.81223120e+01] [-9.54008225e-01 -2.99350632e-01 -1.60469887e-02 -2.66173637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:-49.80, Z:-2.78 [[-1.82939640e-01 -9.35600193e-01 -3.01969149e-01 9.24959625e+01] [-7.50564133e-02 -2.92964826e-01 9.53172674e-01 -4.97982766e+01] [-9.80254877e-01 1.97037787e-01 -1.66279150e-02 -2.77729481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.97, Y:-48.63, Z:-2.98 [[-1.98550280e-01 2.93912065e-01 -9.34983147e-01 9.29656048e+01] [-3.34573715e-02 -9.55452705e-01 -2.93241764e-01 -4.86310112e+01] [-9.79519469e-01 -2.69411558e-02 1.99538927e-01 -2.97632027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:-49.81, Z:-2.88 [[-1.17873966e-01 -9.44687552e-01 -3.06057440e-01 9.24643956e+01] [-4.80202383e-02 -3.02422917e-01 9.51963464e-01 -4.98113584e+01] [-9.91866818e-01 1.26908660e-01 -9.71633284e-03 -2.87617242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-48.68, Z:-3.01 [[-1.37433837e-01 2.54936163e-01 -9.57141313e-01 9.29629552e+01] [-8.42197176e-03 -9.66576514e-01 -2.56239952e-01 -4.86799502e+01] [-9.90475144e-01 -2.71550227e-02 1.34987384e-01 -3.00941114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-49.83, Z:-2.96 [[-5.45998848e-02 -9.57575269e-01 -2.82963703e-01 9.24102422e+01] [-2.20094800e-02 -2.82163401e-01 9.59113861e-01 -4.98276261e+01] [-9.98265714e-01 5.85953903e-02 -5.66964455e-03 -2.96373105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.82, Y:-48.13, Z:-3.01 [[-1.69936160e-01 9.52067409e-01 2.54341014e-01 9.18190982e+01] [-2.50571019e-02 2.53836980e-01 -9.66922401e-01 -4.81257139e+01] [-9.85136459e-01 -1.70688128e-01 -1.92800315e-02 -3.01168207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-48.20, Z:-3.05 [[-2.29055585e-01 8.60945988e-01 4.54208702e-01 9.16441506e+01] [-5.91025886e-02 4.53452861e-01 -8.89318496e-01 -4.82042085e+01] [-9.71617426e-01 -2.30548278e-01 -5.29817736e-02 -3.05498343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:-48.31, Z:-3.09 [[ -0.27712333 0.72864914 0.62631709 91.48956435] [ -0.10624521 0.62461149 -0.77367464 -48.31316896] [ -0.95494221 -0.28094648 -0.09567894 -3.08705198] [ 0. 0. 0. 1. ]] SLAMing on 158.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-48.60, Z:-3.45 [[-2.54712313e-01 3.79824897e-01 -8.89300110e-01 9.28728376e+01] [-7.98324538e-02 -9.24752604e-01 -3.72101330e-01 -4.85966995e+01] [-9.63715942e-01 -2.37837806e-02 2.65868228e-01 -3.45291154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:-49.75, Z:-3.33 [[-1.86450781e-01 -8.41688307e-01 -5.06751320e-01 9.25570486e+01] [-6.61536188e-02 -5.03869925e-01 8.61242589e-01 -4.97470481e+01] [-9.80234566e-01 1.94102787e-01 3.82662136e-02 -3.32781237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:-48.15, Z:-3.30 [[-2.60994260e-01 8.81064975e-01 3.94469906e-01 9.16698428e+01] [-8.78300327e-02 3.85265036e-01 -9.18616752e-01 -4.81516408e+01] [-9.61336508e-01 -2.74400004e-01 -2.31679975e-02 -3.30229248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-48.19, Z:-3.35 [[-3.18108831e-01 8.14320610e-01 4.85477822e-01 9.15766739e+01] [-1.24840364e-01 4.71639161e-01 -8.72909723e-01 -4.81949826e+01] [-9.39798731e-01 -3.38287519e-01 -4.83725010e-02 -3.35338899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:-48.66, Z:-3.74 [[-3.25476653e-01 3.52660835e-01 -8.77322794e-01 9.28460631e+01] [-1.18761133e-01 -9.35743112e-01 -3.32085263e-01 -4.86609273e+01] [-9.38062227e-01 -3.89415145e-03 3.46444936e-01 -3.74212027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.85, Y:-48.67, Z:-3.76 [[-3.26916455e-01 3.40878059e-01 -8.81435069e-01 9.28456137e+01] [-1.14805824e-01 -9.40100075e-01 -3.20985159e-01 -4.86729509e+01] [-9.38053972e-01 -3.74145098e-03 3.46468970e-01 -3.75566216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-48.69, Z:-3.80 [[-3.32461867e-01 3.25292178e-01 -8.85242400e-01 9.28349576e+01] [-9.88446184e-02 -9.45483818e-01 -3.10306447e-01 -4.86892992e+01] [-9.37922624e-01 -1.56636135e-02 3.46490696e-01 -3.79912627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-48.73, Z:-3.82 [[-3.36668440e-01 2.81946832e-01 -8.98421029e-01 9.28442812e+01] [-9.33892795e-02 -9.59413207e-01 -2.66091603e-01 -4.87307665e+01] [-9.36980685e-01 -5.68175220e-03 3.49334959e-01 -3.82357078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-48.74, Z:-3.84 [[-3.37777089e-01 2.70405370e-01 -9.01547322e-01 9.28428029e+01] [-8.93792575e-02 -9.62730012e-01 -2.55269019e-01 -4.87422666e+01] [-9.36972778e-01 -5.64439587e-03 3.49356773e-01 -3.83710124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-48.76, Z:-3.89 [[-3.42831017e-01 2.53711578e-01 -9.04487329e-01 9.28290715e+01] [-7.03014020e-02 -9.67067376e-01 -2.44618893e-01 -4.87585536e+01] [-9.36762834e-01 -2.02762165e-02 3.49376971e-01 -3.88609276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-48.79, Z:-3.92 [[-3.63655919e-01 2.17266079e-01 -9.05842052e-01 9.28291849e+01] [-6.86271500e-02 -9.76026544e-01 -2.06549023e-01 -4.87918095e+01] [-9.29001984e-01 -1.29474163e-02 3.69848182e-01 -3.91595618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:-49.89, Z:-3.72 [[-2.80416224e-01 -9.06123578e-01 -3.16712491e-01 9.22738663e+01] [-1.65030128e-02 -3.25350683e-01 9.45449408e-01 -4.98936938e+01] [-9.59736626e-01 2.70346063e-01 7.62798409e-02 -3.72034129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:-49.45, Z:-3.49 [[-2.18689226e-01 -4.47322951e-01 8.67223846e-01 9.11297807e+01] [-9.80944289e-02 8.94312026e-01 4.36558683e-01 -4.94459309e+01] [-9.70851433e-01 1.04008525e-02 -2.39456294e-01 -3.49366363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.43, Y:-48.22, Z:-3.78 [[-3.00705856e-01 8.18427949e-01 4.89644443e-01 9.14297001e+01] [-1.49216669e-01 4.66709769e-01 -8.71731827e-01 -4.82190495e+01] [-9.41971536e-01 -3.35197977e-01 -1.82192682e-02 -3.77805588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.68, Y:-48.63, Z:-4.19 [[-3.23921058e-01 4.09725025e-01 -8.52760548e-01 9.26768070e+01] [-1.12244128e-01 -9.11635157e-01 -3.95376524e-01 -4.86306891e+01] [-9.39402152e-01 -3.23534174e-02 3.41287053e-01 -4.18553431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.70, Y:-48.71, Z:-4.21 [[-3.26827344e-01 3.30752092e-01 -8.85317424e-01 9.27013681e+01] [-1.03253915e-01 -9.43649411e-01 -3.14427127e-01 -4.87087601e+01] [-9.39426695e-01 -1.13508932e-02 3.42561879e-01 -4.21315664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.70, Y:-48.73, Z:-4.23 [[-3.28793099e-01 3.06907669e-01 -8.93142083e-01 9.27028135e+01] [-9.69375265e-02 -9.51694707e-01 -2.91342239e-01 -4.87326033e+01] [-9.39413761e-01 -9.21233336e-03 3.42661523e-01 -4.23335375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-49.94, Z:-3.97 [[-2.55394579e-01 -9.29834575e-01 -2.64917482e-01 9.21294243e+01] [-7.56741597e-02 -2.53939071e-01 9.64255345e-01 -4.99351265e+01] [-9.63870858e-01 2.66312996e-01 -5.50978809e-03 -3.96897095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:-49.49, Z:-3.79 [[-2.18904999e-01 -4.70478160e-01 8.54827996e-01 9.10422678e+01] [-1.46728805e-01 8.81986413e-01 4.47851120e-01 -4.94884730e+01] [-9.64650848e-01 -2.73910409e-02 -2.62103933e-01 -3.79299211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:-48.27, Z:-4.13 [[-2.80275834e-01 8.09299323e-01 5.16217069e-01 9.13035165e+01] [-1.86700243e-01 4.81542636e-01 -8.56305850e-01 -4.82668809e+01] [-9.41588273e-01 -3.36379689e-01 1.61316162e-02 -4.12962918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-48.56, Z:-4.50 [[-3.02631873e-01 5.30970845e-01 -7.91507366e-01 9.25142469e+01] [-1.62513707e-01 -8.47035077e-01 -5.06083860e-01 -4.85578890e+01] [-9.39150278e-01 -2.45263098e-02 3.42629852e-01 -4.50181548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-48.62, Z:-4.52 [[-3.04804408e-01 4.70431071e-01 -8.28123711e-01 9.25463081e+01] [-1.58496227e-01 -8.82428749e-01 -4.42942942e-01 -4.86177895e+01] [-9.39134292e-01 -3.75647718e-03 3.43529722e-01 -4.51694345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-48.63, Z:-4.55 [[-3.10589379e-01 4.57116124e-01 -8.33414115e-01 9.25413365e+01] [-1.47303517e-01 -8.89330245e-01 -4.32889580e-01 -4.86333877e+01] [-9.39061186e-01 -1.16860759e-02 3.43551342e-01 -4.55070270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:-48.67, Z:-4.57 [[-3.11150254e-01 4.27027295e-01 -8.49018968e-01 9.25509438e+01] [-1.44941093e-01 -9.04236684e-01 -4.01681588e-01 -4.86666082e+01] [-9.39243099e-01 -1.92559059e-03 3.43247277e-01 -4.56550099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-48.28, Z:-4.29 [[-3.57484808e-01 7.95979057e-01 4.88489460e-01 9.12830957e+01] [-1.75954165e-01 4.56282551e-01 -8.72265077e-01 -4.82823292e+01] [-9.17193951e-01 -3.97773269e-01 -2.30582497e-02 -4.28712512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-48.71, Z:-4.77 [[-3.93247494e-01 4.05622730e-01 -8.25122178e-01 9.24924013e+01] [-1.18173505e-01 -9.12280052e-01 -3.92148095e-01 -4.87056017e+01] [-9.11806685e-01 -5.67036756e-02 4.06685705e-01 -4.76820898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:-50.03, Z:-4.37 [[-3.26564498e-01 -9.44506411e-01 -3.55424939e-02 9.17635845e+01] [-1.07036961e-01 -4.06381047e-04 9.94254959e-01 -5.00251440e+01] [-9.39094627e-01 3.28492732e-01 -1.00964386e-01 -4.36940956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:-48.80, Z:-4.81 [[-3.34984663e-01 3.22272221e-01 -8.85395895e-01 9.24990572e+01] [-1.02614967e-01 -9.46576505e-01 -3.05717334e-01 -4.88013166e+01] [-9.36619156e-01 -1.15557478e-02 3.50158565e-01 -4.80979964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-50.04, Z:-4.45 [[-2.65294312e-01 -9.62217565e-01 6.12885503e-02 9.16274913e+01] [-1.01528138e-01 9.10922374e-02 9.90653442e-01 -5.00359935e+01] [-9.58807053e-01 2.56592211e-01 -1.21858410e-01 -4.44886040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.45, Y:-48.76, Z:-4.86 [[-2.74457396e-01 3.71176430e-01 -8.87074515e-01 9.24546252e+01] [-9.86094940e-02 -9.28499762e-01 -3.58000502e-01 -4.87644680e+01] [-9.56529825e-01 -1.07819167e-02 2.91435147e-01 -4.85543014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.05, Z:-4.57 [[-2.03875795e-01 -9.78196897e-01 -3.95662933e-02 9.16840436e+01] [-9.31348732e-02 -2.08523781e-02 9.95435118e-01 -5.00463014e+01] [-9.74556594e-01 2.06630127e-01 -8.68529488e-02 -4.57424220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.37, Y:-48.25, Z:-4.76 [[-2.67128468e-01 9.34856107e-01 2.33851320e-01 9.13681633e+01] [-1.11643917e-01 2.11012816e-01 -9.71086622e-01 -4.82456640e+01] [-9.57171885e-01 -2.85512959e-01 4.80034674e-02 -4.75792477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-48.23, Z:-4.86 [[-3.31615010e-01 9.33663271e-01 1.35293684e-01 9.14498181e+01] [-1.18837645e-01 1.00925928e-01 -9.87771011e-01 -4.82337853e+01] [-9.35900155e-01 -3.43637677e-01 7.74857919e-02 -4.85723652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.17, Y:-49.84, Z:-5.01 [[-2.96826039e-01 -7.21958854e-01 -6.25035771e-01 9.21678911e+01] [-5.69415232e-02 -6.39988627e-01 7.66271636e-01 -4.98424115e+01] [-9.53232377e-01 2.63039864e-01 1.48855853e-01 -5.00623778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:-49.70, Z:-4.70 [[-2.25982140e-01 -5.84242581e-01 7.79482315e-01 9.08420684e+01] [-1.18989411e-01 8.10745329e-01 5.73178446e-01 -4.97048524e+01] [-9.66836901e-01 3.67779507e-02 -2.52732645e-01 -4.70241081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-48.39, Z:-5.01 [[-2.89340952e-01 8.03391071e-01 5.20427325e-01 9.10292264e+01] [-1.84417022e-01 4.86712173e-01 -8.53874477e-01 -4.83855065e+01] [-9.39293445e-01 -3.43036511e-01 7.33322488e-03 -5.00791592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-48.68, Z:-5.36 [[-3.21861998e-01 5.24879936e-01 -7.87975829e-01 9.22367190e+01] [-1.71060434e-01 -8.50805272e-01 -4.96858849e-01 -4.86753172e+01] [-9.31205231e-01 -2.51284944e-02 3.63628075e-01 -5.36192496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-50.00, Z:-5.12 [[-2.52304346e-01 -8.67199099e-01 -4.29311356e-01 9.19117824e+01] [-1.11146791e-01 -4.14756354e-01 9.03118795e-01 -4.99952897e+01] [-9.61243418e-01 2.75577376e-01 8.25843383e-03 -5.11864445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-49.24, Z:-4.96 [[-2.17565586e-01 -7.91840700e-02 9.72828401e-01 9.05801878e+01] [-2.01372308e-01 9.78901962e-01 3.46430647e-02 -4.92357719e+01] [-9.55046810e-01 -1.88363562e-01 -2.28920858e-01 -4.96338478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.08, Y:-48.57, Z:-5.50 [[-2.60694245e-01 6.75435367e-01 -6.89801113e-01 9.20814962e+01] [-2.10042895e-01 -7.37073799e-01 -6.42342741e-01 -4.85665633e+01] [-9.42295332e-01 -2.25672329e-02 3.34021297e-01 -5.50282753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-50.05, Z:-5.20 [[-1.86930289e-01 -9.19161126e-01 -3.46698560e-01 9.17825545e+01] [-1.53805963e-01 -3.21183382e-01 9.34443664e-01 -5.00471632e+01] [-9.70258106e-01 2.28000130e-01 -8.13335599e-02 -5.19859027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.52, Y:-49.17, Z:-5.20 [[-1.60925923e-01 2.27890272e-02 9.86703353e-01 9.05157789e+01] [-2.46007593e-01 9.67253186e-01 -6.24622972e-02 -4.91700036e+01] [-9.55815417e-01 -2.52788320e-01 -1.50049838e-01 -5.19908753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:-48.47, Z:-5.64 [[-1.91750402e-01 8.17217590e-01 -5.43495349e-01 9.18959222e+01] [-2.34239195e-01 -5.75874795e-01 -7.83262549e-01 -4.84696973e+01] [-9.53081205e-01 -2.28829958e-02 3.01848614e-01 -5.64400592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-48.48, Z:-5.52 [[-2.47862018e-01 7.81560835e-01 5.72474525e-01 9.08667591e+01] [-2.77382657e-01 5.08923487e-01 -8.14896157e-01 -4.84823456e+01] [-9.28236652e-01 -3.60776311e-01 9.06486181e-02 -5.51555422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.84, Y:-50.03, Z:-5.39 [[ -0.17526923 -0.86492237 -0.47030839 91.84174054] [ -0.24638775 -0.42396689 0.87151888 -50.03083733] [ -0.95319136 0.26862867 -0.13879792 -5.3880169 ] [ 0. 0. 0. 1. ]] SLAMing on 160.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.88, Y:-48.53, Z:-5.82 [[-1.95421990e-01 8.01299156e-01 -5.65446646e-01 9.18787246e+01] [-2.35205347e-01 -5.98029817e-01 -7.66184562e-01 -4.85301398e+01] [-9.52096996e-01 -1.67332369e-02 3.05338023e-01 -5.81750820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:-48.55, Z:-5.83 [[-1.99311495e-01 7.81777954e-01 -5.90845292e-01 9.18995329e+01] [-2.31825332e-01 -6.23444219e-01 -7.46708993e-01 -4.85515838e+01] [-9.52119711e-01 -1.18547800e-02 3.05495533e-01 -5.83393663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-48.57, Z:-5.87 [[-2.10555556e-01 7.69328256e-01 -6.03158679e-01 9.19062013e+01] [-2.23996717e-01 -6.38543069e-01 -7.36266405e-01 -4.85744340e+01] [-9.51573344e-01 -1.99194187e-02 3.06775795e-01 -5.87060310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:-48.60, Z:-5.89 [[-2.13580063e-01 7.49313866e-01 -6.26827158e-01 9.19251982e+01] [-2.20898328e-01 -6.62056417e-01 -7.16160059e-01 -4.85961372e+01] [-9.51623605e-01 -1.44924394e-02 3.06924232e-01 -5.88615847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:-48.61, Z:-5.90 [[-2.16492478e-01 7.39960317e-01 -6.36859275e-01 9.19317617e+01] [-2.18066821e-01 -6.72499892e-01 -7.07241654e-01 -4.86074695e+01] [-9.51618552e-01 -1.42346202e-02 3.06951962e-01 -5.89987776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-48.62, Z:-5.91 [[-2.19373623e-01 7.31002826e-01 -6.46150201e-01 9.19375921e+01] [-2.15202945e-01 -6.82225951e-01 -6.98752778e-01 -4.86183872e+01] [-9.51610690e-01 -1.42345024e-02 3.06976339e-01 -5.91358795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.93, Y:-48.63, Z:-5.96 [[-2.39102468e-01 7.28183353e-01 -6.42323139e-01 9.19321378e+01] [-2.26933869e-01 -6.85097991e-01 -6.92200666e-01 -4.86342710e+01] [-9.44103293e-01 -1.97420126e-02 3.29058086e-01 -5.95518231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.70, Y:-50.13, Z:-5.64 [[ -0.15155544 -0.90902378 -0.38820964 91.69962409] [ -0.17090531 -0.36273244 0.91608763 -50.1331988 ] [ -0.97356167 0.20518515 -0.10038292 -5.63897218] [ 0. 0. 0. 1. ]] SLAMing on 160.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.41, Y:-49.28, Z:-5.69 [[-1.33608381e-01 1.30914755e-02 9.90947735e-01 9.04098171e+01] [-2.75246183e-01 9.60083335e-01 -4.97948606e-02 -4.92760007e+01] [-9.52044295e-01 -2.79407592e-01 -1.24671802e-01 -5.68856623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.72, Y:-48.54, Z:-6.12 [[-1.76748052e-01 8.72893171e-01 -4.54772072e-01 9.17168312e+01] [-2.51758662e-01 -4.86770222e-01 -8.36464182e-01 -4.85408765e+01] [-9.51513375e-01 -3.33506063e-02 3.05794105e-01 -6.11749625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:-48.57, Z:-6.13 [[-1.80470403e-01 8.48302119e-01 -4.97809149e-01 9.17540499e+01] [-2.48378349e-01 -5.29021563e-01 -8.11445859e-01 -4.85677824e+01] [-9.51703015e-01 -2.27969468e-02 3.06172614e-01 -6.13410443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-48.59, Z:-6.16 [[-1.88556625e-01 8.38780765e-01 -5.10777082e-01 9.17671391e+01] [-2.42307170e-01 -5.43762190e-01 -8.03498547e-01 -4.85855276e+01] [-9.51700391e-01 -2.77400247e-02 3.05772557e-01 -6.16314708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-48.60, Z:-6.18 [[-1.91632963e-01 8.29670230e-01 -5.24332068e-01 9.17771873e+01] [-2.39798569e-01 -5.57621747e-01 -7.94704117e-01 -4.85974641e+01] [-9.51721311e-01 -2.65574251e-02 3.05812441e-01 -6.17767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:-48.64, Z:-6.21 [[-2.01137192e-01 8.27206085e-01 -5.24665535e-01 9.17975614e+01] [-2.44413487e-01 -5.61051735e-01 -7.90874831e-01 -4.86379759e+01] [-9.48580981e-01 -3.08390096e-02 3.15028694e-01 -6.21387592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.88, Y:-50.04, Z:-5.94 [[-1.33593319e-01 -7.10568668e-01 -6.90829207e-01 9.18777578e+01] [-1.85693647e-01 -6.66783862e-01 7.21745905e-01 -5.00399532e+01] [-9.73483793e-01 2.24703026e-01 -4.28702182e-02 -5.94102756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.51, Y:-49.84, Z:-5.88 [[-7.79820703e-02 -5.89848468e-01 8.03739747e-01 9.05088589e+01] [-2.58921293e-01 7.90513718e-01 5.55020563e-01 -4.98447647e+01] [-9.62745325e-01 -1.64823682e-01 -2.14370224e-01 -5.87747907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.53, Y:-48.55, Z:-6.35 [[-1.13180081e-01 9.56472149e-01 -2.68981967e-01 9.15322360e+01] [-2.63076468e-01 -2.89907806e-01 -9.20187066e-01 -4.85497587e+01] [-9.58113272e-01 -3.33840204e-02 2.84437104e-01 -6.34592413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.05, Y:-49.82, Z:-6.15 [[-7.68075589e-02 -4.14135918e-01 -9.06968599e-01 9.20506485e+01] [-1.80939457e-01 -8.88761746e-01 4.21145429e-01 -4.98177722e+01] [-9.80490445e-01 1.96453558e-01 -6.66990784e-03 -6.14742405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:-50.10, Z:-6.04 [[-1.89426541e-02 -8.05724955e-01 5.91986885e-01 9.06595014e+01] [-2.51162513e-01 5.76941374e-01 7.77210424e-01 -5.00965912e+01] [-9.67759561e-01 -1.33962485e-01 -2.13296705e-01 -6.04002004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:-48.53, Z:-6.45 [[-2.55771558e-02 9.97623347e-01 -6.39802086e-02 9.13238812e+01] [-2.20112887e-01 -6.80505980e-02 -9.73097854e-01 -4.85342820e+01] [-9.75139029e-01 -1.08062070e-02 2.21330295e-01 -6.44506642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-48.55, Z:-6.49 [[-4.04529588e-02 9.95813909e-01 -8.19647239e-02 9.13402759e+01] [-2.18689939e-01 -8.88670080e-02 -9.71739350e-01 -4.85463421e+01] [-9.74955521e-01 -2.13848714e-02 2.21369417e-01 -6.48662851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.40, Y:-48.56, Z:-6.50 [[-4.35843125e-02 9.88599958e-01 -1.44119848e-01 9.13960853e+01] [-2.17768639e-01 -1.50189105e-01 -9.64375473e-01 -4.85587425e+01] [-9.75026783e-01 -1.06468590e-02 2.21831956e-01 -6.50061658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-48.57, Z:-6.52 [[-4.75761887e-02 9.85795456e-01 -1.61070867e-01 9.14108893e+01] [-2.16974819e-01 -1.67602428e-01 -9.61681524e-01 -4.85654231e+01] [-9.75017146e-01 -1.08048195e-02 2.21866675e-01 -6.51545670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-48.57, Z:-6.53 [[-5.13824479e-02 9.82574953e-01 -1.78623365e-01 9.14262015e+01] [-2.16135698e-01 -1.85561609e-01 -9.58567811e-01 -4.85722999e+01] [-9.75010361e-01 -1.06466749e-02 2.21904133e-01 -6.52945999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-49.38, Z:-6.35 [[-6.59563586e-02 5.08965628e-03 9.97809528e-01 9.03180058e+01] [-2.98883250e-01 9.53971976e-01 -2.46225753e-02 -4.93795241e+01] [-9.52007648e-01 -2.99852570e-01 -6.13993048e-02 -6.35134366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.13, Y:-49.41, Z:-6.51 [[-3.84833032e-02 1.20174007e-01 -9.92006675e-01 9.21266918e+01] [-2.28344614e-01 -9.67532339e-01 -1.08350867e-01 -4.94149201e+01] [-9.72819497e-01 2.22349682e-01 6.46749275e-02 -6.51104722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.47, Y:-48.63, Z:-6.68 [[-5.82655491e-02 9.71575358e-01 -2.29448140e-01 9.14693291e+01] [-2.13561705e-01 -2.36648635e-01 -9.47833752e-01 -4.86259251e+01] [-9.75190507e-01 -6.22471806e-03 2.21279752e-01 -6.67755871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.47, Y:-48.64, Z:-6.72 [[-6.36503962e-02 9.70098462e-01 -2.34216997e-01 9.14741973e+01] [-2.33875141e-01 -2.42657083e-01 -9.41498783e-01 -4.86398027e+01] [-9.70180934e-01 -5.14923736e-03 2.42327134e-01 -6.71593855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.09, Y:-49.75, Z:-6.58 [[-5.47814587e-02 -2.12691180e-01 -9.75582623e-01 9.20851936e+01] [-1.65886330e-01 -9.61532968e-01 2.18943093e-01 -4.97509198e+01] [-9.84622119e-01 1.73829843e-01 1.73916192e-02 -6.57662921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.98, Y:-50.39, Z:-6.50 [[ 1.49054265e-02 -9.82245950e-01 1.87004605e-01 9.09833400e+01] [-1.73195710e-01 1.81662029e-01 9.67988716e-01 -5.03885514e+01] [-9.84774631e-01 -4.68166801e-02 -1.67413035e-01 -6.49510509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.31, Y:-49.36, Z:-6.87 [[ 1.78340893e-02 1.23859194e-01 9.92139529e-01 9.03142142e+01] [-2.52001899e-01 9.60819143e-01 -1.15419310e-01 -4.93559633e+01] [-9.67562395e-01 -2.47962647e-01 4.83480865e-02 -6.87041638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.16, Y:-48.65, Z:-7.11 [[ 3.59167061e-03 9.94143111e-01 1.08011917e-01 9.11550506e+01] [-2.65260968e-01 1.05090351e-01 -9.58432385e-01 -4.86463252e+01] [-9.64169964e-01 -2.52089722e-02 2.64084814e-01 -7.11252978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-49.52, Z:-6.95 [[ 1.72750077e-02 8.24410365e-02 -9.96446210e-01 9.21153917e+01] [-2.00511657e-01 -9.76063643e-01 -8.42308777e-02 -4.95181862e+01] [-9.79538999e-01 2.01254169e-01 -3.31118176e-04 -6.94545853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-48.66, Z:-7.13 [[-1.89720330e-03 9.99601792e-01 -2.81541677e-02 9.12793916e+01] [-1.73453152e-01 -2.80564046e-02 -9.84442402e-01 -4.86643712e+01] [-9.84840294e-01 3.01574176e-03 1.73437311e-01 -7.12560096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.30, Y:-48.67, Z:-7.14 [[-5.59849735e-03 9.98775984e-01 -4.91445850e-02 9.12982966e+01] [-1.73416113e-01 -4.93704246e-02 -9.83610397e-01 -4.86688773e+01] [-9.84832731e-01 3.01572272e-03 1.73480249e-01 -7.13975443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.32, Y:-48.68, Z:-7.17 [[-8.92254092e-03 9.97496157e-01 -7.01555788e-02 9.13158639e+01] [-1.74621122e-01 -7.06346376e-02 -9.82098881e-01 -4.86778900e+01] [-9.84595273e-01 3.48782846e-03 1.74814139e-01 -7.17094971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:-48.70, Z:-7.24 [[-2.88373783e-02 9.93730904e-01 -1.08015261e-01 9.13498033e+01] [-1.73472244e-01 -1.11395762e-01 -9.78518454e-01 -4.86969770e+01] [-9.84416470e-01 -9.48025715e-03 1.75597092e-01 -7.23853447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:-48.73, Z:-7.26 [[-2.58699707e-02 9.73056461e-01 -2.29111038e-01 9.14617942e+01] [-1.77943078e-01 -2.30009967e-01 -9.56781938e-01 -4.87297544e+01] [-9.83700669e-01 1.60168025e-02 1.79099013e-01 -7.26382139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:-48.74, Z:-7.28 [[-2.94215796e-02 9.68208045e-01 -2.48410051e-01 9.14812176e+01] [-1.77824019e-01 -2.49623299e-01 -9.51875426e-01 -4.87400796e+01] [-9.83622381e-01 1.61675949e-02 1.79514958e-01 -7.28272201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-48.75, Z:-7.30 [[-3.24578257e-02 9.61703752e-01 -2.72162420e-01 9.15019882e+01] [-1.78338750e-01 -2.73508642e-01 -9.45192210e-01 -4.87488395e+01] [-9.83433668e-01 1.78582219e-02 1.80386541e-01 -7.29864155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:-48.76, Z:-7.31 [[-3.63405868e-02 9.55895493e-01 -2.91450112e-01 9.15156072e+01] [-1.77285674e-01 -2.93183467e-01 -9.39474984e-01 -4.87573665e+01] [-9.83488257e-01 1.75288573e-02 1.80121036e-01 -7.31329187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.53, Y:-48.77, Z:-7.33 [[-3.87662831e-02 9.49733773e-01 -3.10649217e-01 9.15280761e+01] [-1.76058675e-01 -3.12511269e-01 -9.33455971e-01 -4.87669040e+01] [-9.83616042e-01 1.85058709e-02 1.79323770e-01 -7.32974330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-48.78, Z:-7.33 [[-5.45295801e-02 9.42368626e-01 -3.30102859e-01 9.15451964e+01] [-1.75337793e-01 -3.34494823e-01 -9.25942694e-01 -4.87775752e+01] [-9.82997041e-01 7.38824047e-03 1.83472697e-01 -7.32811430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:-49.11, Z:-7.26 [[-1.12975796e-01 4.94317636e-01 8.61908664e-01 9.04533603e+01] [-2.25584926e-01 8.32048412e-01 -5.06761167e-01 -4.91069251e+01] [-9.67650717e-01 -2.51685348e-01 1.75092754e-02 -7.26092464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:-48.82, Z:-7.47 [[-9.73729741e-02 9.16919055e-01 -3.87011564e-01 9.15879994e+01] [-2.29203329e-01 -3.99066862e-01 -8.87812747e-01 -4.88176961e+01] [-9.68495915e-01 2.25537103e-03 2.49019227e-01 -7.46723720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:-48.83, Z:-7.48 [[-1.04029893e-01 9.09741042e-01 -4.01931609e-01 9.15974235e+01] [-2.25548012e-01 -4.15174873e-01 -8.81338709e-01 -4.88253449e+01] [-9.68661899e-01 -1.03069636e-03 2.48380881e-01 -7.47633796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-48.84, Z:-7.49 [[-1.13598610e-01 9.01784359e-01 -4.16989598e-01 9.16068511e+01] [-2.20232707e-01 -4.32121039e-01 -8.74510699e-01 -4.88379002e+01] [-9.68810049e-01 -7.50845216e-03 2.47690760e-01 -7.49373280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-48.86, Z:-7.55 [[-1.34236146e-01 8.93700631e-01 -4.28111947e-01 9.16099897e+01] [-2.29418032e-01 -4.48312339e-01 -8.63934843e-01 -4.88595846e+01] [-9.64026983e-01 -1.77546837e-02 2.65210761e-01 -7.54508796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.672320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:91.99, Y:-50.03, Z:-7.43 [[-7.43403182e-02 -2.84047107e-01 -9.55924034e-01 9.19897737e+01] [-1.45014341e-01 -9.45308127e-01 2.92170132e-01 -5.00319495e+01] [-9.86632838e-01 1.60342715e-01 2.90836028e-02 -7.43441462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.39, Y:-49.22, Z:-7.48 [[-1.61603153e-01 3.25317550e-01 9.31693572e-01 9.03923315e+01] [-2.45900588e-01 9.01050150e-01 -3.57269544e-01 -4.92238175e+01] [-9.55728686e-01 -2.86839882e-01 -6.56167679e-02 -7.48381888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.732320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.58, Y:-48.89, Z:-7.74 [[-1.55022809e-01 9.35489325e-01 -3.17533700e-01 9.15762457e+01] [-1.96704659e-01 -3.44212499e-01 -9.18055027e-01 -4.88891477e+01] [-9.68129746e-01 -7.98591112e-02 2.37375897e-01 -7.74266152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.69, Y:-48.96, Z:-7.75 [[-1.50928177e-01 8.76980303e-01 -4.56208542e-01 9.16913316e+01] [-1.88305872e-01 -4.78550256e-01 -8.57630778e-01 -4.89603183e+01] [-9.70444014e-01 -4.35339019e-02 2.37367259e-01 -7.75191680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.92, Y:-50.18, Z:-7.60 [[-1.20895397e-01 -3.76236208e-01 -9.18602536e-01 9.19181856e+01] [-1.76300303e-01 -9.02540391e-01 3.92860084e-01 -5.01835736e+01] [-9.76884080e-01 2.09444882e-01 4.27824212e-02 -7.59803587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:-50.50, Z:-7.49 [[-3.85383576e-02 -9.43578106e-01 3.28899914e-01 9.07866583e+01] [-2.08444905e-01 3.29494758e-01 9.20860427e-01 -5.05041043e+01] [-9.77274535e-01 -3.30690628e-02 -2.09382235e-01 -7.49283624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.852320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.42, Y:-48.86, Z:-7.87 [[-7.29053265e-02 9.67810250e-01 -2.40890293e-01 9.14200458e+01] [-1.77944375e-01 -2.50280127e-01 -9.51680439e-01 -4.88634823e+01] [-9.81336136e-01 -2.65175004e-02 1.90463145e-01 -7.86776695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.90, Y:-50.18, Z:-7.72 [[ 7.38577420e-03 -4.40187665e-01 -8.97875420e-01 9.19036575e+01] [-1.08558701e-01 -8.92946025e-01 4.36878020e-01 -5.01826766e+01] [-9.94062603e-01 9.42455070e-02 -5.43812989e-02 -7.72436622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.37, Y:-48.87, Z:-7.89 [[-4.62450692e-02 9.80931185e-01 -1.88773421e-01 9.13713801e+01] [-9.08105748e-02 -1.92321402e-01 -9.77121240e-01 -4.88666116e+01] [-9.94793865e-01 -2.80444164e-02 9.79728412e-02 -7.88795783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.39, Y:-48.87, Z:-7.92 [[-4.97684859e-02 9.78025372e-01 -2.02458561e-01 9.13870151e+01] [-1.13606439e-01 -2.06937623e-01 -9.71735765e-01 -4.88738178e+01] [-9.92278527e-01 -2.53612215e-02 1.21408952e-01 -7.91544064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.87, Y:-50.25, Z:-7.83 [[ 2.75461252e-02 -4.74740901e-01 -8.79694429e-01 9.18720331e+01] [-5.13961615e-02 -8.79537023e-01 4.73046572e-01 -5.02465713e+01] [-9.98298375e-01 3.21823168e-02 -4.86276970e-02 -7.83189936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.99, Y:-50.02, Z:-8.01 [[ 5.47421312e-04 -1.41793630e-01 -9.89896089e-01 9.19863168e+01] [ 2.72950089e-02 -9.89525305e-01 1.41755613e-01 -5.00166737e+01] [-9.99627272e-01 -2.70968226e-02 3.32857115e-03 -8.01270855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.61, Y:-50.55, Z:-8.10 [[ 4.72262769e-02 -7.70974799e-01 -6.35112224e-01 9.16077166e+01] [ 3.42742363e-03 -6.35692848e-01 7.71934489e-01 -5.05547541e+01] [-9.98878337e-01 -3.86323906e-02 -2.73789492e-02 -8.10390636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:90.32, Y:-50.23, Z:-8.19 [[ 3.81489823e-02 -5.59075410e-01 8.28238698e-01 9.03179751e+01] [ 7.41351368e-03 8.28977580e-01 5.59232699e-01 -5.02270228e+01] [-9.99244562e-01 -1.51939994e-02 3.57693643e-02 -8.18569458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.67, Y:-49.01, Z:-8.33 [[-3.67866672e-02 7.82828430e-01 6.21149250e-01 9.06733049e+01] [-3.25690339e-02 6.20300585e-01 -7.83687720e-01 -4.90149689e+01] [-9.98792270e-01 -4.90594903e-02 2.67717450e-03 -8.32608254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-48.88, Z:-8.36 [[-2.95734299e-02 9.94562322e-01 9.98559004e-02 9.11614665e+01] [-2.21772162e-02 9.92221432e-02 -9.94818143e-01 -4.88750780e+01] [-9.99316558e-01 -3.16347105e-02 1.91222845e-02 -8.35757562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:-49.82, Z:-8.41 [[-2.69746267e-03 7.36179003e-02 -9.97282873e-01 9.20555035e+01] [ 2.22768501e-02 -9.97034589e-01 -7.36598271e-02 -4.98202054e+01] [-9.99748201e-01 -2.24150157e-02 1.04948866e-03 -8.41303644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:-49.39, Z:-8.48 [[-4.45118568e-02 5.46156862e-01 -8.36499478e-01 9.19599816e+01] [ 8.88104661e-02 -8.31850830e-01 -5.47847513e-01 -4.93864292e+01] [-9.95053464e-01 -9.86756186e-02 -1.14772205e-02 -8.48385602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.67, Y:-50.54, Z:-8.57 [[-4.92400442e-02 -7.58883291e-01 -6.49362432e-01 9.16656622e+01] [ 5.76030844e-02 -6.51226634e-01 7.56693964e-01 -5.05370485e+01] [-9.97124517e-01 -1.45634717e-04 7.57804466e-02 -8.57489618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-50.56, Z:-8.60 [[-4.90212554e-02 -7.85230782e-01 -6.17259698e-01 9.16326785e+01] [ 5.71926242e-02 -6.19195511e-01 7.83151277e-01 -5.05576119e+01] [-9.97158924e-01 3.08835676e-03 7.52631503e-02 -8.59680321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-50.56, Z:-8.65 [[-5.69540023e-02 -7.96070767e-01 -6.02517698e-01 9.16161669e+01] [ 7.62323857e-02 -6.05203019e-01 7.92412727e-01 -5.05599628e+01] [-9.95462136e-01 -8.00285231e-04 9.51551079e-02 -8.64558890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.34, Y:-50.18, Z:-8.62 [[-4.62426219e-02 -5.38904749e-01 8.41096482e-01 9.03396450e+01] [ 2.57389824e-02 8.41074865e-01 5.40306002e-01 -5.01794532e+01] [-9.98598580e-01 4.66341337e-02 -2.50226472e-02 -8.62264935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.332320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:91.99, Y:-49.48, Z:-8.72 [[-1.33570953e-02 4.28480625e-01 -9.03452235e-01 9.19936875e+01] [ 8.38554556e-02 -8.99869952e-01 -4.28021416e-01 -4.94770435e+01] [-9.96388403e-01 -8.14765217e-02 -2.39107894e-02 -8.71979208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.29, Y:-50.08, Z:-8.79 [[-4.46881335e-02 -4.30156387e-01 9.01647632e-01 9.02921051e+01] [ 3.76632371e-02 9.01182196e-01 4.31801031e-01 -5.00754331e+01] [-9.98290765e-01 5.32553506e-02 -2.40710683e-02 -8.78808156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-50.61, Z:-8.84 [[-1.89135891e-02 -9.01253515e-01 -4.32879172e-01 9.14486709e+01] [ 2.99117924e-04 -4.32961699e-01 9.01412268e-01 -5.06107548e+01] [-9.99821077e-01 1.69194593e-02 8.45844075e-03 -8.84310580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.97, Y:-49.42, Z:-8.90 [[-6.97142755e-03 4.79805065e-01 -8.77347422e-01 9.19685177e+01] [ 8.33599623e-02 -8.74036067e-01 -4.78656527e-01 -4.94184351e+01] [-9.96495116e-01 -7.64725673e-02 -3.39032531e-02 -8.89728910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.452320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.47, Y:-50.61, Z:-9.02 [[-4.54944138e-02 -8.93894412e-01 -4.45963045e-01 9.14650323e+01] [ 7.13903950e-02 -4.48193105e-01 8.91081563e-01 -5.06050946e+01] [-9.96410392e-01 8.70175541e-03 8.42057578e-02 -9.01755580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.35, Y:-50.20, Z:-9.03 [[-5.61065034e-03 -5.71180114e-01 8.20805579e-01 9.03513066e+01] [ 5.17624634e-02 8.19552207e-01 5.70661746e-01 -5.02039031e+01] [-9.98643664e-01 4.56887022e-02 2.49674689e-02 -9.03470333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.512320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.58, Y:-49.04, Z:-9.06 [[-4.30958036e-02 7.27520590e-01 6.84731001e-01 9.05762045e+01] [ 1.88417220e-02 6.85837697e-01 -7.27510579e-01 -4.90379972e+01] [-9.98893258e-01 -1.84511419e-02 -4.32644674e-02 -9.06009968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.15, Y:-48.84, Z:-9.17 [[-9.56834558e-02 9.92452427e-01 7.66997861e-02 9.11480243e+01] [ 9.86419679e-03 7.79949096e-02 -9.96904956e-01 -4.88414370e+01] [-9.95362936e-01 -9.46307295e-02 -1.72525685e-02 -9.16732168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.86, Y:-48.89, Z:-9.21 [[-1.68953406e-01 9.06400581e-01 3.87159829e-01 9.08635518e+01] [-1.18739499e-02 3.90906497e-01 -9.20353802e-01 -4.88862136e+01] [-9.85552513e-01 -1.60094026e-01 -5.52824289e-02 -9.21483785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.67, Y:-48.97, Z:-9.25 [[-2.31626603e-01 7.76167261e-01 5.86441386e-01 9.06669254e+01] [-5.30005392e-02 5.91871592e-01 -8.04287860e-01 -4.89727552e+01] [-9.71359902e-01 -2.17376175e-01 -9.59559231e-02 -9.25211653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.95, Y:-49.39, Z:-9.53 [[-2.04567026e-01 4.58731708e-01 -8.64706628e-01 9.19473571e+01] [-7.65290862e-02 -8.88179288e-01 -4.53079300e-01 -4.93850533e+01] [-9.75856358e-01 -2.65098767e-02 2.16798513e-01 -9.53485430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.94, Y:-48.86, Z:-9.41 [[-2.91733663e-01 9.14855577e-01 2.79160784e-01 9.09385840e+01] [-7.02512283e-02 2.70574573e-01 -9.60132369e-01 -4.88597108e+01] [-9.53916262e-01 -2.99714320e-01 -1.46659832e-02 -9.41082373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:90.94, Y:-48.86, Z:-9.49 [[-3.54031313e-01 8.97678295e-01 2.62365220e-01 9.09419868e+01] [-8.78001562e-02 2.47393476e-01 -9.64928806e-01 -4.88607482e+01] [-9.31103089e-01 -3.64650719e-01 -8.76874258e-03 -9.48835410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.94, Y:-49.55, Z:-9.80 [[-3.33597303e-01 3.01308110e-01 -8.93267184e-01 9.19392921e+01] [-1.08782703e-01 -9.53520668e-01 -2.81006510e-01 -4.95497128e+01] [-9.36418263e-01 3.42900506e-03 3.50869034e-01 -9.80261395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:91.93, Y:-49.57, Z:-9.85 [[-3.40334495e-01 2.84833653e-01 -8.96126231e-01 9.19275551e+01] [-8.97835660e-02 -9.58506475e-01 -2.70562838e-01 -4.95682313e+01] [-9.36008196e-01 -1.16244584e-02 3.51786199e-01 -9.84526288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.03, Y:-50.65, Z:-9.47 [[-2.99119801e-01 -9.53835754e-01 -2.69202197e-02 9.10290349e+01] [-1.15275046e-01 8.11584414e-03 9.93300456e-01 -5.06500939e+01] [-9.47227010e-01 3.00219064e-01 -1.12381070e-01 -9.47076450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.15, Y:-50.66, Z:-9.57 [[-2.26038966e-01 -9.55147688e-01 -1.91309383e-01 9.11466657e+01] [-1.15625694e-01 -1.68696131e-01 9.78862766e-01 -5.06583106e+01] [-9.67231660e-01 2.43381408e-01 -7.23077149e-02 -9.56944573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.15, Y:-49.91, Z:-9.52 [[ -0.21118878 -0.26541699 0.94071947 90.15168443] [ -0.15884254 0.95895268 0.23490167 -49.90832843] [ -0.96445236 -0.09981767 -0.24467955 -9.52329336] [ 0. 0. 0. 1. ]] SLAMing on 162.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.69, Y:-48.92, Z:-9.87 [[-2.90195507e-01 8.59715600e-01 4.20328032e-01 9.06927595e+01] [-1.65593685e-01 3.87491048e-01 -9.06878944e-01 -4.89240170e+01] [-9.42531325e-01 -3.32775863e-01 2.99153127e-02 -9.87114438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.74, Y:-49.35, Z:-10.14 [[-2.83676044e-01 5.75792142e-01 -7.66805915e-01 9.17375477e+01] [-1.69870413e-01 -8.17183090e-01 -5.50777488e-01 -4.93459590e+01] [-9.43754176e-01 -2.59847415e-02 3.29625315e-01 -1.01429163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:-50.54, Z:-9.94 [[-2.18794564e-01 -7.30502944e-01 -6.46911422e-01 9.14874811e+01] [-1.24213049e-01 -6.36729960e-01 7.61016475e-01 -5.05378959e+01] [-9.67832660e-01 2.46861108e-01 4.85750560e-02 -9.93812059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:90.38, Y:-50.47, Z:-9.76 [[-1.70542211e-01 -8.21069684e-01 5.44756761e-01 9.03752806e+01] [-2.01106602e-01 5.70222633e-01 7.96493744e-01 -5.04693203e+01] [-9.64609501e-01 2.62816230e-02 -2.62369563e-01 -9.75644127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.18, Y:-49.30, Z:-10.05 [[-2.07585531e-01 4.35055286e-01 8.76147901e-01 9.01795423e+01] [-2.50501197e-01 8.42151261e-01 -4.77525292e-01 -4.93017444e+01] [-9.45598962e-01 -3.18603439e-01 -6.58365467e-02 -1.00500964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:91.49, Y:-49.16, Z:-10.38 [[-2.21126665e-01 8.07934792e-01 -5.46209090e-01 9.14924882e+01] [-2.29213715e-01 -5.87440365e-01 -7.76128140e-01 -4.91640357e+01] [-9.47926195e-01 -4.64240132e-02 3.15088464e-01 -1.03836378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:91.58, Y:-50.44, Z:-10.16 [[-1.42319624e-01 -5.68892893e-01 -8.10003704e-01 9.15766973e+01] [-1.81939082e-01 -7.89355599e-01 5.86358174e-01 -5.04437822e+01] [-9.72955957e-01 2.30821605e-01 8.83694194e-03 -1.01557771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.56, Y:-49.26, Z:-10.41 [[-1.81876692e-01 7.44042499e-01 -6.42900947e-01 9.15575032e+01] [-1.66621910e-01 -6.67670262e-01 -7.25571196e-01 -4.92559082e+01] [-9.69101650e-01 -2.48431050e-02 2.45407441e-01 -1.04108427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.51, Y:-50.52, Z:-10.26 [[-1.18794105e-01 -6.27890737e-01 -7.69182152e-01 9.15053444e+01] [-1.15291815e-01 -7.60705027e-01 6.38776690e-01 -5.05198281e+01] [-9.86202696e-01 1.64563311e-01 1.79766103e-02 -1.02587744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:90.15, Y:-50.40, Z:-10.16 [[-8.49206189e-02 -7.06129475e-01 7.02972014e-01 9.01520572e+01] [-2.00156841e-01 7.03228339e-01 6.82207550e-01 -5.04027991e+01] [-9.76076702e-01 -8.27711703e-02 -2.01055231e-01 -1.01619281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.33, Y:-49.10, Z:-10.50 [[-8.40782452e-02 9.10438981e-01 -4.05008284e-01 9.13253027e+01] [-1.50529321e-01 -4.13387812e-01 -8.98026414e-01 -4.91001595e+01] [-9.85023742e-01 -1.45388632e-02 1.71804683e-01 -1.04983437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.32, Y:-49.11, Z:-10.53 [[-9.39179912e-02 9.08691622e-01 -4.06766452e-01 9.13233312e+01] [-1.78583125e-01 -4.17321924e-01 -8.91038989e-01 -4.91055202e+01] [-9.79432223e-01 -1.10429679e-02 2.01471026e-01 -1.05289068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-50.38, Z:-10.41 [[-4.20662274e-02 -4.32210431e-01 -9.00791084e-01 9.16180168e+01] [-1.24005466e-01 -8.92359282e-01 4.33955707e-01 -5.03750296e+01] [-9.91389468e-01 1.29957897e-01 -1.60582672e-02 -1.04059613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.61, Y:-50.39, Z:-10.50 [[-1.54585876e-02 -4.32679234e-01 -9.01415394e-01 9.16082706e+01] [-7.27932061e-02 -8.98643853e-01 4.32597243e-01 -5.03904384e+01] [-9.97227247e-01 7.23042589e-02 -1.76043439e-02 -1.05049180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.41, Y:-49.21, Z:-10.58 [[-6.71748710e-03 8.38530222e-01 -5.44813677e-01 9.14133766e+01] [-3.60791855e-02 -5.44674473e-01 -8.37871119e-01 -4.92102031e+01] [-9.99326357e-01 1.40280453e-02 3.39123311e-02 -1.05798359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.98, Y:-49.60, Z:-10.61 [[-6.81710706e-02 2.27189952e-01 9.71461492e-01 8.99823900e+01] [-8.21605780e-02 9.69140833e-01 -2.32412747e-01 -4.96022355e+01] [-9.94284841e-01 -9.56596635e-02 -4.74013103e-02 -1.06070168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-49.14, Z:-10.80 [[-4.13145549e-02 9.09520599e-01 -4.13600517e-01 9.12916894e+01] [-8.83381106e-02 -4.15657957e-01 -9.05220880e-01 -4.91356986e+01] [-9.95233383e-01 -8.62109484e-04 9.75180547e-02 -1.08038683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.45, Y:-49.26, Z:-10.84 [[-4.45884812e-02 7.95132969e-01 -6.04793708e-01 9.14471328e+01] [-9.13234448e-02 -6.06105194e-01 -7.90124371e-01 -4.92585673e+01] [-9.94822545e-01 2.00013991e-02 9.96395918e-02 -1.08355941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.30, Y:-50.65, Z:-10.70 [[-6.31164500e-02 -8.65529961e-01 4.96864369e-01 9.02989699e+01] [-1.34463255e-01 5.00692593e-01 8.55117863e-01 -5.06524924e+01] [-9.88906440e-01 -1.28379963e-02 -1.47983914e-01 -1.06992711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.06, Y:-49.06, Z:-10.95 [[ 1.05603062e-02 9.83332427e-01 -1.81509827e-01 9.10568430e+01] [-1.10838435e-01 -1.79250270e-01 -9.77539862e-01 -4.90579994e+01] [-9.93782331e-01 3.04413853e-02 1.07098089e-01 -1.09477483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:-49.07, Z:-10.96 [[ 7.25793996e-03 9.77330224e-01 -2.11596207e-01 9.10801072e+01] [-1.11286497e-01 -2.09497877e-01 -9.71455586e-01 -4.90670809e+01] [-9.93761862e-01 3.05985670e-02 1.07243134e-01 -1.09642747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:-49.08, Z:-10.98 [[ 4.28302751e-03 9.69194083e-01 -2.46261011e-01 9.11018723e+01] [-1.09941277e-01 -2.44314031e-01 -9.63443600e-01 -4.90779221e+01] [-9.93928856e-01 3.12007053e-02 1.05508031e-01 -1.09808180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.93, Y:-49.78, Z:-10.93 [[-6.33273699e-02 8.67348925e-02 9.94216628e-01 8.99250948e+01] [-1.56336232e-01 9.83054849e-01 -9.57190982e-02 -4.97804056e+01] [-9.85671663e-01 -1.61493720e-01 -4.86944718e-02 -1.09337245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-49.08, Z:-11.13 [[-9.44325281e-03 9.77754122e-01 -2.09541649e-01 9.10594661e+01] [-1.76636908e-01 -2.07886799e-01 -9.62071973e-01 -4.90758481e+01] [-9.84230780e-01 2.79277001e-02 1.74670593e-01 -1.11323567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.07, Y:-49.08, Z:-11.15 [[-1.48936212e-02 9.73454144e-01 -2.28397045e-01 9.10710385e+01] [-1.76933214e-01 -2.27383515e-01 -9.57596666e-01 -4.90817234e+01] [-9.84110166e-01 2.61489411e-02 1.75622934e-01 -1.11468634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.05, Y:-49.09, Z:-11.19 [[-3.80616800e-02 9.74339595e-01 -2.21841526e-01 9.10539065e+01] [-1.86177948e-01 -2.25029655e-01 -9.56399198e-01 -4.90881842e+01] [-9.81778529e-01 4.89983994e-03 1.89965553e-01 -1.11949234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-50.11, Z:-11.13 [[-3.91173416e-02 -1.12218014e-01 -9.92913365e-01 9.16947221e+01] [-1.48626327e-01 -9.81967162e-01 1.16836247e-01 -5.01121849e+01] [-9.88119451e-01 1.52143389e-01 2.17333937e-02 -1.11268953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:91.23, Y:-49.18, Z:-11.22 [[-3.01715213e-02 8.97827877e-01 -4.39311715e-01 9.12343808e+01] [-1.08964358e-01 -4.39846820e-01 -8.91437908e-01 -4.91821944e+01] [-9.93587665e-01 2.09732811e-02 1.11102086e-01 -1.12162702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-49.20, Z:-11.23 [[-4.45148947e-02 8.83656226e-01 -4.66015127e-01 9.12560581e+01] [-1.04046440e-01 -4.68041543e-01 -8.77559942e-01 -4.91958739e+01] [-9.93575746e-01 9.42272637e-03 1.12776104e-01 -1.12296688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.31, Y:-49.23, Z:-11.24 [[-4.85866772e-02 8.49736871e-01 -5.24963413e-01 9.13061665e+01] [-1.01485368e-01 -5.27063960e-01 -8.43744216e-01 -4.92303392e+01] [-9.93649865e-01 1.22813773e-02 1.11844145e-01 -1.12441086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-50.22, Z:-11.11 [[-7.68247509e-02 -3.22818105e-01 9.43337918e-01 8.99370164e+01] [-1.67433268e-01 9.36875127e-01 3.06970841e-01 -5.02161655e+01] [-9.82885577e-01 -1.34363192e-01 -1.26025689e-01 -1.11099664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:-49.12, Z:-11.36 [[-4.17118566e-02 9.67831611e-01 -2.48117098e-01 9.10452613e+01] [-1.53334868e-01 -2.51592285e-01 -9.55609617e-01 -4.91194459e+01] [-9.87293543e-01 -1.81524896e-03 1.58896713e-01 -1.13629254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.67, Y:-50.15, Z:-11.32 [[-5.07951434e-02 -1.35730050e-01 -9.89442877e-01 9.16740021e+01] [-1.08512147e-01 -9.84106473e-01 1.40568712e-01 -5.01450732e+01] [-9.92796539e-01 1.14506779e-01 3.52594702e-02 -1.13181446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.87, Y:-50.89, Z:-11.25 [[ 2.29747944e-02 -9.90388898e-01 -1.36389110e-01 9.08715631e+01] [-1.11711804e-01 -1.38113966e-01 9.84096035e-01 -5.08941772e+01] [-9.93475028e-01 -7.37313054e-03 -1.13811270e-01 -1.12523215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.61, Y:-49.13, Z:-11.53 [[ 6.11664884e-03 9.72196212e-01 2.34087830e-01 9.06057893e+01] [-8.10628095e-02 2.33803846e-01 -9.68898644e-01 -4.91289236e+01] [-9.96690226e-01 -1.30494044e-02 8.02390523e-02 -1.15263728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.71, Y:-49.12, Z:-11.61 [[-3.73042613e-03 9.92161531e-01 1.24906288e-01 9.07139983e+01] [-1.13357571e-01 1.23682464e-01 -9.85825902e-01 -4.91237827e+01] [-9.93547254e-01 -1.78366241e-02 1.12007633e-01 -1.16135538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.69, Y:-50.03, Z:-11.58 [[ 1.74225509e-02 3.83674727e-02 -9.99111801e-01 9.16946914e+01] [-3.50103621e-02 -9.98627279e-01 -3.89593783e-02 -5.00331584e+01] [-9.99235072e-01 3.56580377e-02 -1.60553755e-02 -1.15762003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:-50.26, Z:-11.64 [[-3.46951909e-03 -2.90717368e-01 9.56802683e-01 8.99210133e+01] [-1.18964551e-01 9.50133582e-01 2.88259627e-01 -5.02613935e+01] [-9.92892440e-01 -1.12825480e-01 -3.78815678e-02 -1.16388499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.66, Y:-49.15, Z:-11.82 [[ 5.62941447e-03 9.83701279e-01 1.79722294e-01 9.06645886e+01] [-1.23047534e-01 1.79040745e-01 -9.76116651e-01 -4.91504944e+01] [-9.92384812e-01 -1.66194198e-02 1.22049911e-01 -1.18157217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:-49.16, Z:-11.93 [[-1.35632607e-02 9.89112957e-01 1.46531893e-01 9.07110719e+01] [-1.20897019e-01 1.43848068e-01 -9.82187174e-01 -4.91567017e+01] [-9.92572390e-01 -3.10369297e-02 1.17629759e-01 -1.19295830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-49.70, Z:-11.93 [[-1.79089245e-02 4.53950342e-01 -8.90846989e-01 9.16387498e+01] [-7.01965492e-02 -8.89362130e-01 -4.51782521e-01 -4.96961916e+01] [-9.97372405e-01 5.44434454e-02 4.77932668e-02 -1.19343438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:-50.87, Z:-12.03 [[ 5.29414320e-02 -8.23228376e-01 -5.65236451e-01 9.12544541e+01] [-9.65682657e-03 -5.66425829e-01 8.24056143e-01 -5.08738144e+01] [-9.98550925e-01 -3.81683218e-02 -3.79371681e-02 -1.20276561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.88, Y:-50.05, Z:-12.21 [[ 4.30857596e-02 3.45423469e-02 9.98474058e-01 8.98801524e+01] [-2.64337163e-02 9.99091666e-01 -3.34230558e-02 -5.00470387e+01] [-9.98721621e-01 -2.49533222e-02 4.39597060e-02 -1.22050018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:89.96, Y:-49.75, Z:-12.30 [[ 7.81033280e-02 3.62270045e-01 9.28795072e-01 8.99605414e+01] [-4.09815501e-02 9.32020179e-01 -3.60081795e-01 -4.97529243e+01] [-9.96102596e-01 -9.93987527e-03 8.76402658e-02 -1.22971188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.21, Y:-49.30, Z:-12.41 [[ 6.66569258e-03 9.26394802e-01 -3.76494675e-01 9.12142983e+01] [-5.24499718e-04 -3.76499749e-01 -9.26416572e-01 -4.93045195e+01] [-9.99977646e-01 6.37267942e-03 -2.02373777e-03 -1.24114290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-49.41, Z:-12.46 [[-2.23300491e-03 8.18511550e-01 -5.74485732e-01 9.13909903e+01] [ 3.45344559e-03 -5.74477427e-01 -8.18513140e-01 -4.94074374e+01] [-9.99991544e-01 -3.81169908e-03 -1.54387418e-03 -1.24560707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.74, Y:-49.98, Z:-12.48 [[ 2.21823437e-03 1.94542723e-01 -9.80891538e-01 9.17388003e+01] [-7.55467047e-03 -9.80862699e-01 -1.94554088e-01 -4.99828799e+01] [-9.99969003e-01 7.84187890e-03 -7.06077185e-04 -1.24820262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:-49.31, Z:-12.53 [[-6.36088745e-02 9.24532950e-01 -3.75756218e-01 9.12146540e+01] [ 4.89038789e-02 -3.73178717e-01 -9.26469674e-01 -4.93114717e+01] [-9.96775964e-01 -7.73076298e-02 -2.14757692e-02 -1.25258899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.75, Y:-50.10, Z:-12.63 [[-6.07601054e-02 6.48460893e-02 -9.96043771e-01 9.17528010e+01] [ 2.73687598e-02 -9.97404047e-01 -6.66041821e-02 -5.00985871e+01] [-9.97777110e-01 -3.13073599e-02 5.88276180e-02 -1.26253114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:-49.31, Z:-12.63 [[-1.32805916e-01 9.11556605e-01 -3.89136408e-01 9.12236108e+01] [ 7.41908115e-02 -3.82369883e-01 -9.21026056e-01 -4.93114041e+01] [-9.88361428e-01 -1.51188055e-01 -1.68481415e-02 -1.26269496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.74, Y:-50.29, Z:-12.79 [[-1.28118562e-01 -1.57876128e-01 -9.79112232e-01 9.17421160e+01] [ 6.11280469e-02 -9.86628286e-01 1.51089335e-01 -5.02877762e+01] [-9.89873222e-01 -4.04938701e-02 1.36056056e-01 -1.27865301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.85, Y:-51.04, Z:-12.78 [[-8.06515649e-02 -9.96383308e-01 -2.67512484e-02 9.08492195e+01] [ 4.82490877e-02 -3.07098926e-02 9.98363124e-01 -5.10408703e+01] [-9.95573880e-01 7.92288250e-02 5.05513865e-02 -1.27778468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.93, Y:-50.10, Z:-12.72 [[-1.00327671e-01 2.43019024e-02 9.94657617e-01 8.99303741e+01] [ 7.78726093e-03 9.99690221e-01 -2.36393870e-02 -5.00958839e+01] [-9.94923975e-01 5.37397376e-03 -1.00485837e-01 -1.27241048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.46, Y:-50.94, Z:-12.84 [[-2.61741879e-02 -9.16594978e-01 3.98959344e-01 9.04573456e+01] [-4.45809950e-02 3.99769293e-01 9.15531019e-01 -5.09431286e+01] [-9.98662829e-01 6.17727637e-03 -5.13263527e-02 -1.28359115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.21, Y:-49.30, Z:-12.92 [[-2.07235475e-02 8.96102867e-01 -4.43362364e-01 9.12056524e+01] [-2.26468778e-02 -4.43764558e-01 -8.95857207e-01 -4.93019650e+01] [-9.99528716e-01 -8.52456615e-03 2.94903080e-02 -1.29249796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.65, Y:-50.46, Z:-13.00 [[ 2.93769248e-03 -3.77119559e-01 -9.26159926e-01 9.16507886e+01] [ 4.57748610e-02 -9.25142379e-01 3.76850422e-01 -5.04567194e+01] [-9.98947462e-01 -4.35019125e-02 1.45448116e-02 -1.29975849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.94, Y:-51.02, Z:-13.09 [[ 2.47518133e-02 -9.90339782e-01 -1.36434835e-01 9.09427448e+01] [ 5.21080455e-02 -1.35013031e-01 9.89472704e-01 -5.10186317e+01] [-9.98334663e-01 -3.16005963e-02 4.82628530e-02 -1.30899895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:89.96, Y:-50.41, Z:-13.25 [[ 5.96270681e-02 -3.53844598e-01 9.33401636e-01 8.99559062e+01] [-3.86101262e-02 9.33548126e-01 3.56366603e-01 -5.04077158e+01] [-9.97473744e-01 -5.72878506e-02 4.20027531e-02 -1.32478474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.98, Y:-49.70, Z:-13.36 [[ 8.66615964e-03 4.29399618e-01 9.03073012e-01 8.99803734e+01] [-4.87209031e-02 9.02215660e-01 -4.28524417e-01 -4.96961433e+01] [-9.98774835e-01 -4.02848718e-02 2.87394821e-02 -1.33602524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.31, Y:-50.83, Z:-13.47 [[ 9.96816491e-02 -8.50820933e-01 5.15914051e-01 9.03076572e+01] [-1.00630073e-01 5.07217853e-01 8.55922683e-01 -5.08322627e+01] [-9.89917753e-01 -1.37236253e-01 -3.50578602e-02 -1.34716809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:90.06, Y:-49.53, Z:-13.72 [[ 8.18331959e-02 5.97920483e-01 7.97367183e-01 9.00559627e+01] [-1.19665230e-01 8.00157361e-01 -5.87731597e-01 -4.95306991e+01] [-9.89435981e-01 -4.73211721e-02 1.37029726e-01 -1.37185519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.55, Y:-49.56, Z:-13.76 [[ 3.51662899e-02 5.94540709e-01 -8.03296133e-01 9.15451234e+01] [ 1.58000766e-03 -8.03825370e-01 -5.94863243e-01 -4.95618614e+01] [-9.99380226e-01 1.96499192e-02 -2.92069349e-02 -1.37645476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.732320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:91.54, Y:-49.56, Z:-13.93 [[-1.30162754e-02 6.51409037e-01 -7.58615082e-01 9.15433161e+01] [ 5.37649674e-02 -7.57125882e-01 -6.51052784e-01 -4.95553871e+01] [-9.98468780e-01 -4.92611975e-02 -2.51680266e-02 -1.39336905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:91.17, Y:-51.00, Z:-14.03 [[ 3.50675427e-02 -9.40988894e-01 -3.36615758e-01 9.11697958e+01] [ 3.86234306e-02 -3.35295217e-01 9.41321065e-01 -5.09969975e+01] [-9.98638322e-01 -4.60110721e-02 2.45862399e-02 -1.40335665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.96, Y:-50.15, Z:-14.21 [[ 2.83539144e-02 -4.56325188e-02 9.98555822e-01 8.99626674e+01] [-9.27733450e-02 9.94525599e-01 4.80826354e-02 -5.01462482e+01] [-9.95283458e-01 -9.40026947e-02 2.39652122e-02 -1.42066873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:90.52, Y:-49.27, Z:-14.33 [[-2.27493724e-02 9.21830999e-01 3.86923862e-01 9.05238193e+01] [-8.86096757e-02 3.83641644e-01 -9.19221091e-01 -4.92734464e+01] [-9.95806603e-01 -5.51969009e-02 7.29555392e-02 -1.43293246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:91.75, Y:-50.30, Z:-14.43 [[ 9.24238486e-03 -1.33948313e-01 -9.90945219e-01 9.17537800e+01] [ 4.36249366e-02 -9.89990012e-01 1.34226078e-01 -5.02954139e+01] [-9.99005227e-01 -4.44704915e-02 -3.30638203e-03 -1.44338118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.70, Y:-51.05, Z:-14.52 [[ 5.07350577e-02 -9.85618602e-01 1.61189098e-01 9.07016740e+01] [-2.06041347e-02 1.60329625e-01 9.86848459e-01 -5.10533583e+01] [-9.98499586e-01 -5.33889754e-02 -1.21734857e-02 -1.45230993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.912320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:89.98, Y:-50.37, Z:-14.60 [[ 9.76409154e-03 -2.44036190e-01 9.69716969e-01 8.99801749e+01] [-3.77615527e-02 9.68981489e-01 2.44231323e-01 -5.03677753e+01] [-9.99239074e-01 -3.90027154e-02 2.46038507e-04 -1.46037574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:89.96, Y:-50.11, Z:-14.74 [[ 2.76885704e-02 2.83015337e-02 9.99215876e-01 8.99634356e+01] [-5.44411833e-02 9.98158254e-01 -2.67629965e-02 -5.01054550e+01] [-9.98133007e-01 -5.36574655e-02 2.91783441e-02 -1.47423010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:91.55, Y:-49.56, Z:-14.89 [[-5.40564332e-02 7.09297529e-01 -7.02833492e-01 9.15480630e+01] [ 3.97877408e-02 -7.01773621e-01 -7.11288071e-01 -4.95577786e+01] [-9.97744876e-01 -6.64138530e-02 9.71403264e-03 -1.48920776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:91.66, Y:-50.67, Z:-14.93 [[ 2.35269853e-03 -5.12000863e-01 -8.58981712e-01 9.16641958e+01] [ 4.53820984e-02 -8.58044408e-01 5.11566476e-01 -5.06716518e+01] [-9.98966931e-01 -4.01859543e-02 2.12169537e-02 -1.49261108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.36, Y:-49.40, Z:-14.97 [[-1.10481613e-01 8.78682891e-01 -4.64446110e-01 9.13556620e+01] [ 7.02894894e-02 -4.59228860e-01 -8.85532745e-01 -4.94012170e+01] [-9.91389530e-01 -1.30480766e-01 -1.10258264e-02 -1.49748305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.66, Y:-50.68, Z:-15.08 [[-5.52198711e-02 -5.20692236e-01 -8.51956784e-01 9.16633414e+01] [ 7.71762228e-02 -8.52931804e-01 5.16285937e-01 -5.06809034e+01] [-9.95487115e-01 -3.72415636e-02 8.72838442e-02 -1.50780548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.60, Y:-50.75, Z:-15.12 [[-7.21981448e-02 -6.08218583e-01 -7.90479338e-01 9.16020504e+01] [ 8.99736337e-02 -7.93287956e-01 6.02161908e-01 -5.07542920e+01] [-9.93323801e-01 -2.76473257e-02 1.11997555e-01 -1.51163617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.19, Y:-50.74, Z:-15.05 [[-3.99863694e-02 -6.56450679e-01 7.53308433e-01 9.01900706e+01] [-5.39754618e-03 7.54042301e-01 6.56803681e-01 -5.07446135e+01] [-9.99185647e-01 2.21971776e-02 -3.36946369e-02 -1.50511456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:-49.54, Z:-15.15 [[-8.27254913e-02 7.28010838e-01 -6.80556179e-01 9.15350486e+01] [ 8.91401121e-02 -6.74754118e-01 -7.32639693e-01 -4.95364129e+01] [-9.92577722e-01 -1.21272833e-01 -9.07560178e-03 -1.51492573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.66, Y:-49.70, Z:-15.25 [[-1.26372535e-01 5.54435751e-01 -8.22575820e-01 9.16576225e+01] [ 1.26845602e-01 -8.13384866e-01 -5.67728151e-01 -4.96967666e+01] [-9.83839507e-01 -1.76085371e-01 3.24617707e-02 -1.52502249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.57, Y:-50.77, Z:-15.36 [[-1.03689887e-01 -6.33524492e-01 -7.66743194e-01 9.15722778e+01] [ 1.15734745e-01 -7.73347029e-01 6.23329642e-01 -5.07727206e+01] [-9.87853165e-01 -2.41058477e-02 1.53509062e-01 -1.53646227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.50, Y:-50.84, Z:-15.39 [[-1.20120502e-01 -7.13805478e-01 -6.89965800e-01 9.15000893e+01] [ 1.31422423e-01 -7.00314803e-01 7.01631901e-01 -5.08402691e+01] [-9.84021957e-01 -6.39660112e-03 1.77932211e-01 -1.53946318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.31, Y:-50.87, Z:-15.30 [[-8.24882698e-02 -7.91818161e-01 6.05160876e-01 9.03056831e+01] [ 6.58023532e-02 6.01577832e-01 7.96099342e-01 -5.08731119e+01] [-9.94417284e-01 1.05489867e-01 2.48038375e-03 -1.53047272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.21, Y:-49.55, Z:-15.29 [[-1.22856570e-01 6.42436791e-01 7.56426621e-01 9.02086038e+01] [ 5.19522559e-02 7.65318942e-01 -6.41551152e-01 -4.95531099e+01] [-9.91063684e-01 -3.95207048e-02 -1.27400501e-01 -1.52861590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.73, Y:-50.42, Z:-15.50 [[-8.76727962e-02 -2.75475962e-01 -9.57301664e-01 9.17346451e+01] [ 2.11615304e-02 -9.61300351e-01 2.74688594e-01 -5.04186556e+01] [-9.95924530e-01 3.82474896e-03 9.01093827e-02 -1.54977874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.72, Y:-50.45, Z:-15.53 [[-9.01227212e-02 -3.11781789e-01 -9.45869976e-01 9.17239460e+01] [ 2.21720554e-02 -9.50127482e-01 3.11072608e-01 -5.04487968e+01] [-9.95683833e-01 7.06282844e-03 9.25409173e-02 -1.55320509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.71, Y:-50.49, Z:-15.56 [[-8.92805928e-02 -3.65711724e-01 -9.26436134e-01 9.17065046e+01] [ 2.45315195e-02 -9.30675920e-01 3.65021283e-01 -5.04872927e+01] [-9.95704364e-01 9.86243048e-03 9.20627621e-02 -1.55626686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.53, Z:-15.58 [[-8.78264092e-02 -4.24542219e-01 -9.01138406e-01 9.16806098e+01] [ 2.81403395e-02 -9.05330458e-01 4.23774566e-01 -5.05344923e+01] [-9.95738240e-01 1.18602577e-02 9.14586855e-02 -1.55837003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.452320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.66, Y:-50.57, Z:-15.60 [[-8.72281431e-02 -4.71605123e-01 -8.77484962e-01 9.16563588e+01] [ 3.20380184e-02 -8.81714829e-01 4.70693665e-01 -5.05724053e+01] [-9.95673047e-01 1.29448550e-02 9.20196409e-02 -1.55985615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-50.60, Z:-15.62 [[-8.55899702e-02 -5.03422808e-01 -8.59790575e-01 9.16400508e+01] [ 3.98032395e-02 -8.63996030e-01 5.01922865e-01 -5.05997447e+01] [-9.95535062e-01 8.73711288e-03 9.39872530e-02 -1.56173159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-49.25, Z:-15.54 [[-1.45002305e-01 9.78798051e-01 -1.44667576e-01 9.09960199e+01] [ 9.08759763e-02 -1.32419982e-01 -9.87018999e-01 -4.92491141e+01] [-9.85249151e-01 -1.56266837e-01 -6.97480259e-02 -1.55439037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.50, Z:-15.78 [[-1.41135079e-01 -4.10644359e-01 -9.00806361e-01 9.16809438e+01] [ 6.70749138e-02 -9.11789834e-01 4.05142264e-01 -5.05000573e+01] [-9.87715468e-01 -3.24172377e-03 1.56229465e-01 -1.57790024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.572320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.65, Y:-50.56, Z:-15.79 [[-1.39534908e-01 -4.75790662e-01 -8.68419976e-01 9.16519918e+01] [ 7.41460647e-02 -8.79557749e-01 4.69979284e-01 -5.05555960e+01] [-9.87437274e-01 1.18859261e-03 1.58007015e-01 -1.57922774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:91.64, Y:-50.58, Z:-15.80 [[-1.36473159e-01 -5.05632082e-01 -8.51886891e-01 9.16397383e+01] [ 8.04395547e-02 -8.62749117e-01 4.99192788e-01 -5.05757508e+01] [-9.87372551e-01 -3.98985549e-04 1.58414917e-01 -1.57974323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.632320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:91.63, Y:-50.58, Z:-15.83 [[-1.53920195e-01 -5.13160929e-01 -8.44378135e-01 9.16322597e+01] [ 9.81599919e-02 -8.58275721e-01 5.03713612e-01 -5.05759850e+01] [-9.83195397e-01 -5.35245349e-03 1.82477839e-01 -1.58318699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.49, Y:-50.96, Z:-15.77 [[-8.28263047e-02 -9.08193131e-01 4.10274348e-01 9.04852444e+01] [ 7.40622385e-02 4.04940823e-01 9.11338419e-01 -5.09623825e+01] [-9.93808124e-01 1.05868630e-01 3.37230642e-02 -1.57678353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:89.97, Y:-49.84, Z:-15.71 [[-1.25484515e-01 3.25450815e-01 9.37195499e-01 8.99734918e+01] [ 6.08116091e-03 9.44897085e-01 -3.27311041e-01 -4.98363969e+01] [-9.92076941e-01 -3.53732307e-02 -1.20549071e-01 -1.57072677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.62, Y:-49.23, Z:-15.87 [[-1.89101941e-01 9.60839059e-01 2.02555570e-01 9.06227235e+01] [ 3.10494801e-03 2.06861386e-01 -9.78365334e-01 -4.92251104e+01] [-9.81952552e-01 -1.84381859e-01 -4.21012450e-02 -1.58655208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.71, Y:-50.03, Z:-16.12 [[-1.60502706e-01 5.02669133e-02 -9.85754594e-01 9.17118164e+01] [ 2.94840484e-02 -9.98012535e-01 -5.56926435e-02 -5.00347276e+01] [-9.86594938e-01 -3.80028561e-02 1.58701641e-01 -1.61177676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.57, Y:-49.24, Z:-15.99 [[-2.65109710e-01 9.34088101e-01 2.39157398e-01 9.05746267e+01] [ 9.07248783e-03 2.50437965e-01 -9.68090138e-01 -4.92352375e+01] [-9.64175571e-01 -2.54480343e-01 -7.48680392e-02 -1.59944486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.08, Z:-16.34 [[-2.22893229e-01 5.32966353e-03 -9.74828294e-01 9.16789862e+01] [ 4.68611934e-02 -9.98770438e-01 -1.61753133e-02 -5.00760969e+01] [-9.73715891e-01 -4.92869851e-02 2.22369413e-01 -1.63398301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-50.99, Z:-16.27 [[-1.42760159e-01 -9.69737571e-01 -1.98062063e-01 9.09596360e+01] [ 2.16264930e-02 -2.03120226e-01 9.78914945e-01 -5.09947967e+01] [-9.89521011e-01 1.35466665e-01 4.99694986e-02 -1.62653392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:-49.20, Z:-16.25 [[-2.72726826e-01 9.62081464e-01 4.39720143e-03 9.07440233e+01] [ 4.89005965e-02 1.84264000e-02 -9.98633666e-01 -4.92015677e+01] [-9.60847964e-01 -2.72139165e-01 -5.20717310e-02 -1.62511707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.84, Y:-51.00, Z:-16.42 [[-1.40977472e-01 -9.82253159e-01 -1.23709675e-01 9.08439982e+01] [ 2.52457130e-02 -1.28483820e-01 9.91390217e-01 -5.10018603e+01] [-9.89690864e-01 1.36640547e-01 4.29110054e-02 -1.64241494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-49.20, Z:-16.42 [[-2.73982206e-01 9.60300187e-01 -5.25100106e-02 9.07711739e+01] [ 6.56189841e-02 -3.58061576e-02 -9.97202120e-01 -4.92016168e+01] [-9.59493564e-01 -2.76661290e-01 -5.32036727e-02 -1.64209427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-51.00, Z:-16.56 [[-1.44124133e-01 -9.89470922e-01 1.32487513e-02 9.06791618e+01] [ 1.88162218e-02 1.06458744e-02 9.99766280e-01 -5.10039297e+01] [-9.89380707e-01 1.44339740e-01 1.70837770e-02 -1.65597913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:89.79, Y:-50.05, Z:-16.45 [[-1.98117904e-01 1.28228504e-02 9.80094317e-01 8.97915536e+01] [-6.39652572e-02 9.97613841e-01 -2.59821074e-02 -5.00522424e+01] [-9.78088821e-01 -6.78395057e-02 -1.96824947e-01 -1.64485597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-49.94, Z:-16.79 [[-1.64495089e-01 1.69561550e-01 -9.71694523e-01 9.15562851e+01] [ 7.41187908e-03 -9.84873547e-01 -1.73116034e-01 -4.99395081e+01] [-9.86350054e-01 -3.56788197e-02 1.60750092e-01 -1.67866726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.65, Y:-49.18, Z:-16.72 [[-2.74335076e-01 9.60784379e-01 4.04183401e-02 9.06513896e+01] [-1.13274876e-02 3.87993233e-02 -9.99182816e-01 -4.91814077e+01] [-9.61567446e-01 -2.74568733e-01 2.39257850e-04 -1.67208795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:-50.99, Z:-16.79 [[-1.56569213e-01 -9.80570080e-01 -1.18187985e-01 9.07296728e+01] [-1.30715377e-02 -1.17596053e-01 9.92975480e-01 -5.09895034e+01] [-9.87580486e-01 1.57014288e-01 5.59436266e-03 -1.67898024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.74, Y:-50.01, Z:-16.69 [[-2.01389506e-01 3.32960604e-02 9.78945167e-01 8.97414492e+01] [-1.17130594e-01 9.91432106e-01 -5.78169827e-02 -5.00062306e+01] [-9.72482746e-01 -1.26308163e-01 -1.95764034e-01 -1.66919488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.42, Y:-49.69, Z:-17.08 [[-2.00567557e-01 4.62976185e-01 -8.63380396e-01 9.14183634e+01] [-7.02941435e-02 -8.85817716e-01 -4.58678219e-01 -4.96872713e+01] [-9.77154741e-01 -3.13053844e-02 2.10210810e-01 -1.70782087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-50.95, Z:-16.92 [[-9.89593818e-02 -9.32290815e-01 -3.47909293e-01 9.08889931e+01] [-7.42351631e-02 -3.41734595e-01 9.36859972e-01 -5.09470517e+01] [-9.92318589e-01 1.18538187e-01 -3.53909164e-02 -1.69222019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.24, Y:-49.27, Z:-17.04 [[-1.95963043e-01 8.81120636e-01 4.30377637e-01 9.02402716e+01] [-9.68007576e-02 4.19361681e-01 -9.02643559e-01 -4.92655417e+01] [-9.75821756e-01 -2.18545660e-01 3.11375398e-03 -1.70417969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.34, Y:-49.62, Z:-17.24 [[-1.99550275e-01 5.58505760e-01 -8.05140363e-01 9.13425608e+01] [-7.32995887e-02 -8.27871975e-01 -5.56107151e-01 -4.96184224e+01] [-9.77142189e-01 -5.19548773e-02 2.06140323e-01 -1.72402461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:-49.75, Z:-17.28 [[-1.83465557e-01 4.21983784e-01 -8.87845750e-01 9.14091762e+01] [-3.70780466e-02 -9.05503999e-01 -4.22714711e-01 -4.97509492e+01] [-9.82326630e-01 -4.46340040e-02 1.81775130e-01 -1.72759413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.292320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.06, Y:-50.86, Z:-17.25 [[-1.27991951e-01 -8.00342202e-01 -5.85722135e-01 9.10613991e+01] [-2.23598114e-03 -5.90345166e-01 8.07147809e-01 -5.08645484e+01] [-9.91772686e-01 1.04618087e-01 7.37698796e-02 -1.72512729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-50.67, Z:-17.15 [[-9.43520917e-02 -6.63164182e-01 7.42503165e-01 8.98443324e+01] [-9.53098498e-02 7.48421743e-01 6.56339034e-01 -5.06674066e+01] [-9.90966052e-01 -8.84090440e-03 -1.33821236e-01 -1.71529158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-49.56, Z:-17.39 [[-1.01175290e-01 6.45060243e-01 -7.57404016e-01 9.12580661e+01] [-5.76332718e-02 -7.63832350e-01 -6.42836330e-01 -4.95617510e+01] [-9.93197849e-01 -2.13874808e-02 1.14457892e-01 -1.73898494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.13, Y:-50.79, Z:-17.38 [[-3.44940599e-02 -7.02072342e-01 -7.11269700e-01 9.11341210e+01] [-4.60854423e-03 -7.11573920e-01 7.02596127e-01 -5.07908721e+01] [-9.99394277e-01 2.75133108e-02 2.13095420e-02 -1.73829821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-50.82, Z:-17.42 [[ 2.92125546e-02 -8.10698381e-01 5.84734779e-01 8.99424395e+01] [-6.56445748e-02 5.82165627e-01 8.10415926e-01 -5.08180198e+01] [-9.97415368e-01 -6.20589854e-02 -3.62114054e-02 -1.74201441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-49.60, Z:-17.52 [[ 1.07382980e-02 5.26946545e-01 8.49830587e-01 8.97716466e+01] [-8.39763069e-02 8.47352492e-01 -5.24348867e-01 -4.95971325e+01] [-9.96409890e-01 -6.57350198e-02 5.33501484e-02 -1.75210174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.472320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.18, Y:-49.27, Z:-17.56 [[-9.20808590e-03 9.04495789e-01 4.26383135e-01 9.01815915e+01] [-7.98541909e-02 4.24374272e-01 -9.01958860e-01 -4.92749257e+01] [-9.96764024e-01 -4.23537950e-02 6.83201047e-02 -1.75647190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:-49.80, Z:-17.59 [[-1.53206680e-02 4.30572109e-01 -9.02426139e-01 9.13624154e+01] [ 1.82127790e-02 -9.02262161e-01 -4.30803073e-01 -4.98006120e+01] [-9.99716746e-01 -2.30358787e-02 5.98134437e-03 -1.75920563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.40, Y:-49.94, Z:-17.65 [[-3.47751366e-02 2.83396892e-01 -9.58372001e-01 9.14027147e+01] [ 2.27134250e-02 -9.58480203e-01 -2.84253059e-01 -4.99395294e+01] [-9.99137023e-01 -3.16528495e-02 2.68943659e-02 -1.76527821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.42, Y:-50.23, Z:-17.73 [[-2.52232163e-02 -3.42254830e-02 -9.99095794e-01 9.14168920e+01] [ 5.65365696e-02 -9.97863049e-01 3.27559289e-02 -5.02329772e+01] [-9.98081863e-01 -5.56592390e-02 2.71043069e-02 -1.77255630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.17, Y:-50.76, Z:-17.74 [[ 8.84953382e-04 -6.34152530e-01 -7.73207466e-01 9.11721101e+01] [ 4.79492956e-02 -7.72291493e-01 6.33456166e-01 -5.07606225e+01] [-9.98849379e-01 -3.76353325e-02 2.97237251e-02 -1.77415776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.99, Y:-50.91, Z:-17.85 [[ 1.72840621e-02 -8.06650552e-01 -5.90775887e-01 9.09869285e+01] [ 5.76766644e-02 -5.89075874e-01 8.06016760e-01 -5.09088420e+01] [-9.98185686e-01 -4.80052263e-02 3.63432892e-02 -1.78490594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:-51.04, Z:-17.93 [[ 3.81805488e-02 -9.94282028e-01 -9.97271024e-02 9.05259583e+01] [ 5.57550799e-02 -9.75247255e-02 9.93670116e-01 -5.10448734e+01] [-9.97714196e-01 -4.34991629e-02 5.17127264e-02 -1.79290779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:90.18, Y:-50.98, Z:-18.01 [[ 5.42528955e-02 -9.58933147e-01 2.78395121e-01 9.01770690e+01] [ 4.61044279e-02 2.80914047e-01 9.58624890e-01 -5.09786179e+01] [-9.97462283e-01 -3.91729282e-02 5.94514646e-02 -1.80098946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:-50.80, Z:-18.14 [[ 5.15589848e-02 -7.98989970e-01 5.99129952e-01 8.98926896e+01] [-1.48212829e-02 5.99249621e-01 8.00425025e-01 -5.07965126e+01] [-9.98559963e-01 -5.01489762e-02 1.90546458e-02 -1.81406398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.60, Y:-50.13, Z:-18.25 [[ 3.87135228e-02 -1.14256390e-01 9.92696701e-01 8.95979287e+01] [-2.09333890e-02 9.93130684e-01 1.15122707e-01 -5.01331932e+01] [-9.99031059e-01 -2.52373118e-02 3.60558139e-02 -1.82511311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.45, Y:-51.02, Z:-18.37 [[ 1.28338688e-01 -9.88305125e-01 -8.23538826e-02 9.04542353e+01] [ 2.04919866e-02 -8.03801808e-02 9.96553614e-01 -5.10211203e+01] [-9.91518663e-01 -1.29583978e-01 9.93644841e-03 -1.83666104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:-50.27, Z:-18.54 [[ 1.06651268e-01 -2.65857661e-01 9.58094573e-01 8.95859159e+01] [-2.50906519e-02 9.62563967e-01 2.69890846e-01 -5.02712373e+01] [-9.93979862e-01 -5.28234185e-02 9.59881260e-02 -1.85411878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:89.59, Y:-49.96, Z:-18.60 [[ 1.38181856e-01 6.91697593e-02 9.87988522e-01 8.95925326e+01] [-2.24458770e-02 9.97520720e-01 -6.66977942e-02 -4.99583219e+01] [-9.90152492e-01 -1.29598439e-02 1.39391840e-01 -1.85982882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.61, Y:-49.95, Z:-18.71 [[ 1.24355790e-01 6.67632135e-02 9.89989046e-01 8.96069444e+01] [-3.71816969e-02 9.97346557e-01 -6.25888762e-02 -4.99493180e+01] [-9.91540800e-01 -2.90261835e-02 1.26508188e-01 -1.87065161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-49.20, Z:-18.79 [[ 4.25970630e-02 9.96747446e-01 6.84106721e-02 9.06003840e+01] [-5.73190658e-02 7.07981487e-02 -9.95842431e-01 -4.91988561e+01] [-9.97446748e-01 3.84987270e-02 6.01484256e-02 -1.87899786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.49, Y:-50.12, Z:-18.89 [[ 4.92790156e-02 1.53942635e-01 -9.86850163e-01 9.14873428e+01] [ 3.79537211e-02 -9.87625591e-01 -1.52168353e-01 -5.01247077e+01] [-9.98063672e-01 -2.99559293e-02 -5.45119127e-02 -1.88913481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.21, Y:-49.33, Z:-19.08 [[-3.31618039e-02 8.25124001e-01 5.63977550e-01 9.02058967e+01] [ 1.33759590e-02 5.64603777e-01 -8.25253694e-01 -4.93250674e+01] [-9.99360485e-01 -1.98231606e-02 -2.97601045e-02 -1.90792532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.54, Y:-50.10, Z:-19.16 [[-2.13624931e-02 1.43314793e-01 -9.89446570e-01 9.15365289e+01] [-4.54020770e-04 -9.89673705e-01 -1.43337890e-01 -5.00970439e+01] [-9.99771693e-01 -2.61282538e-03 2.12069656e-02 -1.91637456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.74, Y:-51.03, Z:-19.23 [[ 3.60841266e-02 -9.69906681e-01 -2.40788220e-01 9.07379158e+01] [-2.64040851e-03 -2.41036823e-01 9.70512379e-01 -5.10302558e+01] [-9.99345268e-01 -3.43843123e-02 -1.12585531e-02 -1.92293077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.47, Y:-49.23, Z:-19.36 [[-4.69204233e-03 9.45029739e-01 3.26950725e-01 9.04726350e+01] [-4.49797966e-04 3.26952296e-01 -9.45040736e-01 -4.92305756e+01] [-9.99988891e-01 -4.58123291e-03 -1.10900156e-03 -1.93643725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.072320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.55, Y:-49.89, Z:-19.45 [[-9.26197083e-03 3.70094043e-01 -9.28948123e-01 9.15545433e+01] [ 2.14787911e-02 -9.28700007e-01 -3.70209345e-01 -4.98868313e+01] [-9.99726401e-01 -2.33815509e-02 6.52419718e-04 -1.94525706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.28, Y:-50.81, Z:-19.51 [[-2.26935344e-02 -6.69665453e-01 -7.42316095e-01 9.12848242e+01] [ 1.43436273e-02 -7.42648982e-01 6.69527258e-01 -5.08062305e+01] [-9.99639567e-01 4.54643450e-03 2.64587619e-02 -1.95142745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.132320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.13, Y:-50.92, Z:-19.52 [[-1.99465924e-02 -8.14375496e-01 -5.79995418e-01 9.11266565e+01] [ 1.23452388e-02 -5.80267224e-01 8.14332576e-01 -5.09223351e+01] [-9.99724826e-01 9.08297804e-03 2.16280137e-02 -1.95213955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.87, Y:-51.02, Z:-19.67 [[ 3.07632483e-02 -9.43918353e-01 -3.28742703e-01 9.08677908e+01] [ 2.10566051e-02 -3.28213359e-01 9.44368895e-01 -5.10208508e+01] [-9.99304879e-01 -3.59740601e-02 9.77880693e-03 -1.96674750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.13, Y:-50.88, Z:-19.78 [[ 3.88970897e-02 -8.68250493e-01 4.94598926e-01 9.01346052e+01] [-9.02093361e-03 4.94648220e-01 8.69046467e-01 -5.08834268e+01] [-9.99202502e-01 -3.82651224e-02 1.14079461e-02 -1.97832628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-49.97, Z:-19.98 [[ 4.47531041e-02 6.53541316e-02 9.96858063e-01 8.97664221e+01] [-2.39541064e-02 9.97641139e-01 -6.43300707e-02 -4.99720179e+01] [-9.98710849e-01 -2.09998738e-02 4.62130375e-02 -1.99751963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:-49.52, Z:-20.10 [[ 4.54488403e-02 5.78286066e-01 8.14567142e-01 8.99886210e+01] [-3.21613663e-02 8.15834067e-01 -5.77391048e-01 -4.95182763e+01] [-9.98448822e-01 4.41613531e-05 5.56771822e-02 -2.00982118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:-49.39, Z:-20.17 [[ 4.58997127e-02 7.37964558e-01 6.73276710e-01 9.01356026e+01] [-3.76008539e-02 6.74785750e-01 -7.37055199e-01 -4.93863485e+01] [-9.98238144e-01 8.51484268e-03 5.87205696e-02 -2.01665502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.24, Y:-49.39, Z:-20.29 [[-1.46675936e-02 8.77839329e-01 -4.78730586e-01 9.12378101e+01] [-5.88848358e-02 -4.78709473e-01 -8.75996471e-01 -4.93942933e+01] [-9.98157021e-01 1.53412117e-02 5.87129408e-02 -2.02880462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.56, Y:-50.53, Z:-20.30 [[ 1.76620524e-02 -3.23930375e-01 -9.45916045e-01 9.15601157e+01] [-1.78473559e-03 -9.46072325e-01 3.23950569e-01 -5.05283249e+01] [-9.99842421e-01 -4.03342191e-03 -1.72877091e-02 -2.03018524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:90.65, Y:-51.06, Z:-20.37 [[-5.43938905e-03 -9.99985198e-01 -1.32376191e-04 9.06521579e+01] [ 3.55544876e-02 -3.25691999e-04 9.99367686e-01 -5.10609053e+01] [-9.99352936e-01 5.43124308e-03 3.55557329e-02 -2.03682011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.82, Y:-50.10, Z:-20.54 [[-1.13767789e-02 -7.53652174e-02 9.97091096e-01 8.98202688e+01] [-5.58335663e-02 9.95647833e-01 7.46190690e-02 -5.01009959e+01] [-9.98375271e-01 -5.48222272e-02 -1.55351741e-02 -2.05373210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-49.21, Z:-20.72 [[-4.03951103e-04 9.82319014e-01 1.87214292e-01 9.06426363e+01] [-4.31600120e-02 1.87022729e-01 -9.81407006e-01 -4.92141533e+01] [-9.99068091e-01 -8.47661152e-03 4.23213524e-02 -2.07245051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.12, Y:-50.77, Z:-20.69 [[ 1.27681961e-02 -7.83164986e-01 6.21682859e-01 9.01153397e+01] [-1.27705032e-01 6.15364865e-01 7.77828714e-01 -5.07716169e+01] [-9.91730003e-01 -8.93234992e-02 -9.21570105e-02 -2.06897430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.11, Y:-49.48, Z:-20.96 [[ 4.32671457e-02 6.71629262e-01 7.39622937e-01 9.01128683e+01] [-1.59458964e-01 7.35468145e-01 -6.58528243e-01 -4.94783477e+01] [-9.86255947e-01 -8.94468699e-02 1.38918914e-01 -2.09637701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.55, Y:-49.26, Z:-21.07 [[ 2.49438504e-02 9.61893598e-01 2.72283879e-01 9.05541461e+01] [-1.62815915e-01 2.72640915e-01 -9.48239373e-01 -4.92610601e+01] [-9.86341108e-01 -2.06794078e-02 1.63412300e-01 -2.10666448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.70, Y:-49.26, Z:-21.15 [[ 1.68573994e-02 9.93922801e-01 1.08780943e-01 9.06994630e+01] [-1.70863399e-01 1.10059686e-01 -9.79128472e-01 -4.92576331e+01] [-9.85150510e-01 -2.08112196e-03 1.71680348e-01 -2.11466608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:-49.26, Z:-21.18 [[ 7.49563176e-04 9.99360799e-01 3.57411732e-02 9.07642252e+01] [-1.38308670e-01 3.55012856e-02 -9.89752682e-01 -4.92595167e+01] [-9.90388888e-01 -4.20143196e-03 1.38246873e-01 -2.11752626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.65, Y:-50.14, Z:-21.14 [[-1.38074932e-03 9.49576931e-02 -9.95480351e-01 9.16542392e+01] [-1.22444729e-01 -9.88006676e-01 -9.40749549e-02 -5.01369761e+01] [-9.92474373e-01 1.21761428e-01 1.29912586e-02 -2.11397321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:-49.32, Z:-21.22 [[-2.82194326e-03 9.65833772e-01 -2.59146987e-01 9.10162544e+01] [-8.51929731e-02 -2.58438068e-01 -9.62263957e-01 -4.93208095e+01] [-9.96360474e-01 1.93620480e-02 8.30115482e-02 -2.12173369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.05, Y:-49.33, Z:-21.24 [[-1.22412669e-02 9.53071231e-01 -3.02498561e-01 9.10489575e+01] [-8.27493216e-02 -3.02449108e-01 -9.49566789e-01 -4.93328273e+01] [-9.96495209e-01 1.34076502e-02 8.25683581e-02 -2.12402242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-49.36, Z:-21.27 [[-3.08008849e-02 9.33208182e-01 -3.58013679e-01 9.10913387e+01] [-1.00424536e-01 -3.59260473e-01 -9.27818315e-01 -4.93573868e+01] [-9.94467806e-01 7.37573247e-03 1.04782539e-01 -2.12694457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-50.44, Z:-21.25 [[-7.00435449e-03 -2.39919115e-01 -9.70767612e-01 9.16152265e+01] [-4.83520165e-02 -9.69574633e-01 2.39973151e-01 -5.04399771e+01] [-9.98805798e-01 4.86194286e-02 -4.80932855e-03 -2.12470768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.39, Y:-49.37, Z:-21.31 [[-9.27617260e-02 9.06622793e-01 4.11619209e-01 9.03885741e+01] [-2.39993098e-02 4.11245697e-01 -9.11208543e-01 -4.93731013e+01] [-9.95399063e-01 -9.44038542e-02 -1.63895394e-02 -2.13096228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.792320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:91.34, Y:-49.52, Z:-21.42 [[-8.25189928e-02 7.62112540e-01 -6.42164381e-01 9.13406018e+01] [-4.59785392e-02 -6.46587206e-01 -7.61453189e-01 -4.95222808e+01] [-9.95528297e-01 -3.33085701e-02 8.83965463e-02 -2.14215853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-50.81, Z:-21.43 [[-3.96106196e-02 -6.44356867e-01 -7.63698387e-01 9.14224945e+01] [-1.26570094e-02 -7.63913339e-01 6.45194708e-01 -5.08110144e+01] [-9.99135025e-01 3.52226998e-02 2.21034498e-02 -2.14277460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.64, Y:-50.31, Z:-21.47 [[-5.60610626e-02 -8.89972096e-02 -9.94452942e-01 9.16351616e+01] [ 8.79207667e-03 -9.96024726e-01 8.86422317e-02 -5.03057184e+01] [-9.98388630e-01 -3.77392881e-03 5.66206748e-02 -2.14708349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:-51.11, Z:-21.49 [[ 2.22044771e-02 -9.79951716e-01 -1.97993928e-01 9.08909049e+01] [ 5.08344252e-04 -1.98031664e-01 9.80195492e-01 -5.11078263e+01] [-9.99753321e-01 -2.18653774e-02 -3.89903672e-03 -2.14872462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-51.09, Z:-21.63 [[ 4.22371092e-02 -9.62776878e-01 2.66976985e-01 9.04603919e+01] [-4.44423804e-02 2.65140474e-01 9.63185031e-01 -5.10857604e+01] [-9.98118681e-01 -5.25472441e-02 -3.15893291e-02 -2.16254429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-50.99, Z:-21.80 [[ 9.91024861e-02 -8.74770196e-01 4.74295058e-01 9.02362315e+01] [-7.77355394e-02 4.68378931e-01 8.80101337e-01 -5.09918686e+01] [-9.92036231e-01 -1.24089813e-01 -2.15832165e-02 -2.18042271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-51.05, Z:-21.88 [[ 1.72007904e-01 -8.99809992e-01 -4.00942964e-01 9.09965011e+01] [-1.92052386e-02 -4.09994954e-01 9.11885572e-01 -5.10464645e+01] [-9.84908341e-01 -1.49151320e-01 -8.78034383e-02 -2.18760521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.85, Y:-50.62, Z:-22.17 [[ 1.89806419e-01 -4.34454830e-01 8.80467219e-01 8.98487766e+01] [-4.68814835e-02 8.91735762e-01 4.50121603e-01 -5.06170829e+01] [-9.80701611e-01 -1.26713579e-01 1.48889285e-01 -2.21700583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:89.79, Y:-50.06, Z:-22.28 [[ 1.80823711e-01 1.69430690e-01 9.68811657e-01 8.97882023e+01] [-6.45923836e-02 9.84968843e-01 -1.60200505e-01 -5.00615218e+01] [-9.81392179e-01 -3.36098045e-02 1.89049653e-01 -2.22801174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.88, Y:-49.34, Z:-22.29 [[ 9.05045202e-02 9.84483464e-01 -1.50337090e-01 9.08809635e+01] [-5.33638227e-02 -1.45945743e-01 -9.87852288e-01 -4.93389669e+01] [-9.94465301e-01 9.74276591e-02 3.93270515e-02 -2.22894310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:-50.33, Z:-22.33 [[ 9.52643184e-02 -4.53123880e-02 -9.94420181e-01 9.16496994e+01] [ 4.67831251e-02 -9.97655841e-01 4.99415961e-02 -5.03340695e+01] [-9.94352075e-01 -5.12797359e-02 -9.29211485e-02 -2.23313246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:-50.73, Z:-22.65 [[ 1.41265283e-01 -5.09186964e-01 8.48983366e-01 8.99886832e+01] [ 1.28503225e-02 8.58454303e-01 5.12729051e-01 -5.07325848e+01] [-9.89888372e-01 -6.15211045e-02 1.27813007e-01 -2.26519670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.37, Y:-49.47, Z:-22.75 [[ 5.39410406e-02 8.59435905e-01 5.08389899e-01 9.03665768e+01] [-3.17581823e-02 5.10350137e-01 -8.59380100e-01 -4.94670514e+01] [-9.98038968e-01 3.02103178e-02 5.48229396e-02 -2.27458056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.70, Y:-49.99, Z:-22.82 [[ 5.46588764e-02 3.45296772e-01 -9.36900500e-01 9.17004729e+01] [ 7.48709288e-02 -9.37078994e-01 -3.40994579e-01 -4.99919696e+01] [-9.95694105e-01 -5.15082301e-02 -7.70723750e-02 -2.28234350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.33, Y:-51.03, Z:-22.99 [[ 6.10522934e-02 -8.22966054e-01 5.64800400e-01 9.03286348e+01] [ 4.36825415e-02 5.67516808e-01 8.22202231e-01 -5.10300701e+01] [-9.97178245e-01 -2.55254149e-02 7.05974515e-02 -2.29860922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-49.43, Z:-23.07 [[-5.33977829e-02 9.11955794e-01 4.06798852e-01 9.05458158e+01] [ 2.77172855e-02 4.08576683e-01 -9.12303045e-01 -4.94273015e+01] [-9.98188574e-01 -3.74396000e-02 -4.70940282e-02 -2.30676228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:-49.65, Z:-23.18 [[-7.54242751e-02 6.95541936e-01 -7.14515636e-01 9.15677934e+01] [ 1.00359246e-01 -7.07623226e-01 -6.99426474e-01 -4.96462868e+01] [-9.92088303e-01 -1.24461985e-01 -1.64320953e-02 -2.31811624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:-50.91, Z:-23.28 [[-3.56244153e-02 -6.97598197e-01 -7.15603002e-01 9.15394449e+01] [ 7.77008215e-02 -7.15823362e-01 6.93944881e-01 -5.09099781e+01] [-9.96340044e-01 -3.08815605e-02 7.97047417e-02 -2.32843655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-50.85, Z:-23.27 [[-1.86360919e-02 -6.75955356e-01 7.36706898e-01 9.02104219e+01] [-1.10570817e-02 7.36929139e-01 6.75879564e-01 -5.08506605e+01] [-9.99765191e-01 4.44992534e-03 -2.12075727e-02 -2.32706788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.66, Y:-49.77, Z:-23.38 [[-7.64896211e-02 5.57812611e-01 -8.26434770e-01 9.16570936e+01] [ 9.55424874e-02 -8.20948413e-01 -5.62952339e-01 -4.97733731e+01] [-9.92482227e-01 -1.22019645e-01 9.49922866e-03 -2.33796086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.50, Y:-50.93, Z:-23.46 [[-2.28024224e-02 -7.19759900e-01 -6.93848497e-01 9.15010817e+01] [ 8.47180163e-02 -6.92923731e-01 7.16016453e-01 -5.09321031e+01] [-9.96144019e-01 -4.24545586e-02 7.67769705e-02 -2.34602934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:-51.03, Z:-23.47 [[-2.08754723e-02 -8.27230109e-01 -5.61475344e-01 9.13758799e+01] [ 8.10326140e-02 -5.61150024e-01 8.23738044e-01 -5.10269822e+01] [-9.96492815e-01 -2.83018941e-02 7.87468898e-02 -2.34746036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-51.04, Z:-23.52 [[-8.94247462e-03 -8.49360244e-01 -5.27737821e-01 9.13414872e+01] [ 8.72664229e-02 -5.26408241e-01 8.45741648e-01 -5.10427017e+01] [-9.96144871e-01 -3.84907686e-02 7.88280226e-02 -2.35171362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.24, Y:-51.09, Z:-23.54 [[-2.08545134e-02 -9.07303869e-01 -4.19958068e-01 9.12421778e+01] [ 1.02678296e-01 -4.19771989e-01 9.01802997e-01 -5.10898521e+01] [-9.94495981e-01 -2.43139163e-02 1.01914556e-01 -2.35398194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:-50.62, Z:-23.53 [[ 4.21700479e-03 -4.55531004e-01 8.90209931e-01 9.00605577e+01] [ 1.93026672e-02 8.90089064e-01 4.55377717e-01 -5.06222183e+01] [-9.99804793e-01 1.52630960e-02 1.25464732e-02 -2.35296815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:-49.39, Z:-23.57 [[-7.78075200e-02 9.07247553e-01 4.13337475e-01 9.05493483e+01] [-7.80297506e-03 4.14027488e-01 -9.10230934e-01 -4.93919750e+01] [-9.96937863e-01 -7.40480736e-02 -2.51352221e-02 -2.35712824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.572320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.79, Y:-50.11, Z:-23.67 [[-7.84377928e-02 1.72176826e-01 -9.81938213e-01 9.17887261e+01] [ 1.68436509e-02 -9.84603422e-01 -1.73989634e-01 -5.01065978e+01] [-9.96776707e-01 -3.01867873e-02 7.43300329e-02 -2.36709041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:-51.11, Z:-23.69 [[ 7.59809393e-03 -9.58600970e-01 -2.84651452e-01 9.10998414e+01] [ 2.03583523e-02 -2.84452380e-01 9.58473986e-01 -5.11136522e+01] [-9.99763875e-01 -1.30776099e-02 1.73542404e-02 -2.36936861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.00, Y:-50.49, Z:-23.86 [[ 4.52610891e-02 -3.60368540e-01 9.31711301e-01 9.00023065e+01] [-6.96024957e-02 9.29262964e-01 3.62802750e-01 -5.04860288e+01] [-9.96547503e-01 -8.12702794e-02 1.69769041e-02 -2.38635673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:-49.49, Z:-23.98 [[ 3.14074918e-02 7.50472026e-01 6.60155518e-01 9.02906196e+01] [-9.02254681e-02 6.59913584e-01 -7.45904435e-01 -4.94944049e+01] [-9.95426006e-01 -3.61358532e-02 8.84379203e-02 -2.39810921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:-49.69, Z:-24.10 [[-1.23319887e-02 6.35997199e-01 -7.71592823e-01 9.16189492e+01] [ 3.68348901e-03 -7.71617371e-01 -6.36076304e-01 -4.96893908e+01] [-9.99917174e-01 -1.06862395e-02 7.17288804e-03 -2.41020615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.58, Y:-50.84, Z:-24.18 [[ 1.57947609e-02 -6.17547188e-01 -7.86375226e-01 9.15843919e+01] [ 4.85203908e-02 -7.85073402e-01 6.17499413e-01 -5.08370799e+01] [-9.98697300e-01 -4.79084888e-02 1.75635842e-02 -2.41833668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:-51.11, Z:-24.28 [[ 3.04726057e-02 -9.49409820e-01 3.12557858e-01 9.05784673e+01] [ 1.60880849e-02 3.13128445e-01 9.49574510e-01 -5.11055245e+01] [-9.99406121e-01 -2.39075523e-02 2.48160254e-02 -2.42764391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:-50.85, Z:-24.40 [[ 5.45522819e-02 -5.97097706e-01 -8.00311425e-01 9.15744109e+01] [ 1.04851173e-01 -7.93648239e-01 5.99273481e-01 -5.08522293e+01] [-9.92990574e-01 -1.16605328e-01 1.93110726e-02 -2.44027412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-51.07, Z:-24.57 [[ 7.63195678e-02 -8.83635419e-01 4.61913163e-01 9.04236019e+01] [ 6.58231744e-02 4.66718778e-01 8.81952885e-01 -5.10678075e+01] [-9.94908354e-01 -3.69056724e-02 9.37834637e-02 -2.45652242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-50.90, Z:-24.66 [[ 7.96406253e-02 -7.21788287e-01 6.87516574e-01 9.02250569e+01] [ 5.80027940e-02 6.91894233e-01 7.19665232e-01 -5.09020951e+01] [-9.95134688e-01 -1.74367069e-02 9.69686267e-02 -2.46559000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-50.87, Z:-24.77 [[ 1.15511234e-01 -7.03750773e-01 7.00993584e-01 9.02170218e+01] [ 6.91151126e-02 7.09701522e-01 7.01104023e-01 -5.08682687e+01] [-9.90898711e-01 -3.25361402e-02 1.30618312e-01 -2.47686736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.11, Y:-49.76, Z:-24.88 [[ 7.80592899e-02 4.55313273e-01 8.86902797e-01 9.01147782e+01] [-2.38505769e-02 8.90215533e-01 -4.54914778e-01 -4.97635389e+01] [-9.96663382e-01 1.43571812e-02 8.03490766e-02 -2.48780582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-49.38, Z:-24.97 [[-2.27658863e-02 9.29717342e-01 -3.67569556e-01 9.13143133e+01] [ 8.48597995e-03 -3.67471895e-01 -9.29995911e-01 -4.93789572e+01] [-9.99704808e-01 -2.42913691e-02 4.76260668e-04 -2.49714622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.85, Y:-50.02, Z:-25.01 [[-2.23020389e-02 2.33525491e-01 -9.72094884e-01 9.18514078e+01] [ 2.62307796e-02 -9.71865311e-01 -2.34072134e-01 -5.00216069e+01] [-9.99407107e-01 -3.07190925e-02 1.55490223e-02 -2.50098275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-50.68, Z:-25.09 [[-2.07167740e-03 -4.91521064e-01 -8.70863222e-01 9.17444337e+01] [ 4.57647064e-02 -8.69999237e-01 4.90924556e-01 -5.06806892e+01] [-9.98950099e-01 -3.88377623e-02 2.42966749e-02 -2.50937387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-51.10, Z:-25.18 [[ 2.62849201e-02 -9.59738873e-01 -2.79661223e-01 9.11912152e+01] [ 4.41972436e-02 -2.78368600e-01 9.59456891e-01 -5.10954776e+01] [-9.98676978e-01 -3.75795030e-02 3.51009163e-02 -2.51805888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.70, Y:-51.08, Z:-25.33 [[ 6.21939946e-02 -9.66464611e-01 2.49154697e-01 9.06960981e+01] [ 2.11203167e-02 2.50856512e-01 9.67793853e-01 -5.10824645e+01] [-9.97840588e-01 -5.49287396e-02 3.60138072e-02 -2.53263495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.15, Y:-50.63, Z:-25.44 [[ 3.92217218e-02 -4.96456083e-01 8.67175307e-01 9.01460982e+01] [-2.85561694e-02 8.66931725e-01 4.97608208e-01 -5.06344384e+01] [-9.98822408e-01 -4.42802557e-02 1.98256710e-02 -2.54429548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.73, Y:-49.32, Z:-25.58 [[-4.72724007e-02 9.46686185e-01 3.18670028e-01 9.07327261e+01] [-9.33250187e-03 3.18594179e-01 -9.47845269e-01 -4.93151233e+01] [-9.98838438e-01 -4.77809100e-02 -6.22576112e-03 -2.55838034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-49.53, Z:-25.64 [[-3.44330032e-02 7.40836821e-01 -6.70801888e-01 9.16313853e+01] [ 1.96316636e-02 -6.70569013e-01 -7.41587349e-01 -4.95297860e+01] [-9.99214174e-01 -3.87040366e-02 8.54584567e-03 -2.56431047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-49.72, Z:-25.68 [[-9.20548153e-02 4.68541601e-01 8.78632277e-01 9.02161253e+01] [-7.76269391e-02 8.76316738e-01 -4.75439831e-01 -4.97204266e+01] [-9.92723511e-01 -1.11972060e-01 -4.42977251e-02 -2.56750667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.63, Y:-49.53, Z:-25.81 [[-8.01918229e-02 7.42436554e-01 -6.65099417e-01 9.16295011e+01] [-5.63623083e-02 -6.69558164e-01 -7.40618090e-01 -4.95256442e+01] [-9.95184687e-01 -2.19049763e-02 9.55385277e-02 -2.58107918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:-51.02, Z:-25.77 [[ 7.81715247e-03 -8.94471126e-01 -4.47057375e-01 9.13640662e+01] [-2.53981608e-02 -4.47104408e-01 8.94121123e-01 -5.10161366e+01] [-9.99646850e-01 4.36495394e-03 -2.62130048e-02 -2.57743511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.08, Y:-50.12, Z:-25.87 [[-2.82492393e-02 2.77274755e-02 9.99216277e-01 9.00784030e+01] [-1.25163186e-01 9.91649988e-01 -3.10560549e-02 -5.01176884e+01] [-9.91733915e-01 -1.25942403e-01 -2.45428986e-02 -2.58729787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:-49.28, Z:-25.99 [[-3.19801789e-02 9.97334152e-01 -6.55885404e-02 9.10833590e+01] [-8.37653830e-02 -6.80656665e-02 -9.94158149e-01 -4.92789433e+01] [-9.95972203e-01 -2.62993063e-02 8.57188294e-02 -2.59853126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:-49.29, Z:-26.03 [[-4.74175299e-02 9.92520865e-01 -1.12489605e-01 9.11277089e+01] [-8.34896045e-02 -1.16160326e-01 -9.89715244e-01 -4.92877469e+01] [-9.95379859e-01 -3.75381395e-02 8.83732102e-02 -2.60339700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:-50.80, Z:-25.99 [[ 1.74482462e-02 -6.11877291e-01 -7.90760229e-01 9.16760028e+01] [-3.00606981e-02 -7.90844130e-01 6.11278919e-01 -5.07957699e+01] [-9.99395774e-01 1.31050594e-02 -3.21923016e-02 -2.59914203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:-50.66, Z:-26.19 [[ 5.54823529e-02 -5.63160230e-01 8.24483029e-01 9.01782828e+01] [-1.40097008e-01 8.13195007e-01 5.64877605e-01 -5.06627869e+01] [-9.88582084e-01 -1.46848344e-01 -3.37790909e-02 -2.61942287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.412320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.55, Y:-49.38, Z:-26.38 [[ 5.01561581e-02 8.72340422e-01 4.86319388e-01 9.05517665e+01] [-1.43784955e-01 4.88166609e-01 -8.60824749e-01 -4.93782895e+01] [-9.88337112e-01 -2.67497494e-02 1.49913990e-01 -2.63763570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:-49.86, Z:-26.42 [[ 3.04844077e-02 4.61025103e-01 -8.86863324e-01 9.18161365e+01] [-2.91914352e-02 -8.86486578e-01 -4.61832662e-01 -4.98604838e+01] [-9.99108883e-01 3.99675084e-02 -1.35660338e-02 -2.64171120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-50.54, Z:-26.59 [[ 3.51512887e-02 -4.06972589e-01 9.12763770e-01 9.01256966e+01] [-1.38020009e-01 9.02599373e-01 4.07755869e-01 -5.05408278e+01] [-9.89805468e-01 -1.40312808e-01 -2.44428291e-02 -2.65858694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:-50.52, Z:-26.76 [[ 6.22548266e-02 -4.12963187e-01 9.08617490e-01 9.01166678e+01] [-1.98502475e-01 8.87072745e-01 4.16771776e-01 -5.05245627e+01] [-9.78121211e-01 -2.06308875e-01 -2.67496546e-02 -2.67574215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.25, Y:-50.76, Z:-26.87 [[ 1.39344000e-01 -6.67315225e-01 7.31623974e-01 9.02459535e+01] [-2.26149832e-01 6.97861311e-01 6.79592410e-01 -5.07578095e+01] [-9.64074428e-01 -2.60153763e-01 -5.36704393e-02 -2.68739079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:-49.46, Z:-27.21 [[ 1.16383606e-01 8.08855444e-01 5.76374641e-01 9.04593982e+01] [-2.46397420e-01 5.85690522e-01 -7.72175449e-01 -4.94570649e+01] [-9.62155480e-01 -5.21486612e-02 2.67464669e-01 -2.72125709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.59, Y:-49.42, Z:-27.34 [[ 8.93754287e-02 8.79990000e-01 4.66507912e-01 9.05934438e+01] [-2.50884837e-01 4.73170289e-01 -8.44491964e-01 -4.94223683e+01] [-9.63882167e-01 -4.15629300e-02 2.63065945e-01 -2.73369898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-49.72, Z:-27.33 [[ 2.43519573e-02 6.58790844e-01 -7.51931916e-01 9.17375199e+01] [-1.81384274e-01 -7.36759334e-01 -6.51371959e-01 -4.97235443e+01] [-9.83110740e-01 1.52250807e-01 1.01552767e-01 -2.73311576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.58, Y:-51.04, Z:-27.27 [[ 1.18173642e-01 -7.34887887e-01 -6.67813434e-01 9.15766681e+01] [-1.40225253e-01 -6.78136715e-01 7.21434317e-01 -5.10367083e+01] [-9.83042150e-01 8.38978718e-03 -1.83187725e-01 -2.72696752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-49.61, Z:-27.63 [[ 6.95688186e-02 8.05782229e-01 5.88111536e-01 9.05084051e+01] [-1.20370203e-01 5.92012922e-01 -7.96888772e-01 -4.96074380e+01] [-9.90288440e-01 -1.53524945e-02 1.38177810e-01 -2.76258391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-49.62, Z:-27.68 [[ 9.02337055e-02 7.98997637e-01 5.94525570e-01 9.05070979e+01] [-1.56345298e-01 6.00923493e-01 -7.83866764e-01 -4.96219362e+01] [-9.83572075e-01 -2.22200746e-02 1.79143077e-01 -2.76817912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:-49.80, Z:-27.71 [[ 1.91519742e-02 7.10054356e-01 -7.03886364e-01 9.17300124e+01] [-8.68719990e-02 -7.00171169e-01 -7.08670297e-01 -4.98019502e+01] [-9.96035370e-01 7.47204508e-02 4.82741812e-02 -2.77128994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-51.00, Z:-27.77 [[ 7.19137924e-02 -5.39708680e-01 -8.38774670e-01 9.17769943e+01] [-5.31325796e-03 -8.41147380e-01 5.40779857e-01 -5.09972330e+01] [-9.97396699e-01 -3.44329042e-02 -6.33577095e-02 -2.77745290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.68, Y:-51.30, Z:-28.02 [[ 1.66350230e-01 -9.33806643e-01 3.16753460e-01 9.06766071e+01] [-3.49823567e-02 3.15438243e-01 9.48301086e-01 -5.13033665e+01] [-9.85446009e-01 -1.68830886e-01 1.98064672e-02 -2.80202160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-50.32, Z:-28.22 [[ 1.24537384e-01 1.08159199e-01 9.86302199e-01 9.01272473e+01] [-7.12507639e-02 9.92449476e-01 -9.98366998e-02 -5.03237151e+01] [-9.89653358e-01 -5.78413838e-02 1.31303487e-01 -2.82221003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-50.07, Z:-28.28 [[ 1.21741317e-01 3.91273027e-01 9.12186642e-01 9.02149021e+01] [-6.69103532e-02 9.20167063e-01 -3.85766225e-01 -5.00681150e+01] [-9.90304022e-01 -1.40710420e-02 1.38202567e-01 -2.82815226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-50.09, Z:-28.33 [[ 1.58688539e-01 3.73679479e-01 9.13882703e-01 9.02170133e+01] [-8.53015236e-02 9.27339344e-01 -3.64369856e-01 -5.00876819e+01] [-9.83636924e-01 -2.01342668e-02 1.79033554e-01 -2.83337468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:-49.59, Z:-28.38 [[ 6.02882564e-02 9.87034426e-01 -1.48756069e-01 9.12813424e+01] [-7.25925825e-02 -1.44297036e-01 -9.86868118e-01 -4.95859158e+01] [-9.95537866e-01 7.02951454e-02 6.29519614e-02 -2.83804495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-50.48, Z:-28.44 [[ 5.12530294e-02 1.11408247e-01 -9.92452180e-01 9.20268877e+01] [ 2.87522166e-02 -9.93510952e-01 -1.10042254e-01 -5.04830431e+01] [-9.98271725e-01 -2.28952011e-02 -5.41236801e-02 -2.84398247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:-51.34, Z:-28.64 [[ 1.39210907e-01 -8.27866983e-01 -5.43375176e-01 9.15381155e+01] [ 6.91197120e-02 -5.39256539e-01 8.39300215e-01 -5.13430418e+01] [-9.87847553e-01 -1.54397680e-01 -1.78484646e-02 -2.86405559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-51.26, Z:-28.85 [[ 1.52255387e-01 -8.12581582e-01 5.62609518e-01 9.05410764e+01] [ 5.14757479e-03 5.69890505e-01 8.21704518e-01 -5.12616819e+01] [-9.88327779e-01 -1.22212865e-01 9.09517237e-02 -2.88545976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.21, Y:-50.68, Z:-28.96 [[ 1.32595995e-01 -2.13876017e-01 9.67819896e-01 9.02149010e+01] [-3.80685661e-03 9.76324619e-01 2.16277011e-01 -5.06804122e+01] [-9.91162857e-01 -3.23618169e-02 1.28642539e-01 -2.89603042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-50.63, Z:-29.02 [[ 1.31664044e-01 -1.62545986e-01 9.77876977e-01 9.02184724e+01] [-8.89967531e-03 9.86231166e-01 1.65132924e-01 -5.06265522e+01] [-9.91254445e-01 -3.04448562e-02 1.28404577e-01 -2.90162352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:-50.63, Z:-29.07 [[ 1.67272682e-01 -1.73089945e-01 9.70597610e-01 9.02279139e+01] [-8.69091851e-03 9.84170982e-01 1.77008322e-01 -5.06296338e+01] [-9.85872364e-01 -3.80440415e-02 1.63120609e-01 -2.90706953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.89, Y:-49.66, Z:-29.12 [[ 6.12738344e-02 9.13733847e-01 4.01666497e-01 9.08884861e+01] [-2.85261077e-02 4.03861406e-01 -9.14375320e-01 -4.96560527e+01] [-9.97713275e-01 4.45693002e-02 5.08114070e-02 -2.91161199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-50.26, Z:-29.20 [[ 5.52871877e-02 4.11635119e-01 -9.09670191e-01 9.20866051e+01] [ 1.05956670e-01 -9.08338063e-01 -4.04592570e-01 -5.02574678e+01] [-9.92832569e-01 -7.40168385e-02 -9.38349433e-02 -2.91953569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:-51.25, Z:-29.40 [[ 9.05214604e-02 -8.24556077e-01 5.58491845e-01 9.06525853e+01] [ 5.61700745e-02 5.64128662e-01 8.23774104e-01 -5.12545405e+01] [-9.94309201e-01 -4.31987064e-02 9.73811267e-02 -2.94011148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-49.84, Z:-29.48 [[-6.38049996e-03 6.59825680e-01 7.51391617e-01 9.06449146e+01] [-2.30172769e-02 7.51110925e-01 -6.59774646e-01 -4.98447711e+01] [-9.99714706e-01 -2.15046810e-02 1.03949272e-02 -2.94840615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252320588 meters Centerline goodness : 0.886366 Centerline is valid? [True, False] Translation: X:90.62, Y:-49.87, Z:-29.48 [[-6.63715255e-03 6.24194859e-01 7.81240504e-01 9.06191890e+01] [-3.38734930e-02 7.80669011e-01 -6.24026026e-01 -4.98682004e+01] [-9.99404090e-01 -3.06051007e-02 1.59622409e-02 -2.94791027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:90.60, Y:-49.89, Z:-29.50 [[-2.84251120e-03 5.93126668e-01 8.05104140e-01 9.06013317e+01] [-5.19797161e-02 8.03931355e-01 -5.92446188e-01 -4.98866587e+01] [-9.98644095e-01 -4.35331195e-02 2.85453719e-02 -2.95043950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.88, Y:-49.80, Z:-29.64 [[-5.95389542e-02 8.56435346e-01 -5.12809527e-01 9.18755235e+01] [ 3.28904376e-03 -5.13549778e-01 -8.58053499e-01 -4.98049150e+01] [-9.98220564e-01 -5.27742609e-02 2.77593634e-02 -2.96387223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-50.20, Z:-29.66 [[-3.80530797e-02 4.72188709e-01 -8.80675755e-01 9.21765605e+01] [ 2.93145542e-02 -8.80407273e-01 -4.73311409e-01 -5.01966189e+01] [-9.98845644e-01 -4.38275740e-02 1.96602067e-02 -2.96560876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-50.45, Z:-29.72 [[-2.85472233e-02 2.06910941e-01 -9.77943208e-01 9.22364527e+01] [ 5.33763774e-02 -9.76630600e-01 -2.08191337e-01 -5.04518085e+01] [-9.98166328e-01 -5.81423503e-02 1.68359354e-02 -2.97201068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:-50.96, Z:-29.87 [[ 4.05466750e-02 -3.45729801e-01 -9.37457664e-01 9.21359899e+01] [ 7.12271568e-02 -9.34842182e-01 3.47845923e-01 -5.09641397e+01] [-9.96635670e-01 -8.08764396e-02 -1.32793914e-02 -2.98676804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:-51.41, Z:-29.97 [[ 4.32379721e-02 -9.77585283e-01 2.06052159e-01 9.10230646e+01] [ 6.54270796e-02 2.08573005e-01 9.75815863e-01 -5.14092335e+01] [-9.96920145e-01 -2.87109080e-02 7.29788238e-02 -2.99650382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:-50.29, Z:-30.09 [[ 2.63792657e-02 9.91464626e-02 9.94723134e-01 9.04315538e+01] [-4.11849291e-02 9.94332338e-01 -9.80153195e-02 -5.02918806e+01] [-9.98803252e-01 -3.83820295e-02 3.03130970e-02 -3.00924298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-49.85, Z:-30.19 [[ 6.36177700e-03 5.99820494e-01 8.00109307e-01 9.06681521e+01] [-5.28139492e-02 7.99210316e-01 -5.98726614e-01 -4.98539038e+01] [-9.98584105e-01 -3.84479671e-02 3.67632869e-02 -3.01865720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.11, Y:-49.60, Z:-30.23 [[-2.97040635e-02 9.33869157e-01 3.56379105e-01 9.11134683e+01] [-3.02581763e-02 3.55532940e-01 -9.34173844e-01 -4.95971172e+01] [-9.99100651e-01 -3.85321410e-02 1.76964046e-02 -3.02250889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-49.65, Z:-30.28 [[-3.56387368e-02 9.53574887e-01 -2.99039821e-01 9.17104010e+01] [-1.98658302e-02 -2.99846767e-01 -9.53780512e-01 -4.96522769e+01] [-9.99167268e-01 -2.80508583e-02 2.96297168e-02 -3.02826814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.05, Y:-49.91, Z:-30.29 [[-3.00986210e-02 7.14205471e-01 -6.99288651e-01 9.20482322e+01] [-2.19334133e-02 -6.99909086e-01 -7.13895088e-01 -4.99123793e+01] [-9.99306259e-01 -6.14947071e-03 3.67312621e-02 -3.02940346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.06, Y:-49.93, Z:-30.34 [[-3.91601717e-02 6.94318534e-01 -7.18601597e-01 9.20634823e+01] [-3.18407076e-03 -7.19236281e-01 -6.94758255e-01 -4.99331210e+01] [-9.99227873e-01 -2.49187742e-02 3.03761756e-02 -3.03399773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:-51.23, Z:-30.40 [[ 8.81980964e-03 -7.11075281e-01 -7.03060564e-01 9.18917106e+01] [ 1.85629048e-02 -7.02850328e-01 7.11095518e-01 -5.12251244e+01] [-9.99788792e-01 -1.93225734e-02 7.00061664e-03 -3.03971970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:-51.42, Z:-30.42 [[ 3.47178794e-03 -9.95279775e-01 -9.69851376e-02 9.13091365e+01] [ 1.32318605e-02 -9.69315095e-02 9.95203095e-01 -5.14205016e+01] [-9.99906428e-01 -4.73842791e-03 1.28328775e-02 -3.04211412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.75, Y:-49.78, Z:-30.54 [[-3.20360294e-02 6.67065481e-01 7.44309973e-01 9.07532094e+01] [-3.25210173e-02 7.43602212e-01 -6.67830917e-01 -4.97798084e+01] [-9.98957495e-01 -4.56003684e-02 -2.12841428e-03 -3.05355308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.25, Y:-49.56, Z:-30.61 [[-3.13762497e-02 9.70998223e-01 2.37018947e-01 9.12468097e+01] [-5.15794485e-02 2.35246756e-01 -9.70566085e-01 -4.95567414e+01] [-9.98175882e-01 -4.26780304e-02 4.27023919e-02 -3.06124539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.82, Y:-49.67, Z:-30.65 [[-4.39145028e-02 9.17765574e-01 -3.94687050e-01 9.18186512e+01] [-4.20767607e-02 -3.96416725e-01 -9.17105952e-01 -4.96693333e+01] [-9.98148818e-01 -2.36670993e-02 5.60250457e-02 -3.06469365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-50.99, Z:-30.70 [[-3.76286566e-03 -4.61184690e-01 -8.87296187e-01 9.21191219e+01] [ 3.26319183e-02 -8.86886547e-01 4.60833387e-01 -5.09914545e+01] [-9.99460354e-01 -2.72201226e-02 1.83865761e-02 -3.07036083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-51.35, Z:-30.79 [[ 1.85650880e-02 -9.08308979e-01 -4.17887707e-01 9.16409358e+01] [ 3.70183808e-02 -4.17048716e-01 9.08129951e-01 -5.13502053e+01] [-9.99142121e-01 -3.23290387e-02 2.58815816e-02 -3.07871321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.852320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:91.05, Y:-51.35, Z:-30.89 [[ 3.87547984e-02 -9.76627085e-01 2.11418076e-01 9.10544592e+01] [-9.51174904e-03 2.11206886e-01 9.77395098e-01 -5.13454953e+01] [-9.99203479e-01 -3.98897056e-02 -1.10415146e-03 -3.08896810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-50.81, Z:-30.96 [[ 2.05263090e-02 -4.71797101e-01 8.81468188e-01 9.04954646e+01] [-1.74501727e-02 8.81350575e-01 4.72140503e-01 -5.08102418e+01] [-9.99637015e-01 -2.50730740e-02 9.85793334e-03 -3.09645850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.43, Y:-51.40, Z:-31.11 [[ 1.10997247e-01 -9.60635943e-01 -2.54672722e-01 9.14293083e+01] [ 5.21311578e-02 -2.50275431e-01 9.66770165e-01 -5.13951846e+01] [-9.92452494e-01 -1.20585210e-01 2.22991802e-02 -3.11107139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:-50.90, Z:-31.26 [[ 9.76120223e-02 -5.60923461e-01 8.22092917e-01 9.04959507e+01] [-1.38980605e-02 8.25188796e-01 5.64686015e-01 -5.09010476e+01] [-9.95127498e-01 -6.65456409e-02 7.27525989e-02 -3.12553111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:-50.57, Z:-31.40 [[ 1.27378860e-01 -2.45342134e-01 9.61031666e-01 9.04212160e+01] [-3.68858084e-02 9.67082403e-01 2.51775817e-01 -5.05695305e+01] [-9.91168030e-01 -6.75193465e-02 1.14136212e-01 -3.14025691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:90.44, Y:-50.29, Z:-31.51 [[ 1.13206857e-01 4.88497347e-02 9.92369846e-01 9.04447208e+01] [-6.36359640e-02 9.97096436e-01 -4.18229846e-02 -5.02886793e+01] [-9.91531478e-01 -5.84157631e-02 1.15986754e-01 -3.15110089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:-50.01, Z:-31.66 [[ 7.85369726e-02 3.42365879e-01 9.36278564e-01 9.05561666e+01] [-1.03846187e-01 9.36879688e-01 -3.33874858e-01 -5.00067958e+01] [-9.91487727e-01 -7.10074380e-02 1.09133085e-01 -3.16598531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:-49.68, Z:-31.76 [[-1.76829818e-02 9.15313249e-01 -4.02354282e-01 9.19078328e+01] [-1.24801449e-02 -4.02587912e-01 -9.15296247e-01 -4.96810979e+01] [-9.99765752e-01 -1.11637271e-02 1.85421967e-02 -3.17634789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:-49.55, Z:-31.84 [[-2.92883796e-02 9.89412262e-01 1.42146283e-01 9.14271936e+01] [-7.02088029e-02 1.39819788e-01 -9.87684743e-01 -4.95464712e+01] [-9.97102259e-01 -3.89076060e-02 6.53703555e-02 -3.18357018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:-50.28, Z:-31.86 [[-1.80426720e-02 3.73825254e-01 -9.27323645e-01 9.23264188e+01] [ 4.20462314e-02 -9.26370471e-01 -3.74259089e-01 -5.02758302e+01] [-9.98952740e-01 -4.57430985e-02 9.96255451e-04 -3.18630852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.35, Y:-50.58, Z:-32.00 [[-1.63793044e-03 6.96510571e-02 -9.97570071e-01 9.23472196e+01] [ 7.71342019e-02 -9.94590557e-01 -6.95696734e-02 -5.05781735e+01] [-9.97019374e-01 -7.70607216e-02 -3.74340855e-03 -3.20006320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:-51.40, Z:-32.12 [[ 6.26292641e-02 -9.33850291e-01 -3.52138053e-01 9.16043517e+01] [ 4.42375985e-02 -3.49886456e-01 9.35747029e-01 -5.14027414e+01] [-9.97055971e-01 -7.41828896e-02 1.93981630e-02 -3.21208931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.19, Y:-51.02, Z:-32.26 [[ 4.44138122e-02 -3.71815226e-01 -9.27243685e-01 9.21942465e+01] [ 1.45644308e-01 -9.15833074e-01 3.74215868e-01 -5.10193410e+01] [-9.88339592e-01 -1.51668118e-01 1.34771331e-02 -3.22587983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.22, Y:-51.42, Z:-32.42 [[ 8.75535077e-02 -9.95778165e-01 2.75722528e-02 9.12184396e+01] [ 1.25252779e-01 3.84632580e-02 9.91378999e-01 -5.14166140e+01] [-9.88254079e-01 -8.33452075e-02 1.28091575e-01 -3.24181096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.89, Y:-51.25, Z:-32.54 [[ 1.06286765e-01 -9.08835911e-01 4.03386180e-01 9.08889912e+01] [ 9.92960803e-02 4.13357607e-01 9.05138540e-01 -5.12540643e+01] [-9.89365156e-01 -5.61495810e-02 1.34178287e-01 -3.25385506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:-49.95, Z:-32.62 [[ 3.07432073e-02 3.59478951e-01 9.32646631e-01 9.06563283e+01] [ 1.30415558e-02 9.32863992e-01 -3.59992625e-01 -4.99485751e+01] [-9.99442231e-01 2.32304910e-02 2.39910663e-02 -3.26195679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:91.28, Y:-49.52, Z:-32.76 [[-1.21211647e-02 9.07632074e-01 4.19591581e-01 9.12787342e+01] [-2.80292028e-02 4.19149106e-01 -9.07484650e-01 -4.95162701e+01] [-9.99533612e-01 -2.27605884e-02 2.03596282e-02 -3.27555980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-50.15, Z:-32.81 [[-2.30934062e-02 4.82775280e-01 -8.75439732e-01 9.23919770e+01] [ 6.16773936e-02 -8.73317208e-01 -4.83231781e-01 -5.01476454e+01] [-9.97828940e-01 -6.51543087e-02 -9.60845194e-03 -3.28060352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:-51.25, Z:-32.85 [[-1.56288505e-02 -7.74340869e-01 -6.32575654e-01 9.19403695e+01] [ 3.81019629e-02 -6.32654640e-01 7.73496184e-01 -5.12515996e+01] [-9.99151630e-01 -1.20135178e-02 3.93915719e-02 -3.28533644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-49.87, Z:-32.91 [[-9.51607056e-02 7.42813739e-01 -6.62700678e-01 9.22549922e+01] [ 8.80963583e-02 -6.56825575e-01 -7.48878625e-01 -4.98710800e+01] [-9.91556086e-01 -1.29645335e-01 -2.93520015e-03 -3.29085920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-51.13, Z:-33.01 [[-6.50863319e-02 -6.08926861e-01 -7.90551610e-01 9.21188389e+01] [ 9.42585196e-02 -7.92440803e-01 6.02621693e-01 -5.11331649e+01] [-9.93417888e-01 -3.52937889e-02 1.08973610e-01 -3.30095369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters Centerline goodness : 0.892058 Centerline is valid? [True, False] Translation: X:92.23, Y:-50.56, Z:-33.70 [[ 3.28984053e-01 4.77540820e-01 -8.14692738e-01 9.22294685e+01] [-2.38258799e-01 8.76779152e-01 4.17721276e-01 -5.05599338e+01] [ 9.13784568e-01 5.66840749e-02 4.02224661e-01 -3.36986489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:92.24, Y:-50.47, Z:-33.72 [[ 3.41994047e-01 4.01026011e-01 -8.49834225e-01 9.22394048e+01] [-2.25373158e-01 9.12974120e-01 3.40125265e-01 -5.04730530e+01] [ 9.12275732e-01 7.52090067e-02 4.02612213e-01 -3.37152903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.16, Y:-50.72, Z:-33.72 [[ 3.08548275e-01 6.13654978e-01 -7.26791256e-01 9.21597062e+01] [-1.98943029e-01 7.88804894e-01 5.81556971e-01 -5.07152925e+01] [ 9.30171830e-01 -3.48483465e-02 3.65466769e-01 -3.37155759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:-50.60, Z:-33.68 [[ 3.46804353e-01 4.98605681e-01 -7.94430057e-01 9.22260465e+01] [-2.19967969e-01 8.66611320e-01 4.47882699e-01 -5.05977613e+01] [ 9.11778939e-01 1.94214963e-02 4.10221857e-01 -3.36795442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:-50.67, Z:-33.66 [[ 3.46420405e-01 5.52998899e-01 -7.57750038e-01 9.22117147e+01] [-2.17418515e-01 8.33103463e-01 5.08593954e-01 -5.06663234e+01] [ 9.12536078e-01 -1.14384355e-02 4.08836238e-01 -3.36601096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:-50.75, Z:-33.64 [[ 3.19419216e-01 6.23671909e-01 -7.13445663e-01 9.21774339e+01] [-1.93560233e-01 7.79954157e-01 5.95152038e-01 -5.07502210e+01] [ 9.27634519e-01 -5.20082882e-02 3.69850426e-01 -3.36408153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-50.68, Z:-33.61 [[ 3.19564052e-01 5.59221636e-01 -7.64950965e-01 9.22174334e+01] [-1.93537587e-01 8.28783248e-01 5.25034789e-01 -5.06834439e+01] [ 9.27589359e-01 -1.97354805e-02 3.73079740e-01 -3.36116614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:-50.57, Z:-33.57 [[ 3.57078434e-01 4.43606433e-01 -8.22014796e-01 9.22727588e+01] [-2.16019670e-01 8.95392801e-01 3.89367737e-01 -5.05665362e+01] [ 9.08752163e-01 3.85365434e-02 4.15553174e-01 -3.35710417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-50.69, Z:-33.56 [[ 3.56562442e-01 5.49115825e-01 -7.55867076e-01 9.22396561e+01] [-2.18481489e-01 8.35619404e-01 5.03990129e-01 -5.06906193e+01] [ 9.08366151e-01 -1.45609872e-02 4.17922139e-01 -3.35586162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.25, Y:-50.70, Z:-33.53 [[ 3.56355290e-01 5.49298987e-01 -7.55831681e-01 9.22488970e+01] [-2.21827203e-01 8.35547347e-01 5.02646321e-01 -5.06978551e+01] [ 9.07636270e-01 -1.14566478e-02 4.19601175e-01 -3.35337791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.26, Y:-50.70, Z:-33.51 [[ 3.57224450e-01 5.48417404e-01 -7.56061534e-01 9.22574466e+01] [-2.22286295e-01 8.36131379e-01 5.01470957e-01 -5.07034774e+01] [ 9.07182173e-01 -1.10755698e-02 4.20592245e-01 -3.35075649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:-50.71, Z:-33.48 [[ 3.58221563e-01 5.47537721e-01 -7.56227318e-01 9.22643387e+01] [-2.22860017e-01 8.36713027e-01 5.00244663e-01 -5.07140606e+01] [ 9.06648071e-01 -1.06655924e-02 4.21752914e-01 -3.34819806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:-50.72, Z:-33.46 [[ 3.57651855e-01 5.46717540e-01 -7.57089877e-01 9.22720008e+01] [-2.22560744e-01 8.37255731e-01 4.99469274e-01 -5.07217183e+01] [ 9.06946451e-01 -1.01376260e-02 4.21123928e-01 -3.34557967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-50.84, Z:-33.44 [[ 3.17743861e-01 6.43242096e-01 -6.96619297e-01 9.22204528e+01] [-1.90899276e-01 7.63047967e-01 6.17507300e-01 -5.08387265e+01] [ 9.28760629e-01 -6.32250343e-02 3.65248257e-01 -3.34407903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-50.57, Z:-33.38 [[ 3.55652382e-01 3.92590067e-01 -8.48165327e-01 9.23457237e+01] [-2.22858419e-01 9.16945045e-01 3.30977204e-01 -5.05686514e+01] [ 9.07659357e-01 7.13079526e-02 4.13605691e-01 -3.33847363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:-50.85, Z:-33.39 [[ 3.22280432e-01 6.42288582e-01 -6.95414049e-01 9.22370834e+01] [-1.96438413e-01 7.63994371e-01 6.14592997e-01 -5.08488191e+01] [ 9.26038483e-01 -6.14652641e-02 3.72390586e-01 -3.33893218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:-50.58, Z:-33.33 [[ 3.58392353e-01 3.90938931e-01 -8.47774541e-01 9.23622769e+01] [-2.27961304e-01 9.17256514e-01 3.26610059e-01 -5.05814054e+01] [ 9.05311308e-01 7.62052421e-02 4.17856669e-01 -3.33328671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:-50.86, Z:-33.34 [[ 3.24862063e-01 6.35985082e-01 -6.99991154e-01 9.22565142e+01] [-2.04739098e-01 7.69875686e-01 6.04461189e-01 -5.08584416e+01] [ 9.23334469e-01 -5.30509518e-02 3.80314416e-01 -3.33370000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:-50.63, Z:-33.29 [[ 3.60403164e-01 4.23231652e-01 -8.31254792e-01 9.23668464e+01] [-2.33477573e-01 9.03706009e-01 3.58892285e-01 -5.06317809e+01] [ 9.03104525e-01 6.47334364e-02 4.24513603e-01 -3.32871599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.32, Y:-50.77, Z:-33.28 [[ 3.59741201e-01 5.50315226e-01 -7.53484851e-01 9.23245413e+01] [-2.36698318e-01 8.34956892e-01 4.96810723e-01 -5.07743600e+01] [ 9.02529875e-01 -3.74689481e-04 4.30627083e-01 -3.32766581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.29, Y:-50.87, Z:-33.26 [[ 3.30473301e-01 6.28623438e-01 -7.04002820e-01 9.22858564e+01] [-2.16283893e-01 7.76502368e-01 5.91832198e-01 -5.08673086e+01] [ 9.18699448e-01 -4.33202699e-02 3.92574425e-01 -3.32582667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.39, Y:-50.67, Z:-33.21 [[ 3.59443161e-01 4.45498404e-01 -8.19958405e-01 9.23881159e+01] [-2.38649657e-01 8.93348238e-01 3.80756177e-01 -5.06728108e+01] [ 9.02134666e-01 5.88225880e-02 4.27425956e-01 -3.32134159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.33, Y:-50.83, Z:-33.20 [[ 3.24592147e-01 5.82459753e-01 -7.45238602e-01 9.23318403e+01] [-2.16837254e-01 8.12740087e-01 5.40772740e-01 -5.08276902e+01] [ 9.20663643e-01 -1.39350929e-02 3.90108023e-01 -3.32041607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.37, Y:-50.78, Z:-33.17 [[ 3.25228956e-01 5.36031465e-01 -7.79035554e-01 9.23654939e+01] [-2.25292732e-01 8.44022264e-01 4.86692513e-01 -5.07793512e+01] [ 9.18405853e-01 1.72245503e-02 3.95264473e-01 -3.31731451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.36, Y:-50.81, Z:-33.15 [[ 3.22360834e-01 5.59585955e-01 -7.63509693e-01 9.23614643e+01] [-2.26501707e-01 8.28734042e-01 5.11758600e-01 -5.08092187e+01] [ 9.19119399e-01 7.96531947e-03 3.93898571e-01 -3.31491887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:-50.75, Z:-33.12 [[ 3.59443841e-01 4.97761784e-01 -7.89324605e-01 9.24049310e+01] [-2.52910297e-01 8.66161574e-01 4.31045833e-01 -5.07482523e+01] [ 8.98240785e-01 4.46915504e-02 4.37225523e-01 -3.31177003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-50.82, Z:-33.10 [[ 3.58037443e-01 5.52523366e-01 -7.52679958e-01 9.23896494e+01] [-2.53188754e-01 8.33368471e-01 4.91317053e-01 -5.08151708e+01] [ 8.98723898e-01 1.46601996e-02 4.38269819e-01 -3.30973960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.38, Y:-50.86, Z:-33.08 [[ 3.23449718e-01 5.87242634e-01 -7.41974641e-01 9.23793442e+01] [-2.29860428e-01 8.09399832e-01 5.40403642e-01 -5.08588433e+01] [ 9.17902208e-01 -4.24279733e-03 3.96783991e-01 -3.30759378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:-50.78, Z:-33.04 [[ 3.59702395e-01 5.10491337e-01 -7.81033151e-01 9.24297310e+01] [-2.54567299e-01 8.58996082e-01 4.44208534e-01 -5.07802343e+01] [ 8.97669024e-01 3.90426266e-02 4.38937349e-01 -3.30430762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.39, Y:-50.87, Z:-33.03 [[ 3.23144799e-01 5.89849843e-01 -7.40036892e-01 9.23941061e+01] [-2.28588197e-01 8.07486295e-01 5.43795292e-01 -5.08745462e+01] [ 9.18327216e-01 -6.56092095e-03 3.95767708e-01 -3.30256528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.42, Y:-50.83, Z:-33.00 [[ 3.20299205e-01 5.47546543e-01 -7.73046701e-01 9.24247076e+01] [-2.28959255e-01 8.36590393e-01 4.97688833e-01 -5.08344328e+01] [ 9.19231244e-01 1.75868589e-02 3.93325086e-01 -3.29967288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:-50.83, Z:-32.97 [[ 3.23637437e-01 5.42053416e-01 -7.75523632e-01 9.24390691e+01] [-2.32824458e-01 8.40056549e-01 4.89997720e-01 -5.08320324e+01] [ 9.17088644e-01 2.19792634e-02 3.98077041e-01 -3.29715194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.42, Y:-50.89, Z:-32.95 [[ 3.21355353e-01 5.99531093e-01 -7.33002869e-01 9.24201523e+01] [-2.31380769e-01 8.00309942e-01 5.53142781e-01 -5.08941486e+01] [ 9.18255780e-01 -8.15262647e-03 3.95903850e-01 -3.29521095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:-50.78, Z:-32.91 [[ 3.24805626e-01 4.89128617e-01 -8.09477919e-01 9.24865387e+01] [-2.40947439e-01 8.70437198e-01 4.29282444e-01 -5.07768552e+01] [ 9.14574019e-01 5.56082782e-02 4.00577187e-01 -3.29139529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.46, Y:-50.87, Z:-32.90 [[ 3.22586093e-01 5.67532630e-01 -7.57525529e-01 9.24612294e+01] [-2.38183261e-01 8.23228582e-01 5.15328474e-01 -5.08665543e+01] [ 9.16082391e-01 1.41921014e-02 4.00738864e-01 -3.28989464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.48, Y:-50.86, Z:-32.87 [[ 3.21837301e-01 5.56103826e-01 -7.66269721e-01 9.24782375e+01] [-2.38251993e-01 8.30854740e-01 5.02907933e-01 -5.08571730e+01] [ 9.16327856e-01 2.07107566e-02 3.99892892e-01 -3.28734453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.50, Y:-50.84, Z:-32.85 [[ 3.25013663e-01 5.39877815e-01 -7.76465108e-01 9.24989784e+01] [-2.40061529e-01 8.41245357e-01 4.84434425e-01 -5.08390495e+01] [ 9.14733065e-01 2.89515937e-02 4.03020129e-01 -3.28479777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.51, Y:-50.85, Z:-32.82 [[ 3.30896415e-01 5.43442109e-01 -7.71477956e-01 9.25083546e+01] [-2.42838488e-01 8.39036454e-01 4.86875033e-01 -5.08476206e+01] [ 9.11886523e-01 2.62393373e-02 4.09602815e-01 -3.28237840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-50.86, Z:-32.80 [[ 3.33966386e-01 5.50081945e-01 -7.65425572e-01 9.25135038e+01] [-2.40121492e-01 8.34907977e-01 4.95247755e-01 -5.08571985e+01] [ 9.11486764e-01 1.83990275e-02 4.10917697e-01 -3.28002911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.53, Y:-50.85, Z:-32.77 [[ 3.36712735e-01 5.39640826e-01 -7.71629648e-01 9.25293572e+01] [-2.41835782e-01 8.41554027e-01 4.83013741e-01 -5.08477933e+01] [ 9.10021972e-01 2.39707818e-02 4.13866419e-01 -3.27730205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.54, Y:-50.85, Z:-32.75 [[ 3.37526022e-01 5.41308926e-01 -7.70104429e-01 9.25404346e+01] [-2.41002697e-01 8.40540287e-01 4.85190403e-01 -5.08529229e+01] [ 9.09941693e-01 2.18328577e-02 4.14161130e-01 -3.27482490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-50.81, Z:-32.72 [[ 3.73920574e-01 4.99763158e-01 -7.81293920e-01 9.25744066e+01] [-2.59942588e-01 8.65109408e-01 4.28970352e-01 -5.08133244e+01] [ 8.90288299e-01 4.26907235e-02 4.53391935e-01 -3.27199796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-50.92, Z:-32.71 [[ 3.39192497e-01 5.88144790e-01 -7.34189455e-01 9.25378925e+01] [-2.27301245e-01 8.08572645e-01 5.42719470e-01 -5.09182886e+01] [ 9.12843138e-01 -1.72041948e-02 4.07947817e-01 -3.27059443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.60, Y:-50.79, Z:-32.66 [[ 3.79477016e-01 4.72302648e-01 -7.95567347e-01 9.26023307e+01] [-2.55465080e-01 8.79945631e-01 4.00541232e-01 -5.07910140e+01] [ 8.89232696e-01 5.12434838e-02 4.54575976e-01 -3.26644943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.56, Y:-50.92, Z:-32.65 [[ 3.44949092e-01 5.77496892e-01 -7.39937473e-01 9.25645431e+01] [-2.29132378e-01 8.16283389e-01 5.30263879e-01 -5.09152978e+01] [ 9.10224410e-01 -1.33704106e-02 4.13899450e-01 -3.26547404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.62, Y:-50.82, Z:-32.62 [[ 3.81590206e-01 4.87030189e-01 -7.85614733e-01 9.26194450e+01] [-2.52265311e-01 8.72534743e-01 4.18384197e-01 -5.08210368e+01] [ 8.89241884e-01 3.85320333e-02 4.55811534e-01 -3.26196295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.61, Y:-50.89, Z:-32.60 [[ 3.82164406e-01 5.37532151e-01 -7.51671174e-01 9.26084707e+01] [-2.51517308e-01 8.43210028e-01 4.75116714e-01 -5.08862156e+01] [ 8.89207181e-01 7.48561347e-03 4.57443499e-01 -3.26014826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:-50.89, Z:-32.58 [[ 3.83470792e-01 5.34868469e-01 -7.52904956e-01 9.26168688e+01] [-2.46513147e-01 8.44927784e-01 4.74687590e-01 -5.08917973e+01] [ 8.90045740e-01 3.57214380e-03 4.55857236e-01 -3.25756891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.63, Y:-50.90, Z:-32.55 [[ 3.85862428e-01 5.33361678e-01 -7.52751956e-01 9.26260872e+01] [-2.45737039e-01 8.45884123e-01 4.73385000e-01 -5.08977352e+01] [ 8.89226346e-01 2.31755133e-03 4.57461620e-01 -3.25498840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.952320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.64, Y:-50.90, Z:-32.52 [[ 3.87478323e-01 5.31139681e-01 -7.53492660e-01 9.26364998e+01] [-2.42319868e-01 8.47284093e-01 4.72642304e-01 -5.09030641e+01] [ 8.89461428e-01 -5.52405334e-04 4.57009916e-01 -3.25249446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:92.61, Y:-50.99, Z:-32.51 [[ 3.60840148e-01 6.04954778e-01 -7.09805681e-01 9.26055938e+01] [-2.20651379e-01 7.94850679e-01 5.65265749e-01 -5.09940130e+01] [ 9.06149743e-01 -4.73509748e-02 4.20298143e-01 -3.25102168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.70, Y:-50.79, Z:-32.46 [[ 3.89861802e-01 4.23342657e-01 -8.17795066e-01 9.26955891e+01] [-2.42565532e-01 9.03911942e-01 3.52285627e-01 -5.07940401e+01] [ 8.88352260e-01 6.10261855e-02 4.55089075e-01 -3.24591054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:-50.92, Z:-32.45 [[ 3.87851680e-01 5.30388419e-01 -7.53829688e-01 9.26685256e+01] [-2.42235440e-01 8.47754661e-01 4.71841104e-01 -5.09221839e+01] [ 8.89321689e-01 -4.00098492e-04 4.57281941e-01 -3.24507879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.68, Y:-50.93, Z:-32.43 [[ 3.89922274e-01 5.28733474e-01 -7.53924090e-01 9.26767708e+01] [-2.40838156e-01 8.48785638e-01 4.70701523e-01 -5.09286997e+01] [ 8.88795591e-01 -1.96332073e-03 4.58299621e-01 -3.24250595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:-50.93, Z:-32.40 [[ 3.92329468e-01 5.27323467e-01 -7.53662756e-01 9.26861769e+01] [-2.40422128e-01 8.49659541e-01 4.69335557e-01 -5.09346678e+01] [ 8.87848404e-01 -2.93696610e-03 4.60126706e-01 -3.23989610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.70, Y:-50.94, Z:-32.37 [[ 3.96572788e-01 5.24335016e-01 -7.53526917e-01 9.26950385e+01] [-2.36426412e-01 8.51479308e-01 4.68065743e-01 -5.09435166e+01] [ 8.87035837e-01 -7.46847158e-03 4.61640170e-01 -3.23738252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.71, Y:-50.95, Z:-32.35 [[ 3.96561714e-01 5.22929152e-01 -7.54509052e-01 9.27050567e+01] [-2.34455732e-01 8.52333826e-01 4.67501400e-01 -5.09518263e+01] [ 8.87563698e-01 -8.49418426e-03 4.60606700e-01 -3.23494085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:-50.96, Z:-32.32 [[ 3.96562512e-01 5.21468640e-01 -7.55518783e-01 9.27150178e+01] [-2.32306105e-01 8.53215658e-01 4.66965646e-01 -5.09592737e+01] [ 8.88128396e-01 -9.66944382e-03 4.59493693e-01 -3.23242496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.72, Y:-50.97, Z:-32.30 [[ 3.99063821e-01 5.19035623e-01 -7.55877033e-01 9.27240697e+01] [-2.28880876e-01 8.54654229e-01 4.66025422e-01 -5.09668006e+01] [ 8.87897298e-01 -1.29680886e-02 4.59858910e-01 -3.22985685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.73, Y:-50.98, Z:-32.27 [[ 4.01056921e-01 5.17543061e-01 -7.55845570e-01 9.27340289e+01] [-2.27961508e-01 8.55540537e-01 4.64848299e-01 -5.09750819e+01] [ 8.87235536e-01 -1.41269312e-02 4.61100350e-01 -3.22735072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:92.74, Y:-50.99, Z:-32.25 [[ 4.01080162e-01 5.15805941e-01 -7.57019772e-01 9.27427268e+01] [-2.25002367e-01 8.56557196e-01 4.64417598e-01 -5.09877672e+01] [ 8.87980089e-01 -1.59374447e-02 4.59605656e-01 -3.22490234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.75, Y:-51.00, Z:-32.22 [[ 3.99949307e-01 5.14757399e-01 -7.58330648e-01 9.27526858e+01] [-2.23308642e-01 8.57181530e-01 4.64083048e-01 -5.09974479e+01] [ 8.88917207e-01 -1.62679059e-02 4.57778935e-01 -3.22245957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.76, Y:-51.01, Z:-32.20 [[ 3.99442364e-01 5.13667512e-01 -7.59336214e-01 9.27595416e+01] [-2.21912871e-01 8.57827596e-01 4.63558511e-01 -5.10101065e+01] [ 8.89494506e-01 -1.66584289e-02 4.56642115e-01 -3.21996018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.75, Y:-51.06, Z:-32.18 [[ 3.71811597e-01 5.47074672e-01 -7.49976959e-01 9.27478197e+01] [-2.01388295e-01 8.36191829e-01 5.10123495e-01 -5.10556676e+01] [ 9.06200249e-01 -3.86332504e-02 4.21080255e-01 -3.21793519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:-50.97, Z:-32.14 [[ 4.04437568e-01 4.58433330e-01 -7.91371680e-01 9.27948045e+01] [-2.20868221e-01 8.88644467e-01 4.01905760e-01 -5.09692329e+01] [ 8.87495060e-01 1.22430673e-02 4.60654561e-01 -3.21417648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.78, Y:-51.04, Z:-32.12 [[ 4.07708174e-01 5.11193533e-01 -7.56607703e-01 9.27806157e+01] [-2.22766978e-01 8.59251070e-01 4.60502412e-01 -5.10365824e+01] [ 8.85521834e-01 -1.92033857e-02 4.64200723e-01 -3.21215675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.79, Y:-51.05, Z:-32.10 [[ 4.08691448e-01 5.09601302e-01 -7.57151117e-01 9.27885691e+01] [-2.20876961e-01 8.60163016e-01 4.59709641e-01 -5.10495674e+01] [ 8.85542020e-01 -2.06421614e-02 4.64100455e-01 -3.20971288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.77, Y:-51.11, Z:-32.08 [[ 3.78330695e-01 5.55574405e-01 -7.40407297e-01 9.27697315e+01] [-1.98313063e-01 8.29935671e-01 5.21419899e-01 -5.11100463e+01] [ 9.04177977e-01 -5.04367140e-02 4.24167802e-01 -3.20783797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-51.00, Z:-32.04 [[ 4.07398819e-01 4.41957371e-01 -7.99187015e-01 9.28341314e+01] [-2.17194161e-01 8.96882036e-01 3.85265246e-01 -5.09962789e+01] [ 8.87047292e-01 1.66221469e-02 4.61379243e-01 -3.20415052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:-51.14, Z:-32.03 [[ 3.84343744e-01 5.64166898e-01 -7.30750024e-01 9.27825932e+01] [-2.05626994e-01 8.23979206e-01 5.27992243e-01 -5.11400092e+01] [ 8.99998570e-01 -5.26685846e-02 4.32699196e-01 -3.20268363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.84, Y:-51.04, Z:-32.00 [[ 4.08053663e-01 4.61459300e-01 -7.87748388e-01 9.28408220e+01] [-2.18913359e-01 8.87136356e-01 4.06283185e-01 -5.10422025e+01] [ 8.86323389e-01 6.66330327e-03 4.63018845e-01 -3.19952770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.83, Y:-51.10, Z:-31.97 [[ 4.08881909e-01 5.07576018e-01 -7.58407654e-01 9.28289751e+01] [-2.20798307e-01 8.61384244e-01 4.57455235e-01 -5.11011809e+01] [ 8.85473711e-01 -1.95900440e-02 4.64276360e-01 -3.19737656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.81, Y:-51.16, Z:-31.95 [[ 3.80325517e-01 5.52995546e-01 -7.41315336e-01 9.28112285e+01] [-2.04745659e-01 8.32004810e-01 5.15603735e-01 -5.11550501e+01] [ 9.01904494e-01 -4.43161598e-02 4.29656097e-01 -3.19511579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-51.06, Z:-31.92 [[ 4.09231058e-01 4.54147001e-01 -7.91378824e-01 9.28714669e+01] [-2.27636813e-01 8.90721192e-01 3.93442804e-01 -5.10560896e+01] [ 8.83578758e-01 1.91379389e-02 4.67891352e-01 -3.19174239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-51.12, Z:-31.90 [[ 4.08911179e-01 5.09689413e-01 -7.56973150e-01 9.28564177e+01] [-2.31058696e-01 8.60289172e-01 4.54438575e-01 -5.11243166e+01] [ 8.82838335e-01 -1.09197850e-02 4.69550031e-01 -3.18978677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-51.13, Z:-31.87 [[ 4.07176917e-01 5.10292777e-01 -7.57501313e-01 9.28664108e+01] [-2.33860991e-01 8.59967597e-01 4.53613017e-01 -5.11331749e+01] [ 8.82902030e-01 -7.55074185e-03 4.69496530e-01 -3.18726877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.84, Y:-51.21, Z:-31.85 [[ 3.76620035e-01 5.76322510e-01 -7.25265272e-01 9.28367345e+01] [-2.15846156e-01 8.15958218e-01 5.36304600e-01 -5.12085676e+01] [ 9.00870571e-01 -4.54373359e-02 4.31703211e-01 -3.18519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:-51.09, Z:-31.82 [[ 3.75416582e-01 4.60052765e-01 -8.04620310e-01 9.29082517e+01] [-2.20085826e-01 8.87535975e-01 4.04774161e-01 -5.10882451e+01] [ 9.00346944e-01 2.51265935e-02 4.34446815e-01 -3.18193201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-51.20, Z:-31.80 [[ 3.81131608e-01 5.53872271e-01 -7.40246044e-01 9.28719422e+01] [-2.21346114e-01 8.32061171e-01 5.08606041e-01 -5.11981276e+01] [ 8.97632773e-01 -2.99952535e-02 4.39722287e-01 -3.18022023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:-51.08, Z:-31.77 [[ 4.08601443e-01 4.31993061e-01 -8.04006751e-01 9.29394694e+01] [-2.37525682e-01 9.00874236e-01 3.63327898e-01 -5.10774131e+01] [ 8.81264098e-01 4.25159485e-02 4.70707959e-01 -3.17671680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.87, Y:-51.25, Z:-31.75 [[ 3.82587911e-01 5.86263249e-01 -7.14088155e-01 9.28673686e+01] [-2.24358449e-01 8.08708188e-01 5.43741072e-01 -5.12499739e+01] [ 8.96264345e-01 -4.78170498e-02 4.40935090e-01 -3.17519096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.96, Y:-51.08, Z:-31.71 [[ 4.16276302e-01 4.25376055e-01 -8.03597693e-01 9.29563063e+01] [-2.41203629e-01 9.03811670e-01 3.53475987e-01 -5.10816997e+01] [ 8.76661194e-01 4.66870027e-02 4.78837628e-01 -3.17138805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:-51.18, Z:-31.70 [[ 4.16274914e-01 5.08549931e-01 -7.53718889e-01 9.29308823e+01] [-2.42696045e-01 8.61026870e-01 4.46913146e-01 -5.11780381e+01] [ 8.76249865e-01 -3.11413767e-03 4.81846943e-01 -3.16969566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.92, Y:-51.23, Z:-31.68 [[ 3.82275703e-01 5.50864595e-01 -7.41898567e-01 9.29186620e+01] [-2.22423162e-01 8.34127040e-01 5.04737574e-01 -5.12324289e+01] [ 8.96879715e-01 -2.79334858e-02 4.41391546e-01 -3.16762624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-51.18, Z:-31.65 [[ 3.83568128e-01 4.92930400e-01 -7.80957817e-01 9.29618292e+01] [-2.25193580e-01 8.70035090e-01 4.38550788e-01 -5.11766053e+01] [ 8.95635720e-01 7.65258190e-03 4.44722492e-01 -3.16487172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:-51.18, Z:-31.62 [[ 4.15909881e-01 4.86648464e-01 -7.68239704e-01 9.29765952e+01] [-2.40625686e-01 8.73552645e-01 4.23089891e-01 -5.11781585e+01] [ 8.76993871e-01 8.89093955e-03 4.80419297e-01 -3.16236670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-51.23, Z:-31.60 [[ 3.88842071e-01 5.32262255e-01 -7.51996500e-01 9.29597718e+01] [-2.24197828e-01 8.46360337e-01 4.83124740e-01 -5.12342831e+01] [ 8.93609074e-01 -1.92632424e-02 4.48432547e-01 -3.16010861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:-51.19, Z:-31.57 [[ 4.20235146e-01 4.79095893e-01 -7.70629319e-01 9.29945588e+01] [-2.38066908e-01 8.77719394e-01 4.15851912e-01 -5.11896800e+01] [ 8.75629242e-01 8.70575017e-03 4.82905416e-01 -3.15731347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.99, Y:-51.22, Z:-31.55 [[ 4.20661712e-01 5.01738012e-01 -7.55845679e-01 9.29937773e+01] [-2.36126268e-01 8.64984631e-01 4.42770791e-01 -5.12238643e+01] [ 8.75949833e-01 -7.78169950e-03 4.82339441e-01 -3.15505330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:-51.23, Z:-31.53 [[ 4.21773602e-01 4.99557154e-01 -7.56670125e-01 9.30049960e+01] [-2.32763072e-01 8.66219012e-01 4.42137960e-01 -5.12317507e+01] [ 8.76315229e-01 -1.03572570e-02 4.81626770e-01 -3.15266224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-51.24, Z:-31.50 [[ 4.22012755e-01 4.98621980e-01 -7.57153456e-01 9.30166155e+01] [-2.32328424e-01 8.66757990e-01 4.41309518e-01 -5.12378362e+01] [ 8.76315433e-01 -1.03299767e-02 4.81626986e-01 -3.15013792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:-51.25, Z:-31.48 [[ 4.25514158e-01 4.95988220e-01 -7.56923634e-01 9.30262079e+01] [-2.29079454e-01 8.68218173e-01 4.40136125e-01 -5.12464669e+01] [ 8.75477187e-01 -1.38884995e-02 4.83059835e-01 -3.14760071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:92.98, Y:-51.34, Z:-31.45 [[ 3.98772565e-01 5.75141855e-01 -7.14277459e-01 9.29843200e+01] [-2.07344461e-01 8.15262955e-01 5.40698242e-01 -5.13400562e+01] [ 8.93302141e-01 -6.75141500e-02 4.44356978e-01 -3.14549635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:-51.15, Z:-31.42 [[ 4.29588585e-01 3.81863680e-01 -8.18311541e-01 9.30895358e+01] [-2.20095717e-01 9.23137811e-01 3.15237145e-01 -5.11483110e+01] [ 8.75791940e-01 4.46845864e-02 4.80616026e-01 -3.14152250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.05, Y:-51.28, Z:-31.40 [[ 4.31024856e-01 4.90661703e-01 -7.57277140e-01 9.30530023e+01] [-2.20843727e-01 8.71076180e-01 4.38696178e-01 -5.12762409e+01] [ 8.74897492e-01 -2.18490508e-02 4.83815044e-01 -3.14003404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-51.29, Z:-31.38 [[ 4.32609168e-01 4.88444371e-01 -7.57806970e-01 9.30630621e+01] [-2.17683971e-01 8.72251177e-01 4.37940147e-01 -5.12916077e+01] [ 8.74907422e-01 -2.44944922e-02 4.83670366e-01 -3.13776059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.07, Y:-51.30, Z:-31.35 [[ 4.33695059e-01 4.86602892e-01 -7.58370767e-01 9.30723859e+01] [-2.15248541e-01 8.73225067e-01 4.37202525e-01 -5.13009771e+01] [ 8.74972377e-01 -2.63743732e-02 4.83453960e-01 -3.13523024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.08, Y:-51.31, Z:-31.33 [[ 4.36786248e-01 4.84017608e-01 -7.58251099e-01 9.30773185e+01] [-2.12111113e-01 8.74556215e-01 4.36073736e-01 -5.13127433e+01] [ 8.74200578e-01 -2.96375267e-02 4.84659641e-01 -3.13257923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:-51.32, Z:-31.30 [[ 4.37895885e-01 4.82239920e-01 -7.58743602e-01 9.30866582e+01] [-2.09875916e-01 8.75477094e-01 4.35306740e-01 -5.13228708e+01] [ 8.74184931e-01 -3.13770220e-02 4.84578362e-01 -3.13010635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:-51.33, Z:-31.28 [[ 4.39208313e-01 4.80583518e-01 -7.59035928e-01 9.30952551e+01] [-2.08101628e-01 8.76333450e-01 4.34434571e-01 -5.13332063e+01] [ 8.73950668e-01 -3.28506630e-02 4.84903148e-01 -3.12758208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.07, Y:-51.39, Z:-31.25 [[ 4.02802806e-01 5.25758515e-01 -7.49218181e-01 9.30725905e+01] [-1.86093686e-01 8.48506864e-01 4.95383934e-01 -5.13920780e+01] [ 8.96169091e-01 -6.01172653e-02 4.39621286e-01 -3.12520236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.14, Y:-51.30, Z:-31.23 [[ 4.38496052e-01 4.26145321e-01 -7.91278319e-01 9.31408696e+01] [-2.04060699e-01 9.04651039e-01 3.74119938e-01 -5.13020508e+01] [ 8.75260215e-01 -2.58130895e-03 4.83645421e-01 -3.12256507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:-51.37, Z:-31.20 [[ 4.39303091e-01 4.78440917e-01 -7.60333534e-01 9.31204786e+01] [-2.05762709e-01 8.77465729e-01 4.33261587e-01 -5.13692208e+01] [ 8.74456690e-01 -3.38848665e-02 4.83918706e-01 -3.12023994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:-51.38, Z:-31.18 [[ 4.38012574e-01 4.77883375e-01 -7.61427912e-01 9.31302366e+01] [-2.05237463e-01 8.77791092e-01 4.32851456e-01 -5.13781646e+01] [ 8.75227153e-01 -3.33208477e-02 4.82563107e-01 -3.11780921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.14, Y:-51.39, Z:-31.15 [[ 4.38488164e-01 4.76962519e-01 -7.61731505e-01 9.31381426e+01] [-2.04805324e-01 8.78287201e-01 4.32049040e-01 -5.13901613e+01] [ 8.75090229e-01 -3.34417226e-02 4.82803005e-01 -3.11532206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-51.40, Z:-31.13 [[ 4.41164978e-01 4.76127826e-01 -7.60707405e-01 9.31468211e+01] [-2.06223474e-01 8.78756322e-01 4.30417478e-01 -5.14004948e+01] [ 8.73410179e-01 -3.30093934e-02 4.85865248e-01 -3.11282983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.15, Y:-51.42, Z:-31.10 [[ 4.42927540e-01 4.74264479e-01 -7.60847158e-01 9.31508763e+01] [-2.04232450e-01 8.79693317e-01 4.29451714e-01 -5.14180417e+01] [ 8.72985854e-01 -3.48263120e-02 4.86500594e-01 -3.11035335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.13, Y:-51.47, Z:-31.08 [[ 4.14974260e-01 5.15382043e-01 -7.49785112e-01 9.31296590e+01] [-1.84617224e-01 8.54644871e-01 4.85282006e-01 -5.14702283e+01] [ 8.90905631e-01 -6.29562955e-02 4.49804025e-01 -3.10802010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.21, Y:-51.37, Z:-31.05 [[ 4.40500206e-01 4.07953990e-01 -7.99708141e-01 9.32056646e+01] [-2.00132233e-01 9.12995983e-01 3.55507278e-01 -5.13745687e+01] [ 8.75160933e-01 3.44634666e-03 4.83819661e-01 -3.10531346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:-51.46, Z:-31.03 [[ 4.42061415e-01 4.73172165e-01 -7.62030057e-01 9.31773745e+01] [-2.02861255e-01 8.80273688e-01 4.28912050e-01 -5.14568665e+01] [ 8.73744251e-01 -3.50190939e-02 4.85123331e-01 -3.10295471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:-51.47, Z:-31.00 [[ 4.39630058e-01 4.74565976e-01 -7.62569700e-01 9.31823184e+01] [-2.06894021e-01 8.79692445e-01 4.28177612e-01 -5.14699941e+01] [ 8.74025329e-01 -3.04686366e-02 4.84924104e-01 -3.10038217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.16, Y:-51.53, Z:-30.98 [[ 4.17201776e-01 5.24117920e-01 -7.42457462e-01 9.31588089e+01] [-1.97883076e-01 8.49739531e-01 4.88656338e-01 -5.15265946e+01] [ 8.87009000e-01 -5.69485256e-02 4.58226908e-01 -3.09761786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.23, Y:-51.44, Z:-30.95 [[ 4.37455382e-01 4.29632435e-01 -7.89967569e-01 9.32285558e+01] [-2.10097664e-01 9.03001582e-01 3.74762745e-01 -5.14413119e+01] [ 8.74352195e-01 2.02836079e-03 4.85287673e-01 -3.09539853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.21, Y:-51.50, Z:-30.93 [[ 4.35612124e-01 4.77555479e-01 -7.63009070e-01 9.32099045e+01] [-2.16484101e-01 8.78363309e-01 4.26160219e-01 -5.15034391e+01] [ 8.73714319e-01 -2.04612260e-02 4.86008875e-01 -3.09296223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.19, Y:-51.55, Z:-30.90 [[ 3.98963127e-01 5.11050034e-01 -7.61351618e-01 9.31909237e+01] [-1.98875782e-01 8.58755004e-01 4.72216334e-01 -5.15487733e+01] [ 8.95140685e-01 -3.69825065e-02 4.44247057e-01 -3.09028086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.21, Y:-51.54, Z:-30.88 [[ 4.12788924e-01 4.95351122e-01 -7.64351078e-01 9.32103055e+01] [-2.08337693e-01 8.68285735e-01 4.50194722e-01 -5.15430313e+01] [ 8.86679598e-01 -2.65922546e-02 4.61619044e-01 -3.08820277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.27, Y:-51.48, Z:-30.86 [[ 4.32019947e-01 4.20630871e-01 -7.97764649e-01 9.32679812e+01] [-2.24404951e-01 9.06888868e-01 3.56644080e-01 -5.14772299e+01] [ 8.73499390e-01 2.49449806e-02 4.86185730e-01 -3.08578049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.19, Y:-51.61, Z:-30.83 [[ 4.07552988e-01 5.49571254e-01 -7.29295550e-01 9.31929154e+01] [-2.13628451e-01 8.33849547e-01 5.08977228e-01 -5.16106821e+01] [ 8.87842017e-01 -5.16369115e-02 4.57241930e-01 -3.08291345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.26, Y:-51.53, Z:-30.81 [[ 4.08372433e-01 4.65520324e-01 -7.85189649e-01 9.32621518e+01] [-2.20340782e-01 8.85019902e-01 4.10109392e-01 -5.15304899e+01] [ 8.85822723e-01 5.53193125e-03 4.63990842e-01 -3.08094316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.30, Y:-51.49, Z:-30.78 [[ 4.32405156e-01 4.25451559e-01 -7.94994813e-01 9.32994585e+01] [-2.40519079e-01 9.04159761e-01 3.53051977e-01 -5.14929721e+01] [ 8.69008834e-01 3.85499246e-02 4.93292560e-01 -3.07846767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:-51.58, Z:-30.76 [[ 3.92049075e-01 5.06948583e-01 -7.67659206e-01 9.32565138e+01] [-2.21487137e-01 8.61931551e-01 4.56089301e-01 -5.15773495e+01] [ 8.92883515e-01 -8.78274857e-03 4.50202057e-01 -3.07594344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.29, Y:-51.57, Z:-30.73 [[ 3.93653147e-01 4.89262233e-01 -7.78241394e-01 9.32858216e+01] [-2.32678872e-01 8.72059667e-01 4.30549045e-01 -5.15664719e+01] [ 8.89324318e-01 1.15933433e-02 4.57130016e-01 -3.07345940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:-51.55, Z:-30.71 [[ 4.25952459e-01 4.67758821e-01 -7.74445729e-01 9.33123918e+01] [-2.50771634e-01 8.83483474e-01 3.95689953e-01 -5.15516895e+01] [ 8.69297469e-01 2.56639124e-02 4.93622602e-01 -3.07122348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.31, Y:-51.57, Z:-30.69 [[ 4.26827895e-01 4.88120674e-01 -7.61285857e-01 9.33125698e+01] [-2.51912193e-01 8.72675811e-01 4.18302732e-01 -5.15746423e+01] [ 8.68537964e-01 1.32339157e-02 4.95445929e-01 -3.06859437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.28, Y:-51.63, Z:-30.66 [[ 3.89118398e-01 5.40063581e-01 -7.46269523e-01 9.32847217e+01] [-2.25097350e-01 8.41302854e-01 4.91467895e-01 -5.16296325e+01] [ 8.93262590e-01 -2.32559075e-02 4.48933299e-01 -3.06579189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232320588 meters Centerline goodness : 0.802797 Centerline is valid? [True, False] Translation: X:93.31, Y:-51.52, Z:-30.72 [[ 3.96999058e-01 4.48564665e-01 -8.00738090e-01 9.33074700e+01] [-2.20929476e-01 8.93487264e-01 3.90986797e-01 -5.15206074e+01] [ 8.90832147e-01 2.16852569e-02 4.53814759e-01 -3.07178003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:93.32, Y:-51.42, Z:-30.77 [[ 4.04905435e-01 3.61198657e-01 -8.39992333e-01 9.33191778e+01] [-2.15923938e-01 9.30457587e-01 2.96016101e-01 -5.14214951e+01] [ 8.88497857e-01 6.15159241e-02 4.54738770e-01 -3.07684792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.33, Y:-51.42, Z:-30.75 [[ 4.47942921e-01 3.51874456e-01 -8.21907237e-01 9.33343965e+01] [-2.27963967e-01 9.33861597e-01 2.75562965e-01 -5.14180641e+01] [ 8.64511173e-01 6.39287550e-02 4.98531388e-01 -3.07467052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.29, Y:-51.54, Z:-30.72 [[ 4.17045794e-01 4.65414832e-01 -7.80680370e-01 9.32854515e+01] [-2.12114987e-01 8.85063377e-01 4.14330848e-01 -5.15390897e+01] [ 8.83787326e-01 -7.20093081e-03 4.67833419e-01 -3.07191253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:-51.59, Z:-30.69 [[ 4.20952992e-01 5.11652921e-01 -7.49005919e-01 9.32630343e+01] [-2.05758277e-01 8.58067398e-01 4.70514476e-01 -5.15941033e+01] [ 8.83437666e-01 -4.39503096e-02 4.66482862e-01 -3.06947974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.36, Y:-51.45, Z:-30.67 [[ 4.21026504e-01 3.65254572e-01 -8.30256455e-01 9.33598768e+01] [-2.08894354e-01 9.29779341e-01 3.03106461e-01 -5.14518254e+01] [ 8.82666320e-01 4.58200325e-02 4.67761363e-01 -3.06722569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.35, Y:-51.51, Z:-30.65 [[ 4.58362965e-01 4.10038381e-01 -7.88525154e-01 9.33494063e+01] [-2.20905645e-01 9.11933350e-01 3.45800899e-01 -5.15059643e+01] [ 8.60874026e-01 1.56873326e-02 5.08576267e-01 -3.06489077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.32, Y:-51.57, Z:-30.62 [[ 4.28808409e-01 4.64856397e-01 -7.74617247e-01 9.33238139e+01] [-1.99561217e-01 8.85010479e-01 4.20632586e-01 -5.15725911e+01] [ 8.81078129e-01 -2.57872295e-02 4.72267243e-01 -3.06218013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.37, Y:-51.52, Z:-30.60 [[ 4.61617746e-01 4.01077959e-01 -7.91230388e-01 9.33741630e+01] [-2.10990203e-01 9.15995430e-01 3.41226474e-01 -5.15227679e+01] [ 8.61621837e-01 9.42566425e-03 5.07463266e-01 -3.06015402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:-51.67, Z:-30.57 [[ 4.31373561e-01 5.36547466e-01 -7.25281785e-01 9.32923027e+01] [-1.88695218e-01 8.39805168e-01 5.09039678e-01 -5.16674790e+01] [ 8.82219341e-01 -8.27290541e-02 4.63513686e-01 -3.05687073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.43, Y:-51.45, Z:-30.55 [[ 4.28868399e-01 3.16929472e-01 -8.45947756e-01 9.34336003e+01] [-1.95126860e-01 9.46831977e-01 2.55802103e-01 -5.14515612e+01] [ 8.82041612e-01 5.53616912e-02 4.67907767e-01 -3.05497189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:-51.55, Z:-30.53 [[ 4.70408525e-01 3.99445098e-01 -7.86866846e-01 9.34034160e+01] [-2.07641427e-01 9.16752655e-01 3.41247135e-01 -5.15492111e+01] [ 8.57671765e-01 2.86059313e-03 5.14189615e-01 -3.05263024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.37, Y:-51.63, Z:-30.50 [[ 4.36622869e-01 4.65328920e-01 -7.69954198e-01 9.33697423e+01] [-1.88998392e-01 8.84187713e-01 4.27190468e-01 -5.16289951e+01] [ 8.79568120e-01 -4.10010219e-02 4.74002994e-01 -3.04997526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.43, Y:-51.55, Z:-30.48 [[ 4.71352983e-01 3.79972091e-01 -7.95894199e-01 9.34335990e+01] [-2.05376267e-01 9.24911385e-01 3.19936742e-01 -5.15539008e+01] [ 8.57698639e-01 1.26546418e-02 5.13996990e-01 -3.04795388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.34, Y:-51.72, Z:-30.44 [[ 4.41031156e-01 5.37322005e-01 -7.18871743e-01 9.33374392e+01] [-1.90497428e-01 8.38772094e-01 5.10070685e-01 -5.17180716e+01] [ 8.77041761e-01 -8.80138451e-02 4.72283086e-01 -3.04422541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:-51.47, Z:-30.43 [[ 4.72333935e-01 2.84855446e-01 -8.34121111e-01 9.34991513e+01] [-2.07889876e-01 9.55642896e-01 2.08634738e-01 -5.14726738e+01] [ 8.56552656e-01 7.48600677e-02 5.10601134e-01 -3.04289472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.41, Y:-51.66, Z:-30.40 [[ 4.39355405e-01 4.66896778e-01 -7.67446563e-01 9.34101788e+01] [-1.95706559e-01 8.83547990e-01 4.25490179e-01 -5.16624713e+01] [ 8.76735861e-01 -3.67470841e-02 4.79566347e-01 -3.03999584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.44, Y:-51.64, Z:-30.38 [[ 4.37943520e-01 4.32958944e-01 -7.87878180e-01 9.34419816e+01] [-1.98209186e-01 9.01326979e-01 3.85126985e-01 -5.16405595e+01] [ 8.76880033e-01 -1.24991745e-02 4.80546750e-01 -3.03799683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.44, Y:-51.66, Z:-30.35 [[ 4.36246035e-01 4.44073913e-01 -7.82615970e-01 9.34441765e+01] [-1.98754293e-01 8.95812020e-01 3.97514220e-01 -5.16600730e+01] [ 8.77602488e-01 -1.78657193e-02 4.79056039e-01 -3.03545834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.47, Y:-51.65, Z:-30.33 [[ 4.36371150e-01 4.26208718e-01 -7.92418039e-01 9.34664112e+01] [-2.05174893e-01 9.04624752e-01 3.73573716e-01 -5.16499278e+01] [ 8.76061346e-01 -4.32506295e-04 4.82199472e-01 -3.03324969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:-51.65, Z:-30.31 [[ 4.38877712e-01 4.22204071e-01 -7.93177204e-01 9.34836801e+01] [-2.10774628e-01 9.06476774e-01 3.65887844e-01 -5.16511902e+01] [ 8.73476050e-01 6.60161019e-03 4.86822358e-01 -3.03096229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.50, Y:-51.65, Z:-30.29 [[ 4.72129806e-01 4.15032335e-01 -7.77715634e-01 9.35000099e+01] [-2.26082968e-01 9.09735043e-01 3.48236476e-01 -5.16501744e+01] [ 8.52044563e-01 1.14154393e-02 5.23344772e-01 -3.02872817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.892320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.48, Y:-51.71, Z:-30.26 [[ 4.33927795e-01 4.72574099e-01 -7.67059574e-01 9.34750101e+01] [-2.13732436e-01 8.81083194e-01 4.21913321e-01 -5.17141789e+01] [ 8.75228607e-01 -1.91344055e-02 4.83330901e-01 -3.02565833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.50, Y:-51.70, Z:-30.24 [[ 4.32048017e-01 4.45160969e-01 -7.84325330e-01 9.35016049e+01] [-2.17341409e-01 8.95446752e-01 3.88507176e-01 -5.16976841e+01] [ 8.75269800e-01 2.61261703e-03 4.83627905e-01 -3.02357348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.53, Y:-51.69, Z:-30.21 [[ 4.37212850e-01 4.29522555e-01 -7.90161565e-01 9.35262972e+01] [-2.21925375e-01 9.02940536e-01 3.68031949e-01 -5.16897471e+01] [ 8.71546930e-01 1.44486044e-02 4.90099160e-01 -3.02140862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:-51.69, Z:-30.19 [[ 4.69679693e-01 4.19651245e-01 -7.76719910e-01 9.35452023e+01] [-2.35536687e-01 9.07474661e-01 3.47868090e-01 -5.16861049e+01] [ 8.50836914e-01 1.95594566e-02 5.25065685e-01 -3.01920105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.012320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.53, Y:-51.74, Z:-30.16 [[ 4.35667627e-01 4.67936773e-01 -7.68914101e-01 9.35271973e+01] [-2.20245967e-01 8.83698611e-01 4.12999369e-01 -5.17368321e+01] [ 8.72745915e-01 -1.05802257e-02 4.88060064e-01 -3.01625532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.55, Y:-51.72, Z:-30.14 [[ 4.33911916e-01 4.48681364e-01 -7.81284508e-01 9.35501399e+01] [-2.20020051e-01 8.93689038e-01 3.91038465e-01 -5.17239585e+01] [ 8.73677072e-01 2.22200793e-03 4.86501219e-01 -3.01415175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.57, Y:-51.72, Z:-30.12 [[ 4.35260882e-01 4.39267502e-01 -7.85870235e-01 9.35687491e+01] [-2.20697047e-01 8.98319890e-01 3.79887073e-01 -5.17206607e+01] [ 8.72834909e-01 8.08925763e-03 4.87948548e-01 -3.01181393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.57, Y:-51.73, Z:-30.09 [[ 4.38723485e-01 4.40332941e-01 -7.83344499e-01 9.35748176e+01] [-2.22566538e-01 8.97802204e-01 3.80020181e-01 -5.17295682e+01] [ 8.70623823e-01 7.62249502e-03 4.91890290e-01 -3.00931000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.132320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.57, Y:-51.76, Z:-30.07 [[ 4.37769117e-01 4.65840746e-01 -7.68993238e-01 9.35688222e+01] [-2.20439775e-01 8.84809884e-01 4.10509164e-01 -5.17611394e+01] [ 8.71644713e-01 -1.01915382e-02 4.90032271e-01 -3.00683087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.66, Y:-51.65, Z:-30.05 [[ 4.75979182e-01 3.50833998e-01 -8.06448587e-01 9.36579207e+01] [-2.40868335e-01 9.33926815e-01 2.64127148e-01 -5.16512676e+01] [ 8.45828743e-01 6.85289044e-02 5.29034523e-01 -3.00547689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-51.77, Z:-30.02 [[ 4.39868776e-01 4.60670351e-01 -7.70907444e-01 9.36037103e+01] [-2.24824306e-01 8.87564200e-01 4.02099269e-01 -5.17685870e+01] [ 8.69465060e-01 -3.55218227e-03 4.93981670e-01 -3.00219129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.62, Y:-51.76, Z:-30.00 [[ 4.39993727e-01 4.48387867e-01 -7.78044884e-01 9.36237305e+01] [-2.23837569e-01 8.93833352e-01 3.88534017e-01 -5.17634528e+01] [ 8.69656405e-01 3.20314498e-03 4.93647118e-01 -2.99993005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:-51.72, Z:-29.98 [[ 4.77962989e-01 3.95801895e-01 -7.84150649e-01 9.36677299e+01] [-2.38129928e-01 9.17679655e-01 3.18053750e-01 -5.17197465e+01] [ 8.45485374e-01 3.47118168e-02 5.32869188e-01 -2.99803653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.65, Y:-51.78, Z:-29.95 [[ 4.53214811e-01 4.45908956e-01 -7.71855905e-01 9.36468588e+01] [-2.24281058e-01 8.95076967e-01 3.85402685e-01 -5.17776369e+01] [ 8.62724952e-01 -1.55754626e-03 5.05671071e-01 -2.99491556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.60, Y:-51.85, Z:-29.92 [[ 4.31426064e-01 5.13467828e-01 -7.41769736e-01 9.36036188e+01] [-2.04371561e-01 8.56476654e-01 4.74004226e-01 -5.18508619e+01] [ 8.78694382e-01 -5.29011391e-02 4.74444573e-01 -2.99151823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.75, Y:-51.65, Z:-29.91 [[ 4.58815785e-01 3.10374280e-01 -8.32559837e-01 9.37450006e+01] [-2.27698696e-01 9.46788352e-01 2.27475539e-01 -5.16526715e+01] [ 8.58860512e-01 8.52034217e-02 5.05073260e-01 -2.99060644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.68, Y:-51.80, Z:-29.88 [[ 4.54432724e-01 4.47334399e-01 -7.70313465e-01 9.36789354e+01] [-2.17979520e-01 8.94314637e-01 3.90750892e-01 -5.17992817e+01] [ 8.63698922e-01 -9.65743346e-03 5.03915574e-01 -2.98755855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:-51.74, Z:-29.86 [[ 4.89182385e-01 3.84531605e-01 -7.82838450e-01 9.37341006e+01] [-2.32494082e-01 9.22577944e-01 3.07890304e-01 -5.17446637e+01] [ 8.40623041e-01 3.13907934e-02 5.40710201e-01 -2.98582759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.72, Y:-51.79, Z:-29.83 [[ 4.90737941e-01 4.17987346e-01 -7.64501702e-01 9.37238791e+01] [-2.29987986e-01 9.08441546e-01 3.49055129e-01 -5.17906859e+01] [ 8.40405735e-01 4.53161172e-03 5.41938802e-01 -2.98317286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.72, Y:-51.82, Z:-29.81 [[ 4.64724376e-01 4.34931007e-01 -7.71275744e-01 9.37227515e+01] [-2.16170857e-01 9.00421663e-01 3.77506276e-01 -5.18172339e+01] [ 8.58662573e-01 -8.70903010e-03 5.12467305e-01 -2.98062085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:93.70, Y:-51.86, Z:-29.78 [[ 4.52320202e-01 4.66707256e-01 -7.59993929e-01 9.37044717e+01] [-2.03052659e-01 8.83659596e-01 4.21800114e-01 -5.18598966e+01] [ 8.68433102e-01 -3.64699249e-02 4.94463236e-01 -2.97756977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:-51.74, Z:-29.76 [[ 4.93629338e-01 3.37227024e-01 -8.01628350e-01 9.38022336e+01] [-2.22932621e-01 9.40026292e-01 2.58169745e-01 -5.17377019e+01] [ 8.40613539e-01 5.12689490e-02 5.39203461e-01 -2.97641496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.75, Y:-51.85, Z:-29.73 [[ 4.64950976e-01 4.40156551e-01 -7.68168472e-01 9.37520033e+01] [-2.08008522e-01 8.97679384e-01 3.88463869e-01 -5.18478312e+01] [ 8.60553917e-01 -2.08310668e-02 5.08933219e-01 -2.97324206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.80, Y:-51.80, Z:-29.71 [[ 4.98399611e-01 3.82749836e-01 -7.77881991e-01 9.38027290e+01] [-2.22069479e-01 9.23693059e-01 3.12211913e-01 -5.17994343e+01] [ 8.38023254e-01 1.71375528e-02 5.45365318e-01 -2.97142422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.73, Y:-51.92, Z:-29.67 [[ 4.51881181e-01 4.93231001e-01 -7.43321315e-01 9.37335497e+01] [-1.96646977e-01 8.67825224e-01 4.56299623e-01 -5.19178530e+01] [ 8.70134107e-01 -6.00213226e-02 4.89146273e-01 -2.96747993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:-51.78, Z:-29.67 [[ 4.66390849e-01 3.46505077e-01 -8.13888081e-01 9.38474585e+01] [-2.12994438e-01 9.37004975e-01 2.76866476e-01 -5.17786376e+01] [ 8.58552821e-01 4.42256432e-02 5.10814200e-01 -2.96672511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.82, Y:-51.85, Z:-29.64 [[ 4.67649429e-01 4.15080028e-01 -7.80392582e-01 9.38193319e+01] [-2.13221078e-01 9.09784891e-01 3.56129504e-01 -5.18533737e+01] [ 8.57811625e-01 -1.47611523e-04 5.13964196e-01 -2.96379901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.83, Y:-51.86, Z:-29.61 [[ 4.67689202e-01 4.18651589e-01 -7.78458514e-01 9.38305597e+01] [-2.15815181e-01 9.08146903e-01 3.58738081e-01 -5.18581399e+01] [ 8.57140956e-01 2.25238699e-04 5.15081868e-01 -2.96131074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:-51.86, Z:-29.59 [[ 4.69851733e-01 4.18129304e-01 -7.77436322e-01 9.38464585e+01] [-2.18783452e-01 9.08383605e-01 3.56332747e-01 -5.18611254e+01] [ 8.55203572e-01 2.66664321e-03 5.18285384e-01 -2.95902119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:-51.86, Z:-29.57 [[ 4.70721295e-01 4.15138676e-01 -7.78512262e-01 9.38644493e+01] [-2.21731599e-01 9.09728223e-01 3.51040822e-01 -5.18622494e+01] [ 8.53965199e-01 7.37837847e-03 5.20277809e-01 -2.95678277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.87, Y:-51.87, Z:-29.54 [[ 4.70740436e-01 4.18805804e-01 -7.76534056e-01 9.38746475e+01] [-2.20512425e-01 9.08068611e-01 3.56069753e-01 -5.18739951e+01] [ 8.54270281e-01 3.61897688e-03 5.19816497e-01 -2.95441177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.90, Y:-51.86, Z:-29.52 [[ 4.99769719e-01 3.99681003e-01 -7.68430429e-01 9.38989158e+01] [-2.32347417e-01 9.16517736e-01 3.25591642e-01 -5.18638149e+01] [ 8.34412911e-01 1.58219822e-02 5.50912660e-01 -2.95231807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.88, Y:-51.91, Z:-29.49 [[ 4.68623714e-01 4.41876660e-01 -7.64942372e-01 9.38811462e+01] [-2.15446059e-01 8.96930478e-01 3.86133025e-01 -5.19117174e+01] [ 8.56723299e-01 -1.61472731e-02 5.15523477e-01 -2.94938719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.92, Y:-51.87, Z:-29.47 [[ 4.76535262e-01 4.01059580e-01 -7.82346060e-01 9.39246775e+01] [-2.21750777e-01 9.15943506e-01 3.34475837e-01 -5.18725170e+01] [ 8.50729532e-01 1.40963163e-02 5.25414652e-01 -2.94748100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.94, Y:-51.88, Z:-29.45 [[ 5.04999004e-01 3.99796641e-01 -7.64943561e-01 9.39376159e+01] [-2.31395607e-01 9.16522066e-01 3.26256609e-01 -5.18786577e+01] [ 8.31523950e-01 1.22453172e-02 5.55353917e-01 -2.94514225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:-51.89, Z:-29.43 [[ 5.05813804e-01 4.06681214e-01 -7.60764606e-01 9.39467631e+01] [-2.30847681e-01 9.13548831e-01 3.34869947e-01 -5.18937981e+01] [ 8.31180933e-01 6.23890328e-03 5.55967024e-01 -2.94269743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.94, Y:-51.93, Z:-29.40 [[ 4.78674658e-01 4.27436809e-01 -7.66921343e-01 9.39447784e+01] [-2.15205464e-01 9.03967907e-01 3.69497809e-01 -5.19256451e+01] [ 8.51209246e-01 -1.18235740e-02 5.24693266e-01 -2.94001520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:-51.92, Z:-29.38 [[ 4.78449093e-01 4.12371256e-01 -7.75265382e-01 9.39658944e+01] [-2.11636748e-01 9.11000602e-01 3.53960152e-01 -5.19215887e+01] [ 8.52230223e-01 -5.27726968e-03 5.23140323e-01 -2.93787493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.97, Y:-51.94, Z:-29.35 [[ 4.78080337e-01 4.16666024e-01 -7.73193777e-01 9.39697759e+01] [-2.03159041e-01 9.08900184e-01 3.64179707e-01 -5.19430160e+01] [ 8.54497276e-01 -1.70258506e-02 5.19176776e-01 -2.93545967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:-51.94, Z:-29.33 [[ 4.79059568e-01 4.03946065e-01 -7.79313484e-01 9.39882494e+01] [-2.01552493e-01 9.14720103e-01 3.50233816e-01 -5.19393954e+01] [ 8.54329282e-01 -1.07102849e-02 5.19621754e-01 -2.93322300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:-51.94, Z:-29.31 [[ 4.82694864e-01 3.94331648e-01 -7.81989910e-01 9.40064029e+01] [-1.99982750e-01 9.18935889e-01 3.39946659e-01 -5.19401659e+01] [ 8.52650320e-01 -7.70601382e-03 5.22425162e-01 -2.93098956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.01, Y:-51.97, Z:-29.28 [[ 4.81362028e-01 4.12617955e-01 -7.73328534e-01 9.40061688e+01] [-1.97466203e-01 9.10638170e-01 3.62967245e-01 -5.19675003e+01] [ 8.53989284e-01 -2.20123999e-02 5.19824737e-01 -2.92843876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-51.93, Z:-29.27 [[ 5.17917967e-01 3.55391419e-01 -7.78111765e-01 9.40548070e+01] [-2.10529467e-01 9.34592145e-01 2.86731348e-01 -5.19296922e+01] [ 8.29119004e-01 1.53121383e-02 5.58862429e-01 -2.92693313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.01, Y:-52.02, Z:-29.23 [[ 4.83899989e-01 4.33473667e-01 -7.60224560e-01 9.40099322e+01] [-1.94436125e-01 9.00247210e-01 3.89550451e-01 -5.20183542e+01] [ 8.53249901e-01 -4.06883414e-02 5.19912555e-01 -2.92336132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.04, Y:-52.00, Z:-29.21 [[ 4.82746851e-01 4.04938422e-01 -7.76518095e-01 9.40384314e+01] [-1.93994296e-01 9.14096840e-01 3.56080301e-01 -5.20041939e+01] [ 8.54003332e-01 -2.12565626e-02 5.19833115e-01 -2.92119747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.07, Y:-51.98, Z:-29.19 [[ 4.86114146e-01 3.72377218e-01 -7.90587278e-01 9.40744042e+01] [-1.97805323e-01 9.28076591e-01 3.15510533e-01 -5.19800291e+01] [ 8.51214480e-01 3.00823900e-03 5.24809356e-01 -2.91945523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.09, Y:-51.98, Z:-29.17 [[ 5.20437226e-01 3.62303682e-01 -7.73227739e-01 9.40935660e+01] [-2.10919335e-01 9.32009676e-01 2.94738863e-01 -5.19830331e+01] [ 8.27440710e-01 9.69560438e-03 5.61469382e-01 -2.91727843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.05, Y:-52.07, Z:-29.13 [[ 4.84174006e-01 4.38729904e-01 -7.57028139e-01 9.40497562e+01] [-1.95895166e-01 8.97594160e-01 3.94904809e-01 -5.20668187e+01] [ 8.52760585e-01 -4.29044903e-02 5.20536828e-01 -2.91349045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.09, Y:-52.04, Z:-29.12 [[ 4.83479161e-01 3.94634082e-01 -7.81352572e-01 9.40936157e+01] [-2.01205521e-01 9.18812023e-01 3.39559723e-01 -5.20399011e+01] [ 8.51917977e-01 -6.95759907e-03 5.23629022e-01 -2.91203770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.11, Y:-52.04, Z:-29.10 [[ 4.90106353e-01 3.86431706e-01 -7.81323428e-01 9.41120268e+01] [-2.05483028e-01 9.22318011e-01 3.27270854e-01 -5.20423133e+01] [ 8.47096505e-01 1.51179169e-04 5.31439074e-01 -2.90985413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:94.11, Y:-52.07, Z:-29.07 [[ 4.90877540e-01 4.05733842e-01 -7.70985921e-01 9.41095268e+01] [-2.09304536e-01 9.13943864e-01 3.47704221e-01 -5.20717593e+01] [ 8.45713221e-01 -9.30934205e-03 5.33556449e-01 -2.90703774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:-52.07, Z:-29.05 [[ 4.97337223e-01 3.97064619e-01 -7.71359433e-01 9.41297592e+01] [-2.14058931e-01 9.17789864e-01 3.34425687e-01 -5.20707527e+01] [ 8.40734477e-01 -1.20596699e-03 5.41446290e-01 -2.90488437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:-52.08, Z:-29.03 [[ 5.22460815e-01 3.95361155e-01 -7.55462940e-01 9.41445171e+01] [-2.25181204e-01 9.18525692e-01 3.24967658e-01 -5.20782743e+01] [ 8.22391709e-01 3.33187405e-04 5.68921582e-01 -2.90284093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:94.15, Y:-52.10, Z:-29.00 [[ 4.85788448e-01 4.16968335e-01 -7.68210252e-01 9.41466545e+01] [-2.23038846e-01 9.08920991e-01 3.52301440e-01 -5.21037840e+01] [ 8.45140969e-01 1.96758163e-04 5.34543454e-01 -2.89995797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:94.16, Y:-52.11, Z:-28.98 [[ 4.89031320e-01 4.22001126e-01 -7.63389427e-01 9.41576836e+01] [-2.27584351e-01 9.06595305e-01 3.55373489e-01 -5.21148572e+01] [ 8.42053283e-01 -5.32785937e-05 5.39394351e-01 -2.89758424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.18, Y:-52.10, Z:-28.96 [[ 5.16834921e-01 4.04137348e-01 -7.54688458e-01 9.41844230e+01] [-2.41812273e-01 9.14576010e-01 3.24156669e-01 -5.20998961e+01] [ 8.21223775e-01 1.49574445e-02 5.70410191e-01 -2.89591527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.13, Y:-52.19, Z:-28.91 [[ 4.77908500e-01 4.92705739e-01 -7.27216969e-01 9.41284468e+01] [-2.26945028e-01 8.69027996e-01 4.39643375e-01 -5.21887579e+01] [ 8.48586719e-01 -4.50710308e-02 5.27132984e-01 -2.89137170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:94.23, Y:-52.08, Z:-28.96 [[ 5.13947620e-01 2.99512952e-01 -8.03834458e-01 9.42296025e+01] [-1.58818971e-01 9.54087963e-01 2.53954117e-01 -5.20785411e+01] [ 8.42991328e-01 -2.85495251e-03 5.37919576e-01 -2.89550107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.32, Y:-51.95, Z:-28.91 [[ 0.48163067 0.25424207 -0.8386852 94.31853966] [ -0.25262483 0.9566487 0.14492742 -51.95349635] [ 0.83917375 0.14207122 0.52497922 -28.90522462] [ 0. 0. 0. 1. ]] SLAMing on 177.662320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.20, Y:-52.16, Z:-28.86 [[ 4.76712227e-01 4.68231201e-01 -7.43979163e-01 9.41975598e+01] [-2.45911081e-01 8.83578052e-01 3.98519217e-01 -5.21646471e+01] [ 8.43962791e-01 -7.02626304e-03 5.36355702e-01 -2.88558570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.22, Y:-52.16, Z:-28.84 [[ 4.72291511e-01 4.58499743e-01 -7.52807222e-01 9.42199976e+01] [-2.44789924e-01 8.88693759e-01 3.87687111e-01 -5.21578744e+01] [ 8.46769521e-01 1.17829130e-03 5.31958636e-01 -2.88357538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.25, Y:-52.14, Z:-28.82 [[ 4.76375247e-01 4.37295412e-01 -7.62783945e-01 9.42524506e+01] [-2.50362356e-01 8.99097436e-01 3.59085632e-01 -5.21399077e+01] [ 8.42843588e-01 1.99128786e-02 5.37790073e-01 -2.88158024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752320588 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:94.28, Y:-52.15, Z:-28.77 [[ 4.73542552e-01 4.81942076e-01 -7.37217259e-01 9.42755448e+01] [-2.99620128e-01 8.75239822e-01 3.79714410e-01 -5.21468949e+01] [ 8.28242253e-01 4.10741984e-02 5.58862845e-01 -2.87716568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.19, Y:-52.25, Z:-28.75 [[ 4.83089488e-01 5.40137322e-01 -6.89112633e-01 9.41941621e+01] [-2.42582726e-01 8.38801238e-01 4.87407534e-01 -5.22486227e+01] [ 8.41295529e-01 -6.82946347e-02 5.36244045e-01 -2.87461636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-52.10, Z:-28.77 [[ 5.20566680e-01 3.84386141e-01 -7.62402536e-01 9.43302122e+01] [-2.57370510e-01 9.22040402e-01 2.89139962e-01 -5.20997035e+01] [ 8.14107335e-01 4.57032995e-02 5.78913168e-01 -2.87655590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.33, Y:-52.12, Z:-28.74 [[ 5.23777114e-01 3.99403808e-01 -7.52418855e-01 9.43343450e+01] [-2.58081475e-01 9.16160606e-01 3.06665447e-01 -5.21187318e+01] [ 8.11819862e-01 3.35610250e-02 5.82942681e-01 -2.87384049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:-52.19, Z:-28.71 [[ 5.02869215e-01 4.41517520e-01 -7.43091403e-01 9.42980250e+01] [-2.14982082e-01 8.96570807e-01 3.87225377e-01 -5.21916581e+01] [ 8.37200847e-01 -3.49723846e-02 5.45776213e-01 -2.87093326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:-52.05, Z:-28.70 [[ 5.02428100e-01 3.32676458e-01 -7.98055373e-01 9.44087728e+01] [-2.56776073e-01 9.38782226e-01 2.29682347e-01 -5.20539430e+01] [ 8.25610110e-01 8.95226599e-02 5.57093924e-01 -2.86953986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.38, Y:-52.13, Z:-28.67 [[ 5.21293325e-01 4.10039783e-01 -7.48412083e-01 9.43768598e+01] [-2.60075360e-01 9.11615553e-01 3.18304715e-01 -5.21338052e+01] [ 8.12781691e-01 2.87134186e-02 5.81860347e-01 -2.86674123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.40, Y:-52.13, Z:-28.65 [[ 5.22033807e-01 3.98752904e-01 -7.53974022e-01 9.43993023e+01] [-2.59735517e-01 9.16322605e-01 3.04779173e-01 -5.21288369e+01] [ 8.12415020e-01 3.67288003e-02 5.81921670e-01 -2.86457898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:-52.13, Z:-28.62 [[ 5.24014238e-01 3.98102606e-01 -7.52943154e-01 9.44183096e+01] [-2.59994606e-01 9.16609610e-01 3.03693311e-01 -5.21260464e+01] [ 8.11056030e-01 3.66215393e-02 5.83821017e-01 -2.86228102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.43, Y:-52.13, Z:-28.60 [[ 5.26294460e-01 3.97027488e-01 -7.51919753e-01 9.44334779e+01] [-2.59569002e-01 9.17102916e-01 3.02565984e-01 -5.21283647e+01] [ 8.09714811e-01 3.59362588e-02 5.85722212e-01 -2.85992969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.40, Y:-52.20, Z:-28.58 [[ 5.09927786e-01 4.32150826e-01 -7.43787145e-01 9.43979765e+01] [-2.10048782e-01 9.01030085e-01 3.79505329e-01 -5.21998069e+01] [ 8.34178136e-01 -3.72887282e-02 5.50233031e-01 -2.85759234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:-52.02, Z:-28.56 [[ 0.53445508 0.28640823 -0.7951906 94.52171162] [ -0.25606179 0.9514871 0.17060087 -52.02087573] [ 0.80547509 0.11243943 0.58186532 -28.56287604] [ 0. 0. 0. 1. ]] SLAMing on 178.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.46, Y:-52.17, Z:-28.52 [[ 5.00410337e-01 4.23780530e-01 -7.54983150e-01 9.44597053e+01] [-2.45380943e-01 9.05682032e-01 3.45728579e-01 -5.21650148e+01] [ 8.30287714e-01 1.22523223e-02 5.57200317e-01 -2.85223694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:94.45, Y:-52.19, Z:-28.52 [[ 5.26694550e-01 4.03764252e-01 -7.48042298e-01 9.44522015e+01] [-1.89379228e-01 9.13611587e-01 3.59790740e-01 -5.21912017e+01] [ 8.28690750e-01 -4.78361494e-02 5.57658806e-01 -2.85209733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.58, Y:-52.00, Z:-28.49 [[ 0.51267222 0.26997378 -0.81503457 94.58059231] [ -0.25506015 0.95431179 0.15567058 -51.99701771] [ 0.81982407 0.12807486 0.5581087 -28.49240779] [ 0. 0. 0. 1. ]] SLAMing on 178.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.51, Y:-52.16, Z:-28.46 [[ 5.08463684e-01 4.25736717e-01 -7.48473733e-01 9.45072460e+01] [-2.48612207e-01 9.04788758e-01 3.45758983e-01 -5.21623985e+01] [ 8.24412914e-01 1.02738206e-02 5.65895570e-01 -2.84559502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:94.50, Y:-52.20, Z:-28.44 [[ 5.25651317e-01 4.19109022e-01 -7.40296103e-01 9.44969794e+01] [-2.05693037e-01 9.07015477e-01 3.67441558e-01 -5.21982234e+01] [ 8.25458096e-01 -4.08723853e-02 5.62981687e-01 -2.84449377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.61, Y:-52.02, Z:-28.42 [[ 0.54396529 0.28306407 -0.78992183 94.61403067] [ -0.25393514 0.95277331 0.16655318 -52.01856981] [ 0.79976166 0.10998976 0.59015552 -28.42492217] [ 0. 0. 0. 1. ]] SLAMing on 178.292320588 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:94.52, Y:-52.22, Z:-28.40 [[ 5.35193131e-01 4.22225571e-01 -7.31637806e-01 9.45179417e+01] [-1.91632581e-01 9.04225270e-01 3.81645928e-01 -5.22169997e+01] [ 8.22706063e-01 -6.40486387e-02 5.64847330e-01 -2.84033436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.65, Y:-52.00, Z:-28.38 [[ 0.54998494 0.26118254 -0.79328447 94.65254472] [ -0.2486346 0.95797899 0.14302827 -51.99985913] [ 0.79730634 0.11857457 0.59181304 -28.38141769] [ 0. 0. 0. 1. ]] SLAMing on 178.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:-52.15, Z:-28.35 [[ 5.46944543e-01 3.93886060e-01 -7.38718782e-01 9.45989232e+01] [-2.47608515e-01 9.19034181e-01 3.06702133e-01 -5.21479356e+01] [ 7.99713505e-01 1.51640028e-02 6.00190272e-01 -2.83522757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters Centerline goodness : 0.903472 Centerline is valid? [True, False] Translation: X:94.61, Y:-52.06, Z:-28.38 [[ 5.50039503e-01 3.25390903e-01 -7.69140628e-01 9.46079108e+01] [-2.42078693e-01 9.43554555e-01 2.26059082e-01 -5.20643434e+01] [ 7.99283712e-01 6.18511329e-02 5.97762483e-01 -2.83847630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:94.61, Y:-51.99, Z:-28.42 [[ 0.55602308 0.26773466 -0.78686497 94.60814731] [ -0.23736027 0.95842329 0.15838212 -51.9941863 ] [ 0.7965541 0.09870637 0.59645505 -28.41713052] [ 0. 0. 0. 1. ]] SLAMing on 178.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-52.23, Z:-28.37 [[ 5.15884938e-01 4.87774053e-01 -7.04229511e-01 9.44874777e+01] [-2.17055084e-01 8.69667163e-01 4.43357774e-01 -5.22334172e+01] [ 8.28703699e-01 -7.58650014e-02 5.54522028e-01 -2.83695023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.58, Y:-52.11, Z:-28.36 [[ 5.18528660e-01 3.71261951e-01 -7.70254888e-01 9.45824368e+01] [-2.23483605e-01 9.28351204e-01 2.97017037e-01 -5.21113802e+01] [ 8.25338177e-01 1.81274932e-02 5.64347665e-01 -2.83628132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.62, Y:-52.07, Z:-28.34 [[ 5.25755195e-01 3.30414341e-01 -7.83841718e-01 9.46206632e+01] [-2.25446507e-01 9.42649795e-01 2.46140686e-01 -5.20725329e+01] [ 8.20216647e-01 4.73046336e-02 5.70093785e-01 -2.83439225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.57, Y:-52.20, Z:-28.31 [[ 5.24510306e-01 4.40365391e-01 -7.28675003e-01 9.45663385e+01] [-2.18554567e-01 8.96812078e-01 3.84658287e-01 -5.21953352e+01] [ 8.22874741e-01 -4.25019860e-02 5.66631045e-01 -2.83094584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:-52.03, Z:-28.30 [[ 5.68934777e-01 2.78075399e-01 -7.73942693e-01 9.46737216e+01] [-2.34580890e-01 9.56874056e-01 1.71358823e-01 -5.20304941e+01] [ 7.88216357e-01 8.40601725e-02 6.09630102e-01 -2.83016328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.64, Y:-52.14, Z:-28.27 [[ 5.66747647e-01 3.77037588e-01 -7.32557002e-01 9.46378431e+01] [-2.36391243e-01 9.26174032e-01 2.93804089e-01 -5.21407350e+01] [ 7.89250457e-01 6.65728376e-03 6.14035338e-01 -2.82728244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.66, Y:-52.14, Z:-28.25 [[ 5.66302674e-01 3.75903912e-01 -7.33483150e-01 9.46556236e+01] [-2.35025403e-01 9.26637820e-01 2.93437235e-01 -5.21417396e+01] [ 7.89977431e-01 6.21288226e-03 6.13104444e-01 -2.82506636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:-52.14, Z:-28.23 [[ 5.67714445e-01 3.75260217e-01 -7.32721010e-01 9.46750610e+01] [-2.35307964e-01 9.26897263e-01 2.92389510e-01 -5.21409340e+01] [ 7.88879250e-01 6.42134059e-03 6.14514683e-01 -2.82294471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.69, Y:-52.15, Z:-28.21 [[ 5.70036600e-01 3.74742613e-01 -7.31181406e-01 9.46904119e+01] [-2.36169185e-01 9.27104088e-01 2.91036297e-01 -5.21490374e+01] [ 7.86944973e-01 6.78117553e-03 6.16985920e-01 -2.82068214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.71, Y:-52.15, Z:-28.18 [[ 5.71373509e-01 3.73469192e-01 -7.30789351e-01 9.47054196e+01] [-2.35228889e-01 9.27622384e-01 2.90144933e-01 -5.21542426e+01] [ 7.86256754e-01 6.12163892e-03 6.17869600e-01 -2.81836135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:94.72, Y:-52.15, Z:-28.16 [[ 5.71626669e-01 3.70840246e-01 -7.31929275e-01 9.47223996e+01] [-2.31338977e-01 9.28689568e-01 2.89858523e-01 -5.21549616e+01] [ 7.87226289e-01 3.63290759e-03 6.16653527e-01 -2.81610178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:94.74, Y:-52.16, Z:-28.14 [[ 5.71365806e-01 3.68713688e-01 -7.33206200e-01 9.47395146e+01] [-2.28192176e-01 9.29541211e-01 2.89622976e-01 -5.21599988e+01] [ 7.88333335e-01 1.83125336e-03 6.15245642e-01 -2.81389260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:-52.20, Z:-28.11 [[ 5.39989002e-01 4.01109689e-01 -7.39947900e-01 9.47347955e+01] [-2.13569248e-01 9.15665508e-01 3.40506760e-01 -5.22026315e+01] [ 8.14125331e-01 -2.58397893e-02 5.80113999e-01 -2.81126328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:94.77, Y:-52.17, Z:-28.09 [[ 5.43609836e-01 3.67283519e-01 -7.54712636e-01 9.47691991e+01] [-2.14306378e-01 9.30108946e-01 2.98278604e-01 -5.21747577e+01] [ 8.11517790e-01 -4.07451701e-04 5.84327572e-01 -2.80932362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters Centerline goodness : 0.874293 Centerline is valid? [True, False] Translation: X:94.77, Y:-52.09, Z:-28.13 [[ 5.46588188e-01 2.98311321e-01 -7.82465148e-01 9.47709978e+01] [-2.11870184e-01 9.53259271e-01 2.15424665e-01 -5.20887645e+01] [ 8.10155774e-01 4.80324574e-02 5.84243533e-01 -2.81325574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:94.77, Y:-52.02, Z:-28.17 [[ 5.52192509e-01 2.43231307e-01 -7.97447155e-01 9.47663737e+01] [-2.09877585e-01 9.66247736e-01 1.49387792e-01 -5.20200658e+01] [ 8.06867296e-01 8.48754629e-02 5.84603561e-01 -2.81687642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.76, Y:-52.08, Z:-28.15 [[ 6.04198866e-01 2.87536074e-01 -7.43146511e-01 9.47613142e+01] [-2.17420953e-01 9.56725156e-01 1.93403993e-01 -5.20780756e+01] [ 7.66597587e-01 4.47211496e-02 6.40568621e-01 -2.81515191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.73, Y:-52.17, Z:-28.12 [[ 5.73416186e-01 3.70140099e-01 -7.30883154e-01 9.47330979e+01] [-2.08004902e-01 9.28663927e-01 3.07111170e-01 -5.21738787e+01] [ 7.92418979e-01 -2.40752366e-02 6.09501882e-01 -2.81204990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:-52.13, Z:-28.10 [[ 5.79041119e-01 3.30118989e-01 -7.45474906e-01 9.47730212e+01] [-2.11429267e-01 9.43878883e-01 2.53752476e-01 -5.21341669e+01] [ 7.87406533e-01 1.06820959e-02 6.16341500e-01 -2.81041206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:-52.20, Z:-28.08 [[ 5.64129242e-01 3.86479762e-01 -7.29651692e-01 9.47554701e+01] [-2.02197973e-01 9.21446917e-01 3.31740196e-01 -5.22028300e+01] [ 8.00546175e-01 -3.96102522e-02 5.97960576e-01 -2.80753331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.84, Y:-52.07, Z:-28.06 [[ 6.05558434e-01 2.65653431e-01 -7.50151477e-01 9.48357391e+01] [-2.18903116e-01 9.61878578e-01 1.63923847e-01 -5.20724733e+01] [ 7.65101568e-01 6.49450280e-02 6.40626049e-01 -2.80637296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:-52.19, Z:-28.03 [[ 5.72159390e-01 3.72684655e-01 -7.30574966e-01 9.47971983e+01] [-2.12615367e-01 9.27738634e-01 3.06750278e-01 -5.21925566e+01] [ 7.92103742e-01 -2.01785878e-02 6.10052855e-01 -2.80307035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters Centerline goodness : 0.980559 Centerline is valid? [True, True] Translation: X:94.80, Y:-52.20, Z:-28.05 [[ 6.11841686e-01 2.96539611e-01 -7.33289854e-01 9.47951885e+01] [-1.38154873e-01 9.52878345e-01 2.70066826e-01 -5.21993292e+01] [ 7.78821534e-01 -6.39305752e-02 6.23979086e-01 -2.80511702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:94.91, Y:-51.98, Z:-28.00 [[ 5.83138986e-01 1.86121686e-01 -7.90763960e-01 9.49088216e+01] [-2.31128824e-01 9.71184193e-01 5.81440395e-02 -5.19827432e+01] [ 7.78799325e-01 1.48862288e-01 6.09353452e-01 -2.80005850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.16, Z:-27.98 [[ 6.06597056e-01 3.39846094e-01 -7.18710403e-01 9.48622738e+01] [-2.35382958e-01 9.40268767e-01 2.45946152e-01 -5.21634872e+01] [ 7.59364784e-01 1.99819685e-02 6.50358244e-01 -2.79817521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.88, Y:-52.18, Z:-27.96 [[ 6.05134598e-01 3.46955180e-01 -7.16543245e-01 9.48752104e+01] [-2.36842425e-01 9.37745624e-01 2.54044899e-01 -5.21761429e+01] [ 7.60077486e-01 1.59764819e-02 6.49636027e-01 -2.79594461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.89, Y:-52.17, Z:-27.94 [[ 6.01531897e-01 3.48582194e-01 -7.18783578e-01 9.48936277e+01] [-2.39293258e-01 9.37083662e-01 2.54190770e-01 -5.21749627e+01] [ 7.62166723e-01 1.90962084e-02 6.47099081e-01 -2.79368238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.25, Z:-27.92 [[ 5.88862604e-01 3.84075312e-01 -7.11144844e-01 9.48632235e+01] [-1.93162252e-01 9.21255532e-01 3.37604191e-01 -5.22520463e+01] [ 7.84811556e-01 -6.14361430e-02 6.16681783e-01 -2.79236257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.02, Z:-27.90 [[ 6.06175860e-01 2.17059425e-01 -7.65137918e-01 9.49837605e+01] [-2.46397997e-01 9.65958125e-01 7.88221265e-02 -5.20230403e+01] [ 7.56200274e-01 1.40748380e-01 6.39023505e-01 -2.78959373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.95, Y:-52.18, Z:-27.87 [[ 5.99956416e-01 3.57118865e-01 -7.15903914e-01 9.49457066e+01] [-2.52543358e-01 9.33628431e-01 2.54086217e-01 -5.21794456e+01] [ 7.59127230e-01 2.83561219e-02 6.50324365e-01 -2.78733955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:-52.27, Z:-27.84 [[ 5.68967707e-01 4.40006909e-01 -6.94744318e-01 9.49116174e+01] [-2.40600764e-01 8.96918911e-01 3.71009083e-01 -5.22736196e+01] [ 7.86375877e-01 -4.39361736e-02 6.16183895e-01 -2.78393956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.00, Y:-52.13, Z:-27.83 [[ 5.70545036e-01 3.22050724e-01 -7.55487718e-01 9.49981626e+01] [-2.49431060e-01 9.44403306e-01 2.14211444e-01 -5.21343656e+01] [ 7.82472049e-01 6.62248257e-02 6.19154072e-01 -2.78251348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:94.99, Y:-52.20, Z:-27.80 [[ 5.64358358e-01 3.80308736e-01 -7.32710659e-01 9.49870874e+01] [-2.47376001e-01 9.24685943e-01 2.89414964e-01 -5.22016626e+01] [ 7.87594285e-01 1.79212785e-02 6.15933494e-01 -2.78013745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:95.01, Y:-52.20, Z:-27.79 [[ 5.72910493e-01 3.80232636e-01 -7.26083129e-01 9.50050941e+01] [-2.49306080e-01 9.24747706e-01 2.87555489e-01 -5.21991723e+01] [ 7.80781689e-01 1.62733816e-02 6.24591972e-01 -2.77853370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:95.07, Y:-52.09, Z:-27.77 [[ 0.60367863 0.28955403 -0.74278568 95.06730128] [ -0.26130197 0.95210726 0.15878615 -52.09356763] [ 0.75318882 0.09823555 0.65042785 -27.76581615] [ 0. 0. 0. 1. ]] SLAMing on 179.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.05, Y:-52.18, Z:-27.74 [[ 6.01990574e-01 3.60134165e-01 -7.12678562e-01 9.50549659e+01] [-2.61938193e-01 9.32194118e-01 2.49804942e-01 -5.21770102e+01] [ 7.54318058e-01 3.62975143e-02 6.55504964e-01 -2.77431532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.07, Y:-52.17, Z:-27.72 [[ 6.03172300e-01 3.59736145e-01 -7.11879963e-01 9.50717726e+01] [-2.62265256e-01 9.32337650e-01 2.48924571e-01 -5.21743661e+01] [ 7.53259658e-01 3.65569748e-02 6.56706537e-01 -2.77198091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:-52.26, Z:-27.69 [[ 5.70849794e-01 4.38379365e-01 -6.94229101e-01 9.50485898e+01] [-2.48590630e-01 8.98128359e-01 3.62723241e-01 -5.22618352e+01] [ 7.82517228e-01 -3.44816372e-02 6.21673391e-01 -2.76912859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:95.14, Y:-52.07, Z:-27.68 [[ 0.60811045 0.27515362 -0.74464231 95.14443221] [ -0.26112779 0.95514389 0.13968688 -52.07159518] [ 0.7496759 0.10950175 0.65268324 -27.67566561] [ 0. 0. 0. 1. ]] SLAMing on 179.612320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:95.11, Y:-52.22, Z:-27.65 [[ 5.75850510e-01 3.97437330e-01 -7.14450670e-01 9.51109437e+01] [-2.49444661e-01 9.17629319e-01 3.09408782e-01 -5.22162383e+01] [ 7.78571481e-01 4.27006119e-05 6.27555931e-01 -2.76528230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:-52.20, Z:-27.63 [[ 5.79435807e-01 3.80321712e-01 -7.20839469e-01 9.51347439e+01] [-2.48529474e-01 9.24773923e-01 2.88142831e-01 -5.21985894e+01] [ 7.76200519e-01 1.21895802e-02 6.30368280e-01 -2.76333144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:-52.10, Z:-27.61 [[ 6.11538897e-01 2.90024825e-01 -7.36142499e-01 9.51900271e+01] [-2.57565432e-01 9.52690506e-01 1.61371770e-01 -5.20973328e+01] [ 7.48117789e-01 9.09197466e-02 6.57307671e-01 -2.76104755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:-52.17, Z:-27.59 [[ 6.09420066e-01 3.51679130e-01 -7.10583544e-01 9.51842259e+01] [-2.52701475e-01 9.35657662e-01 2.46346716e-01 -5.21732615e+01] [ 7.51497936e-01 2.94368781e-02 6.59078389e-01 -2.75907645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:-52.17, Z:-27.57 [[ 6.12035116e-01 3.49814057e-01 -7.09255343e-01 9.52026696e+01] [-2.50968617e-01 9.36404167e-01 2.45279412e-01 -5.21741058e+01] [ 7.49951845e-01 2.78812189e-02 6.60904583e-01 -2.75696178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:-52.17, Z:-27.55 [[ 6.16042569e-01 3.45412966e-01 -7.07941690e-01 9.52220218e+01] [-2.45374763e-01 9.38162432e-01 2.44218093e-01 -5.21723959e+01] [ 7.48520393e-01 2.32622830e-02 6.62703619e-01 -2.75477792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:-52.25, Z:-27.53 [[ 5.95529856e-01 4.01728907e-01 -6.95670954e-01 9.52103072e+01] [-2.32479344e-01 9.15110091e-01 3.29434174e-01 -5.22484005e+01] [ 7.68958741e-01 -3.44587592e-02 6.38369054e-01 -2.75263558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:-52.10, Z:-27.50 [[ 6.19201408e-01 2.72143853e-01 -7.36564552e-01 9.52823752e+01] [-2.36822422e-01 9.59066069e-01 1.55265629e-01 -5.21042507e+01] [ 7.48668656e-01 7.82943049e-02 6.58304827e-01 -2.75032375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:95.28, Y:-52.19, Z:-27.49 [[ 6.17216280e-01 3.38236340e-01 -7.10380350e-01 9.52760284e+01] [-2.34662573e-01 9.40924739e-01 2.44119055e-01 -5.21898993e+01] [ 7.50984381e-01 1.60254252e-02 6.60125477e-01 -2.74853803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:95.29, Y:-52.20, Z:-27.46 [[ 6.17394106e-01 3.37500554e-01 -7.10575749e-01 9.52936722e+01] [-2.34196211e-01 9.41188521e-01 2.43549385e-01 -5.21956475e+01] [ 7.50983790e-01 1.60481935e-02 6.60125596e-01 -2.74637706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.29, Y:-52.24, Z:-27.44 [[ 5.88920675e-01 3.72403147e-01 -7.17278422e-01 9.52898800e+01] [-2.19852045e-01 9.27861882e-01 3.01226503e-01 -5.22412356e+01] [ 7.77713004e-01 -1.97033874e-02 6.28310639e-01 -2.74404080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:-52.19, Z:-27.42 [[ 5.94671894e-01 3.34896184e-01 -7.30896631e-01 9.53248516e+01] [-2.25036561e-01 9.42107815e-01 2.48578781e-01 -5.21936216e+01] [ 7.71831513e-01 1.66556501e-02 6.35608924e-01 -2.74167519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:-52.16, Z:-27.40 [[ 6.22842581e-01 3.03019756e-01 -7.21280907e-01 9.53577357e+01] [-2.35506855e-01 9.51800812e-01 1.96498689e-01 -5.21551013e+01] [ 7.46058738e-01 4.74788473e-02 6.64185305e-01 -2.73961654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-52.25, Z:-27.38 [[ 6.04021253e-01 3.83622753e-01 -6.98564177e-01 9.53398594e+01] [-2.28464858e-01 9.23087090e-01 3.09376845e-01 -5.22538400e+01] [ 7.63519571e-01 -2.72728236e-02 6.45208539e-01 -2.73782179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.39, Y:-52.17, Z:-27.35 [[ 5.99246397e-01 3.14939017e-01 -7.36014382e-01 9.53881159e+01] [-2.30442456e-01 9.48315357e-01 2.18161084e-01 -5.21722111e+01] [ 7.66681179e-01 3.88767183e-02 6.40849881e-01 -2.73522247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:-52.19, Z:-27.33 [[ 5.96478090e-01 3.34596777e-01 -7.29560748e-01 9.53982644e+01] [-2.29697713e-01 9.42107555e-01 2.44279176e-01 -5.21948814e+01] [ 7.69059717e-01 2.18712590e-02 6.38802630e-01 -2.73309955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.42, Y:-52.19, Z:-27.31 [[ 6.03606069e-01 3.26953067e-01 -7.27159821e-01 9.54235431e+01] [-2.32524080e-01 9.44588538e-01 2.31700335e-01 -5.21865527e+01] [ 7.62621967e-01 2.92264403e-02 6.46183836e-01 -2.73107285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:-52.20, Z:-27.29 [[ 6.03728149e-01 3.38485765e-01 -7.21761532e-01 9.54380208e+01] [-2.30465667e-01 9.40829501e-01 2.48446024e-01 -5.22028538e+01] [ 7.63149985e-01 1.63473945e-02 6.46014600e-01 -2.72912013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.46, Y:-52.21, Z:-27.27 [[ 6.05628887e-01 3.39673699e-01 -7.19607830e-01 9.54563500e+01] [-2.29347214e-01 9.40452255e-01 2.50897211e-01 -5.22061007e+01] [ 7.61979991e-01 1.30894523e-02 6.47468269e-01 -2.72713186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-52.21, Z:-27.25 [[ 6.04982906e-01 3.42655335e-01 -7.18737090e-01 9.54715106e+01] [-2.26248571e-01 9.39436060e-01 2.57432463e-01 -5.22100315e+01] [ 7.63418147e-01 6.87100004e-03 6.45868038e-01 -2.72481423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-52.17, Z:-27.22 [[ 6.30570259e-01 3.04419327e-01 -7.13939789e-01 9.55027776e+01] [-2.31722278e-01 9.51756083e-01 2.01159498e-01 -5.21697735e+01] [ 7.40733376e-01 3.85905575e-02 6.70689820e-01 -2.72243284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-52.23, Z:-27.21 [[ 6.07903486e-01 3.52536070e-01 -7.11457427e-01 9.55049081e+01] [-2.19540046e-01 9.35725886e-01 2.76078314e-01 -5.22340180e+01] [ 7.63056695e-01 -1.16355728e-02 6.46226813e-01 -2.72076082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:-52.21, Z:-27.19 [[ 6.09449446e-01 3.26796032e-01 -7.22340451e-01 9.55312750e+01] [-2.16481771e-01 9.45068131e-01 2.44911966e-01 -5.22091712e+01] [ 7.62697198e-01 7.11207757e-03 6.46716632e-01 -2.71866408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:-52.18, Z:-27.16 [[ 6.36718989e-01 2.95469236e-01 -7.12240732e-01 9.55584178e+01] [-2.18733781e-01 9.54940140e-01 2.00611220e-01 -5.21763911e+01] [ 7.39421708e-01 2.80581354e-02 6.72657624e-01 -2.71615353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:-52.21, Z:-27.14 [[ 6.38523056e-01 3.18823240e-01 -7.00457029e-01 9.55670074e+01] [-2.16515357e-01 9.47811591e-01 2.34039074e-01 -5.22110672e+01] [ 7.38518387e-01 2.22035885e-03 6.74229681e-01 -2.71409092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-52.21, Z:-27.12 [[ 6.39586644e-01 3.15220543e-01 -7.01116919e-01 9.55848886e+01] [-2.11608332e-01 9.49017842e-01 2.33638716e-01 -5.22147129e+01] [ 7.39020188e-01 -1.07002017e-03 6.73682430e-01 -2.71191705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.59, Y:-52.25, Z:-27.10 [[ 6.15810088e-01 3.39281971e-01 -7.11101737e-01 9.55911776e+01] [-1.99506459e-01 9.40267846e-01 2.75850597e-01 -5.22520824e+01] [ 7.62217232e-01 -2.80021907e-02 6.46715369e-01 -2.71014812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:-52.19, Z:-27.08 [[ 6.42205345e-01 2.79521625e-01 -7.13750626e-01 9.56305712e+01] [-2.05997316e-01 9.59822550e-01 1.90540752e-01 -5.21876561e+01] [ 7.38334206e-01 2.46644236e-02 6.73983877e-01 -2.70764091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-52.23, Z:-27.06 [[ 6.43306680e-01 3.09794263e-01 -7.00131438e-01 9.56384825e+01] [-2.05383318e-01 9.50788018e-01 2.31991029e-01 -5.22322411e+01] [ 7.37546072e-01 -5.44606149e-03 6.75274857e-01 -2.70586655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:-52.24, Z:-27.04 [[ 6.45488906e-01 3.07702574e-01 -6.99044490e-01 9.56532495e+01] [-2.03360283e-01 9.51457077e-01 2.31028192e-01 -5.22378278e+01] [ 7.36198796e-01 -6.96824995e-03 6.76729470e-01 -2.70355879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:-52.26, Z:-27.01 [[ 6.21271616e-01 3.19909164e-01 -7.15317906e-01 9.56628353e+01] [-1.94858704e-01 9.47264311e-01 2.54402064e-01 -5.22581921e+01] [ 7.58980675e-01 -1.86668610e-02 6.50845514e-01 -2.70148792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:-52.23, Z:-26.99 [[ 6.45259303e-01 2.92088683e-01 -7.05921124e-01 9.56912529e+01] [-2.01077274e-01 9.56377100e-01 2.11921617e-01 -5.22349943e+01] [ 7.37026704e-01 5.20030055e-03 6.75843617e-01 -2.69931872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.70, Y:-52.26, Z:-26.97 [[ 6.44309716e-01 3.05384288e-01 -7.01145795e-01 9.57049276e+01] [-2.00576438e-01 9.52197053e-01 2.30412380e-01 -5.22593339e+01] [ 7.37993280e-01 -7.82360878e-03 6.74762706e-01 -2.69745960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.71, Y:-52.31, Z:-26.95 [[ 6.27653690e-01 3.43011155e-01 -6.98852053e-01 9.57087630e+01] [-1.95696365e-01 9.38391560e-01 2.84823126e-01 -5.23113019e+01] [ 7.53494378e-01 -4.20074795e-02 6.56110962e-01 -2.69546303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-52.28, Z:-26.93 [[ 6.26764135e-01 3.10871878e-01 -7.14510598e-01 9.57344260e+01] [-1.94910598e-01 9.50366522e-01 2.42514601e-01 -5.22772914e+01] [ 7.54437922e-01 -1.27337663e-02 6.56247875e-01 -2.69318506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-52.23, Z:-26.90 [[ 6.50115557e-01 2.63163882e-01 -7.12807502e-01 9.57644216e+01] [-1.99704780e-01 9.64305738e-01 1.73874793e-01 -5.22289917e+01] [ 7.33121930e-01 2.93123575e-02 6.79465247e-01 -2.69042516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.77, Y:-52.29, Z:-26.89 [[ 6.48947945e-01 3.03284950e-01 -6.97771312e-01 9.57700704e+01] [-2.00282317e-01 9.52865150e-01 2.27892518e-01 -5.22865232e+01] [ 7.33998336e-01 -8.13912637e-03 6.79102494e-01 -2.68868923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:-52.30, Z:-26.87 [[ 6.46806184e-01 3.02863362e-01 -6.99939672e-01 9.57897210e+01] [-1.99505215e-01 9.53001807e-01 2.28002685e-01 -5.22986039e+01] [ 7.36097432e-01 -7.83193184e-03 6.76830283e-01 -2.68689044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:-52.31, Z:-26.85 [[ 6.45874925e-01 3.01957770e-01 -7.01189765e-01 9.58074674e+01] [-1.98351938e-01 9.53287246e-01 2.27815573e-01 -5.23063594e+01] [ 7.37225943e-01 -8.05801689e-03 6.75598237e-01 -2.68484355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:-52.31, Z:-26.82 [[ 6.49666826e-01 3.01224823e-01 -6.97994714e-01 9.58212952e+01] [-1.99098913e-01 9.53519799e-01 2.26184913e-01 -5.23141792e+01] [ 7.33684290e-01 -7.97484517e-03 6.79443717e-01 -2.68245671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:-52.32, Z:-26.80 [[ 6.49884156e-01 3.00618651e-01 -6.98053731e-01 9.58373096e+01] [-1.98831695e-01 9.53712336e-01 2.25607486e-01 -5.23207056e+01] [ 7.33564272e-01 -7.82352411e-03 6.79575052e-01 -2.68031369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-52.33, Z:-26.78 [[ 6.48412819e-01 3.00593624e-01 -6.99431404e-01 9.58548116e+01] [-1.98941161e-01 9.53726329e-01 2.25451779e-01 -5.23294786e+01] [ 7.34835512e-01 -7.04012787e-03 6.78208822e-01 -2.67834441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:-52.34, Z:-26.76 [[ 6.48717806e-01 3.00324344e-01 -6.99264254e-01 9.58723211e+01] [-1.99249017e-01 9.53814946e-01 2.24804088e-01 -5.23382569e+01] [ 7.34482837e-01 -6.50669959e-03 6.78596069e-01 -2.67626482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-52.35, Z:-26.74 [[ 6.50569363e-01 3.00269715e-01 -6.97565483e-01 9.58875166e+01] [-2.00425109e-01 9.53837324e-01 2.23660760e-01 -5.23500352e+01] [ 7.32522546e-01 -5.69720019e-03 6.80718930e-01 -2.67413476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:-52.36, Z:-26.72 [[ 6.50721067e-01 2.99331402e-01 -6.97827202e-01 9.59043517e+01] [-1.99603869e-01 9.54130877e-01 2.23142478e-01 -5.23568728e+01] [ 7.32612031e-01 -5.91450194e-03 6.80620769e-01 -2.67204028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-52.36, Z:-26.70 [[ 6.51016770e-01 2.98532167e-01 -6.97893767e-01 9.59223355e+01] [-1.99050841e-01 9.54380849e-01 2.22566750e-01 -5.23634216e+01] [ 7.32499780e-01 -5.97834521e-03 6.80741017e-01 -2.67003811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.94, Y:-52.37, Z:-26.68 [[ 6.49246871e-01 2.97303123e-01 -7.00063821e-01 9.59392853e+01] [-1.97115955e-01 9.54760556e-01 2.22660238e-01 -5.23742272e+01] [ 7.34590907e-01 -6.56771396e-03 6.78478493e-01 -2.66800941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-52.38, Z:-26.66 [[ 6.48149824e-01 2.96729665e-01 -7.01322544e-01 9.59543013e+01] [-1.96470431e-01 9.54940083e-01 2.22460802e-01 -5.23845533e+01] [ 7.35731727e-01 -6.39878712e-03 6.77242852e-01 -2.66583086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.97, Y:-52.39, Z:-26.64 [[ 6.48687946e-01 2.95762881e-01 -7.01233390e-01 9.59714466e+01] [-1.95728895e-01 9.55238247e-01 2.21833476e-01 -5.23909331e+01] [ 7.35455062e-01 -6.64906498e-03 6.77540878e-01 -2.66367791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-52.40, Z:-26.62 [[ 6.50882885e-01 2.95371102e-01 -6.99362126e-01 9.59881490e+01] [-1.96466614e-01 9.55362406e-01 2.20643475e-01 -5.23996401e+01] [ 7.33315989e-01 -6.21175284e-03 6.79859599e-01 -2.66158867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-52.45, Z:-26.59 [[ 6.20453316e-01 3.32727705e-01 -7.10161923e-01 9.59870387e+01] [-1.85384840e-01 9.42099651e-01 2.79429254e-01 -5.24519935e+01] [ 7.62017154e-01 -4.17195530e-02 6.46211525e-01 -2.65937637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.04, Y:-52.37, Z:-26.57 [[ 6.51257880e-01 2.54804416e-01 -7.14799191e-01 9.60350907e+01] [-1.94297978e-01 9.66533660e-01 1.67514117e-01 -5.23698688e+01] [ 7.33560815e-01 2.97891491e-02 6.78970645e-01 -2.65732937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:-52.42, Z:-26.55 [[ 6.51608328e-01 2.93590453e-01 -6.99436368e-01 9.60391496e+01] [-1.94940124e-01 9.55907341e-01 2.19634934e-01 -5.24226658e+01] [ 7.33079078e-01 -6.76774018e-03 6.80109743e-01 -2.65531519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.02, Y:-52.52, Z:-26.53 [[ 6.25972036e-01 3.69663156e-01 -6.86664518e-01 9.60181784e+01] [-1.83855690e-01 9.25648562e-01 3.30714115e-01 -5.25205906e+01] [ 7.57862847e-01 -8.07706091e-02 6.47394790e-01 -2.65294001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:-52.33, Z:-26.50 [[ 6.54703167e-01 2.04406121e-01 -7.27723780e-01 9.60967049e+01] [-1.94567093e-01 9.75873994e-01 9.90635840e-02 -5.23286591e+01] [ 7.30415915e-01 7.67338584e-02 6.78678500e-01 -2.65029798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-52.45, Z:-26.49 [[ 6.54371775e-01 2.93908093e-01 -6.96717743e-01 9.60880007e+01] [-1.97271955e-01 9.55819742e-01 2.17927504e-01 -5.24457328e+01] [ 7.29987230e-01 -5.16273628e-03 6.83441285e-01 -2.64889943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-52.45, Z:-26.47 [[ 6.54323343e-01 2.93248370e-01 -6.97041144e-01 9.61063822e+01] [-1.96836221e-01 9.56022868e-01 2.17429938e-01 -5.24514346e+01] [ 7.30148249e-01 -5.06653913e-03 6.83269980e-01 -2.64689791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-52.49, Z:-26.45 [[ 6.26175483e-01 3.24920815e-01 -7.08752939e-01 9.61096425e+01] [-1.87959864e-01 9.45125849e-01 2.67223164e-01 -5.24936605e+01] [ 7.56687091e-01 -3.41114875e-02 6.52886707e-01 -2.64478752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.15, Y:-52.43, Z:-26.43 [[ 6.56428006e-01 2.62713877e-01 -7.07165958e-01 9.61515250e+01] [-1.95788709e-01 9.64610926e-01 1.76614107e-01 -5.24270615e+01] [ 7.28538986e-01 2.25206637e-02 6.84634037e-01 -2.64272389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:-52.47, Z:-26.41 [[ 6.56114985e-01 2.91575803e-01 -6.96057955e-01 9.61578348e+01] [-1.96383484e-01 9.56535943e-01 2.15574850e-01 -5.24678654e+01] [ 7.28660863e-01 -4.74760301e-03 6.84858239e-01 -2.64058190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.18, Y:-52.47, Z:-26.39 [[ 6.55816701e-01 2.90960912e-01 -6.96596154e-01 9.61766357e+01] [-1.95937131e-01 9.56723845e-01 2.15146752e-01 -5.24716584e+01] [ 7.29049446e-01 -4.60778096e-03 6.84445522e-01 -2.63850863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-52.48, Z:-26.37 [[ 6.56024690e-01 2.88973996e-01 -6.97227105e-01 9.61958630e+01] [-1.93459221e-01 9.57318188e-01 2.14745002e-01 -5.24780031e+01] [ 7.29523910e-01 -5.99301081e-03 6.83929052e-01 -2.63657351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.21, Y:-52.49, Z:-26.35 [[ 6.57322766e-01 2.87590079e-01 -6.96576433e-01 9.62142195e+01] [-1.92297332e-01 9.57730269e-01 2.13949687e-01 -5.24872074e+01] [ 7.28662142e-01 -6.68421008e-03 6.84840715e-01 -2.63461667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.22, Y:-52.53, Z:-26.32 [[ 6.34283666e-01 3.12333294e-01 -7.07200216e-01 9.62163722e+01] [-1.82203501e-01 9.49383719e-01 2.55875827e-01 -5.25310355e+01] [ 7.51322910e-01 -3.34435017e-02 6.59086805e-01 -2.63243658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:-52.54, Z:-26.31 [[ 6.40848508e-01 3.10346776e-01 -7.02138212e-01 9.62317562e+01] [-1.83407387e-01 9.50048598e-01 2.52526021e-01 -5.25361393e+01] [ 7.45436061e-01 -3.30535887e-02 6.65757118e-01 -2.63054529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.26, Y:-52.50, Z:-26.28 [[ 6.34052444e-01 2.78887181e-01 -7.21248527e-01 9.62627705e+01] [-1.82319243e-01 9.60321068e-01 2.11052457e-01 -5.25046559e+01] [ 7.51489981e-01 -2.32084034e-03 6.59740420e-01 -2.62829151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:-52.47, Z:-26.26 [[ 6.57363270e-01 2.44070206e-01 -7.12953902e-01 9.62940800e+01] [-1.88670104e-01 9.69270129e-01 1.57857560e-01 -5.24691032e+01] [ 7.29573247e-01 3.07433249e-02 6.83211333e-01 -2.62619656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:-52.52, Z:-26.24 [[ 6.58087163e-01 2.86829866e-01 -6.96168022e-01 9.62974238e+01] [-1.93555637e-01 9.57970552e-01 2.11727744e-01 -5.25248850e+01] [ 7.27638304e-01 -4.58806531e-03 6.85945660e-01 -2.62420899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-52.53, Z:-26.22 [[ 6.61285487e-01 2.86496032e-01 -6.93268727e-01 9.63145088e+01] [-1.94648391e-01 9.58072667e-01 2.10258815e-01 -5.25308732e+01] [ 7.24440134e-01 -4.09746066e-03 6.89325542e-01 -2.62206700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:-52.54, Z:-26.20 [[ 6.60993735e-01 2.85926895e-01 -6.93781733e-01 9.63322517e+01] [-1.94281708e-01 9.58243498e-01 2.09819010e-01 -5.25410036e+01] [ 7.24804732e-01 -3.89995118e-03 6.88943314e-01 -2.62010511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:-52.62, Z:-26.18 [[ 6.40657385e-01 3.42493428e-01 -6.87209114e-01 9.63237584e+01] [-1.87811636e-01 9.37717803e-01 2.92253506e-01 -5.26166285e+01] [ 7.44503126e-01 -5.81684994e-02 6.65080087e-01 -2.61782726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:-52.48, Z:-26.16 [[ 6.60791278e-01 2.23738585e-01 -7.16446741e-01 9.63874717e+01] [-1.88953275e-01 9.73382781e-01 1.29702049e-01 -5.24821135e+01] [ 7.26396274e-01 4.96689748e-02 6.85478990e-01 -2.61571402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:-52.56, Z:-26.14 [[ 6.61005299e-01 2.82485776e-01 -6.95178956e-01 9.63856599e+01] [-1.90051679e-01 9.59252188e-01 2.09082756e-01 -5.25592363e+01] [ 7.25914840e-01 -6.08488176e-03 6.87757675e-01 -2.61372527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.40, Y:-52.57, Z:-26.12 [[ 6.62490932e-01 2.80662928e-01 -6.94502761e-01 9.64035031e+01] [-1.88211863e-01 9.59778614e-01 2.08329803e-01 -5.25653840e+01] [ 7.25039350e-01 -7.30294721e-03 6.88668721e-01 -2.61169528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:-52.58, Z:-26.09 [[ 6.64445284e-01 2.77620157e-01 -6.93858424e-01 9.64187015e+01] [-1.84638891e-01 9.60641009e-01 2.07550795e-01 -5.25761780e+01] [ 7.24169141e-01 -9.79289735e-03 6.89552866e-01 -2.60948054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.41, Y:-52.65, Z:-26.07 [[ 6.45555087e-01 3.32179734e-01 -6.87688341e-01 9.64096100e+01] [-1.78834437e-01 9.41167905e-01 2.86742427e-01 -5.26496342e+01] [ 7.42480218e-01 -6.21256752e-02 6.66980904e-01 -2.60700051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-52.53, Z:-26.05 [[ 6.64468183e-01 2.20215518e-01 -7.14133852e-01 9.64709112e+01] [-1.80232677e-01 9.74612525e-01 1.32840535e-01 -5.25277735e+01] [ 7.25257345e-01 4.04419473e-02 6.87289046e-01 -2.60517405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-52.60, Z:-26.03 [[ 6.65242427e-01 2.74000192e-01 -6.94533231e-01 9.64691714e+01] [-1.80337996e-01 9.61651989e-01 2.06648635e-01 -5.26021981e+01] [ 7.24521029e-01 -1.22207082e-02 6.89144349e-01 -2.60313683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.45, Y:-52.70, Z:-26.01 [[ 6.44162037e-01 3.48400290e-01 -6.80935025e-01 9.64490770e+01] [-1.72564565e-01 9.33483846e-01 3.14371405e-01 -5.27005041e+01] [ 7.45168935e-01 -8.50008686e-02 6.61436400e-01 -2.60057943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:-52.53, Z:-25.99 [[ 6.67153633e-01 1.92917782e-01 -7.19505913e-01 9.65307351e+01] [-1.76949449e-01 9.79279115e-01 9.84952105e-02 -5.25264891e+01] [ 7.23598592e-01 6.16047376e-02 6.87466315e-01 -2.59910568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:-52.63, Z:-25.97 [[ 6.67692274e-01 2.72650588e-01 -6.92711112e-01 9.65178418e+01] [-1.80133379e-01 9.62036825e-01 2.05029540e-01 -5.26334606e+01] [ 7.22315023e-01 -1.21162469e-02 6.91458027e-01 -2.59689519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:-52.64, Z:-25.95 [[ 6.67327036e-01 2.72688985e-01 -6.93047866e-01 9.65342016e+01] [-1.80671344e-01 9.62035942e-01 2.04559799e-01 -5.26411635e+01] [ 7.22518161e-01 -1.12943948e-02 6.91259679e-01 -2.59471801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:-52.65, Z:-25.92 [[ 6.66272050e-01 2.74323314e-01 -6.93417821e-01 9.65496956e+01] [-1.83512315e-01 9.61597904e-01 2.04089935e-01 -5.26480904e+01] [ 7.22775750e-01 -8.72870979e-03 6.91027513e-01 -2.59245849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.53, Y:-52.74, Z:-25.90 [[ 6.42161961e-01 3.51460682e-01 -6.81251352e-01 9.65281518e+01] [-1.76859387e-01 9.32653575e-01 3.14448831e-01 -5.27436263e+01] [ 7.45887909e-01 -8.14413809e-02 6.61073769e-01 -2.58973786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:96.60, Y:-52.62, Z:-25.88 [[ 6.33276683e-01 2.45838657e-01 -7.33841944e-01 9.65991160e+01] [-1.79398611e-01 9.69010730e-01 1.69806782e-01 -5.26235194e+01] [ 7.52845789e-01 2.41155498e-02 6.57755014e-01 -2.58832135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:-52.62, Z:-25.87 [[ 6.65513350e-01 2.36866162e-01 -7.07803930e-01 9.66221157e+01] [-1.85405087e-01 9.71048166e-01 1.50633370e-01 -5.26226621e+01] [ 7.22991656e-01 3.09819304e-02 6.90161709e-01 -2.58661563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.62, Y:-52.68, Z:-25.84 [[ 6.66167055e-01 2.74465882e-01 -6.93462280e-01 9.66235920e+01] [-1.85640512e-01 9.61578134e-01 2.02250074e-01 -5.26774437e+01] [ 7.22328910e-01 -5.99764385e-03 6.91523661e-01 -2.58437595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:96.64, Y:-52.68, Z:-25.82 [[ 6.67465658e-01 2.73301086e-01 -6.92673164e-01 9.66405748e+01] [-1.84824336e-01 9.61907077e-01 2.01431726e-01 -5.26820898e+01] [ 7.21338728e-01 -6.42590177e-03 6.92552631e-01 -2.58225202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252320588 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:96.66, Y:-52.69, Z:-25.80 [[ 6.69196024e-01 2.72065084e-01 -6.91489169e-01 9.66563635e+01] [-1.84028040e-01 9.62253958e-01 2.00501870e-01 -5.26875165e+01] [ 7.19937749e-01 -6.92165811e-03 6.94004127e-01 -2.58003097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:96.67, Y:-52.69, Z:-25.78 [[ 6.68523108e-01 2.71858526e-01 -6.92220916e-01 9.66739268e+01] [-1.84115406e-01 9.62316361e-01 2.00121812e-01 -5.26949392e+01] [ 7.20540333e-01 -6.33752015e-03 6.93384067e-01 -2.57798791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312320588 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:96.69, Y:-52.70, Z:-25.76 [[ 6.67267063e-01 2.71372948e-01 -6.93621936e-01 9.66924924e+01] [-1.83587099e-01 9.62455110e-01 1.99939837e-01 -5.27047267e+01] [ 7.21838239e-01 -6.07322855e-03 6.92035167e-01 -2.57602038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:96.68, Y:-52.77, Z:-25.74 [[ 6.46863500e-01 3.22230411e-01 -6.91183893e-01 9.66829359e+01] [-1.76030074e-01 9.44959650e-01 2.75798247e-01 -5.27722473e+01] [ 7.42011472e-01 -5.67346676e-02 6.67982150e-01 -2.57390039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372320588 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:96.75, Y:-52.65, Z:-25.72 [[ 6.68506621e-01 2.12769848e-01 -7.12620439e-01 9.67522984e+01] [-1.83821336e-01 9.75743327e-01 1.18889349e-01 -5.26461582e+01] [ 7.20630706e-01 5.15165244e-02 6.91402512e-01 -2.57235261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:96.71, Y:-52.79, Z:-25.70 [[ 6.50022784e-01 3.31471258e-01 -6.83810782e-01 9.67138340e+01] [-1.79048822e-01 9.41323676e-01 2.86096586e-01 -5.27941655e+01] [ 7.38520074e-01 -6.35337845e-02 6.71231375e-01 -2.56954126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432320588 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:96.76, Y:-52.73, Z:-25.68 [[ 6.42806452e-01 2.74770514e-01 -7.15053166e-01 9.67587328e+01] [-1.80287921e-01 9.61499758e-01 2.07399326e-01 -5.27301023e+01] [ 7.44510666e-01 -4.40217648e-03 6.67596053e-01 -2.56777053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:96.80, Y:-52.65, Z:-25.66 [[ 6.70634984e-01 2.08375242e-01 -7.11918870e-01 9.68043384e+01] [-1.89157143e-01 9.76045203e-01 1.07495757e-01 -5.26542816e+01] [ 7.17264452e-01 6.25741246e-02 6.93985724e-01 -2.56598598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49232058799998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:96.80, Y:-52.74, Z:-25.64 [[ 6.69685062e-01 2.76723131e-01 -6.89163425e-01 9.67985139e+01] [-1.94040062e-01 9.60948363e-01 1.97298498e-01 -5.27395114e+01] [ 7.16847524e-01 1.59745634e-03 6.97228138e-01 -2.56378397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:96.82, Y:-52.74, Z:-25.62 [[ 6.68913403e-01 2.78420012e-01 -6.89229393e-01 9.68176423e+01] [-1.97061169e-01 9.60450125e-01 1.96729391e-01 -5.27427133e+01] [ 7.16743856e-01 4.22542322e-03 6.97323734e-01 -2.56175568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552320588 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:96.84, Y:-52.74, Z:-25.60 [[ 6.65988818e-01 2.82433188e-01 -6.90427685e-01 9.68364792e+01] [-2.03094868e-01 9.59241291e-01 1.96490766e-01 -5.27437098e+01] [ 7.17782257e-01 9.36166615e-03 6.96204705e-01 -2.55967016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:96.84, Y:-52.78, Z:-25.57 [[ 6.40778207e-01 3.08073204e-01 -7.03202809e-01 9.68411661e+01] [-1.97346875e-01 9.51273264e-01 2.36924857e-01 -5.27761802e+01] [ 7.41928231e-01 -1.30414084e-02 6.70352461e-01 -2.55728839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612320588 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:96.88, Y:-52.72, Z:-25.56 [[ 6.67064099e-01 2.60184375e-01 -6.98089951e-01 9.68838709e+01] [-2.08180687e-01 9.64804741e-01 1.60663044e-01 -5.27182338e+01] [ 7.15322508e-01 3.81562971e-02 6.97751967e-01 -2.55560024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:96.86, Y:-52.84, Z:-25.53 [[ 6.40229238e-01 3.54337805e-01 -6.81579961e-01 9.68565011e+01] [-1.97616088e-01 9.33370793e-01 2.99611157e-01 -5.28376015e+01] [ 7.42330388e-01 -5.71286568e-02 6.67594122e-01 -2.55282507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672320588 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:96.94, Y:-52.66, Z:-25.52 [[ 6.71230065e-01 2.07002579e-01 -7.11758478e-01 9.69400265e+01] [-2.06745240e-01 9.74391972e-01 8.84120553e-02 -5.26614367e+01] [ 7.11833270e-01 8.78078478e-02 6.96837985e-01 -2.55158635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:96.89, Y:-52.84, Z:-25.49 [[ 6.43574807e-01 3.48191340e-01 -6.81596844e-01 9.68949341e+01] [-1.96271543e-01 9.35830654e-01 2.92743007e-01 -5.28394613e+01] [ 7.39789800e-01 -5.46239600e-02 6.70617085e-01 -2.54880145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732320588 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:96.97, Y:-52.67, Z:-25.47 [[ 6.72926506e-01 2.08172676e-01 -7.09812690e-01 9.69726434e+01] [-2.05787950e-01 9.74386884e-01 9.06725959e-02 -5.26669436e+01] [ 7.10507732e-01 8.50549049e-02 6.98530190e-01 -2.54712919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:96.97, Y:-52.76, Z:-25.45 [[ 6.71361166e-01 2.82189996e-01 -6.85305035e-01 9.69651527e+01] [-2.05575102e-01 9.59296698e-01 1.93620046e-01 -5.27609909e+01] [ 7.12048498e-01 1.08926728e-02 7.02045787e-01 -2.54498176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792320588 meters Centerline goodness : 0.997536 Centerline is valid? [True, True] Translation: X:96.99, Y:-52.76, Z:-25.43 [[ 6.71046245e-01 2.79450121e-01 -6.86734714e-01 9.69855507e+01] [-2.01848454e-01 9.60119925e-01 1.93460414e-01 -5.27642835e+01] [ 7.13410218e-01 8.79545565e-03 7.00691445e-01 -2.54309021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:96.99, Y:-52.80, Z:-25.41 [[ 6.46094853e-01 3.02734512e-01 -7.00652023e-01 9.69922467e+01] [-1.92894660e-01 9.52941473e-01 2.33867911e-01 -5.27983061e+01] [ 7.38480258e-01 -1.59488192e-02 6.74086451e-01 -2.54090303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852320588 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:97.03, Y:-52.75, Z:-25.39 [[ 6.74075863e-01 2.54914182e-01 -6.93282403e-01 9.70314209e+01] [-1.99387795e-01 9.66517921e-01 1.61516612e-01 -5.27451326e+01] [ 7.11242742e-01 2.93576004e-02 7.02333178e-01 -2.53921356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:97.02, Y:-52.82, Z:-25.37 [[ 6.47458787e-01 3.10861807e-01 -6.95817546e-01 9.70239047e+01] [-1.87451193e-01 9.49935908e-01 2.49967642e-01 -5.28177846e+01] [ 7.38687464e-01 -3.14119172e-02 6.73315766e-01 -2.53661010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912320588 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:97.07, Y:-52.73, Z:-25.35 [[ 6.77926291e-01 2.37995407e-01 -6.95538734e-01 9.70726953e+01] [-1.94122219e-01 9.70516433e-01 1.42879027e-01 -5.27330028e+01] [ 7.09036323e-01 3.81580736e-02 7.04138803e-01 -2.53487860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:97.07, Y:-52.80, Z:-25.33 [[ 6.48600395e-01 2.86382014e-01 -7.05197043e-01 9.70690577e+01] [-1.80287375e-01 9.57953206e-01 2.23208686e-01 -5.27966034e+01] [ 7.39468721e-01 -1.76351183e-02 6.72959889e-01 -2.53268147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972320588 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:97.11, Y:-52.76, Z:-25.31 [[ 6.80746616e-01 2.44427997e-01 -6.90535299e-01 9.71066947e+01] [-1.85228743e-01 9.69488994e-01 1.60565887e-01 -5.27551835e+01] [ 7.08713171e-01 1.86023011e-02 7.05251442e-01 -2.53085349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:97.12, Y:-52.79, Z:-25.29 [[ 6.82089719e-01 2.63196337e-01 -6.82261903e-01 9.71163060e+01] [-1.81811409e-01 9.64724708e-01 1.90396556e-01 -5.27894801e+01] [ 7.08306591e-01 -5.82453537e-03 7.05880902e-01 -2.52878787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032320588 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:97.13, Y:-52.80, Z:-25.27 [[ 6.82274083e-01 2.60831153e-01 -6.82985494e-01 9.71342195e+01] [-1.78814811e-01 9.65355062e-01 1.90039121e-01 -5.27956825e+01] [ 7.08891627e-01 -7.53084471e-03 7.05277213e-01 -2.52674609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:97.15, Y:-52.80, Z:-25.25 [[ 6.84088823e-01 2.57170265e-01 -6.82558376e-01 9.71526659e+01] [-1.74328409e-01 9.66308516e-01 1.89360655e-01 -5.28007809e+01] [ 7.08259901e-01 -1.05501914e-02 7.05872939e-01 -2.52470463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092320588 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:97.17, Y:-52.81, Z:-25.23 [[ 6.84342402e-01 2.55017891e-01 -6.83111523e-01 9.71727350e+01] [-1.71678176e-01 9.66861403e-01 1.88959337e-01 -5.28067150e+01] [ 7.08662177e-01 -1.20375463e-02 7.05445261e-01 -2.52285907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:97.19, Y:-52.81, Z:-25.21 [[ 6.83679352e-01 2.54672087e-01 -6.83903993e-01 9.71916785e+01] [-1.71502962e-01 9.66957051e-01 1.88628722e-01 -5.28138250e+01] [ 7.09344259e-01 -1.16700022e-02 7.04765588e-01 -2.52097843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152320588 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:97.21, Y:-52.82, Z:-25.19 [[ 6.84587948e-01 2.54778420e-01 -6.82954828e-01 9.72100540e+01] [-1.72486328e-01 9.66939376e-01 1.87820952e-01 -5.28237346e+01] [ 7.08228641e-01 -1.07795897e-02 7.05900838e-01 -2.51907394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:97.23, Y:-52.83, Z:-25.17 [[ 6.85266828e-01 2.54777549e-01 -6.82273973e-01 9.72275367e+01] [-1.73239254e-01 9.66947933e-01 1.87082484e-01 -5.28294003e+01] [ 7.07387825e-01 -1.00047866e-02 7.06754816e-01 -2.51698710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21232058799998 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:97.23, Y:-52.88, Z:-25.15 [[ 6.67211373e-01 2.90218220e-01 -6.86004641e-01 9.72284687e+01] [-1.69440267e-01 9.55964664e-01 2.39627956e-01 -5.28762409e+01] [ 7.25340595e-01 -4.36456876e-02 6.87005149e-01 -2.51465677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:97.28, Y:-52.80, Z:-25.13 [[ 6.87166633e-01 2.20522798e-01 -6.92222301e-01 9.72759377e+01] [-1.75925257e-01 9.74969622e-01 1.35957859e-01 -5.27957054e+01] [ 7.04877523e-01 2.83536824e-02 7.08762123e-01 -2.51295105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27232058799999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:97.28, Y:-52.85, Z:-25.11 [[ 6.84922134e-01 2.58220757e-01 -6.81324967e-01 9.72820802e+01] [-1.79503872e-01 9.66073605e-01 1.85688311e-01 -5.28484691e+01] [ 7.06158644e-01 -4.88156427e-03 7.08036821e-01 -2.51092679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:97.30, Y:-52.85, Z:-25.09 [[ 6.84686513e-01 2.58475914e-01 -6.81465025e-01 9.73007011e+01] [-1.80377521e-01 9.66009976e-01 1.85172020e-01 -5.28539644e+01] [ 7.06164520e-01 -3.86381242e-03 7.08037246e-01 -2.50891942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332320588 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:97.32, Y:-52.86, Z:-25.07 [[ 6.84934133e-01 2.59344004e-01 -6.80886129e-01 9.73192513e+01] [-1.82319578e-01 9.65782504e-01 1.84455218e-01 -5.28586370e+01] [ 7.05425266e-01 -2.20080331e-03 7.08780891e-01 -2.50693216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:97.34, Y:-52.86, Z:-25.05 [[ 6.84716812e-01 2.61036700e-01 -6.80457734e-01 9.73376674e+01] [-1.85381413e-01 9.65328828e-01 1.83777002e-01 -5.28621207e+01] [ 7.04838009e-01 3.09013089e-04 7.09368230e-01 -2.50490241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392320588 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:97.36, Y:-52.87, Z:-25.03 [[ 6.84057325e-01 2.62160410e-01 -6.80688986e-01 9.73574447e+01] [-1.87466966e-01 9.65021717e-01 1.83273626e-01 -5.28657758e+01] [ 7.04926743e-01 2.23703273e-03 7.09276591e-01 -2.50295964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:97.38, Y:-52.87, Z:-25.01 [[ 6.82329458e-01 2.63333122e-01 -6.81969337e-01 9.73780098e+01] [-1.89356319e-01 9.64695662e-01 1.83047711e-01 -5.28665834e+01] [ 7.06095386e-01 4.23635817e-03 7.08104059e-01 -2.50099969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452320588 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:97.40, Y:-52.87, Z:-24.99 [[ 6.81896959e-01 2.63511874e-01 -6.82332785e-01 9.73961039e+01] [-1.90076200e-01 9.64642177e-01 1.82582881e-01 -5.28700692e+01] [ 7.06319741e-01 5.19251169e-03 7.07873902e-01 -2.49893660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:97.41, Y:-52.88, Z:-24.97 [[ 6.83360008e-01 2.63831976e-01 -6.80743555e-01 9.74121103e+01] [-1.91483577e-01 9.64548408e-01 1.81605089e-01 -5.28765849e+01] [ 7.04523341e-01 6.24955578e-03 7.09653299e-01 -2.49670200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.512320588 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:97.42, Y:-52.91, Z:-24.94 [[ 6.59836933e-01 2.85007602e-01 -6.95259583e-01 9.74201948e+01] [-1.85011941e-01 9.58411786e-01 2.17295722e-01 -5.29079175e+01] [ 7.28275911e-01 -1.47484182e-02 6.85125303e-01 -2.49433308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:97.46, Y:-52.86, Z:-24.93 [[ 6.85097860e-01 2.45974189e-01 -6.85665822e-01 9.74553855e+01] [-1.89615577e-01 9.69034547e-01 1.58170726e-01 -5.28648645e+01] [ 7.03339786e-01 2.16504949e-02 7.10524033e-01 -2.49276506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:97.47, Y:-52.89, Z:-24.91 [[ 6.84849279e-01 2.61248243e-01 -6.80243207e-01 9.74697591e+01] [-1.89559893e-01 9.65254419e-01 1.79863707e-01 -5.28866069e+01] [ 7.03596839e-01 5.76729967e-03 7.10575982e-01 -2.49072759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:-52.89, Z:-24.89 [[ 6.82931944e-01 2.61078640e-01 -6.82233027e-01 9.74910624e+01] [-1.89377183e-01 9.65296404e-01 1.79830849e-01 -5.28876634e+01] [ 7.05507082e-01 6.38713735e-03 7.08674087e-01 -2.48887677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.51, Y:-52.89, Z:-24.87 [[ 6.84951692e-01 2.59629146e-01 -6.80759786e-01 9.75094641e+01] [-1.88250920e-01 9.65692015e-01 1.78886900e-01 -5.28930118e+01] [ 7.03848542e-01 5.62477070e-03 7.10327806e-01 -2.48682397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.53, Y:-52.90, Z:-24.85 [[ 6.87142177e-01 2.58467023e-01 -6.78992214e-01 9.75273236e+01] [-1.87596745e-01 9.66006343e-01 1.77874128e-01 -5.28996464e+01] [ 7.01885382e-01 5.15191386e-03 7.12271274e-01 -2.48473057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.55, Y:-52.90, Z:-24.83 [[ 6.87276533e-01 2.57751777e-01 -6.79128109e-01 9.75466205e+01] [-1.87105002e-01 9.66197299e-01 1.77354157e-01 -5.29044657e+01] [ 7.01885094e-01 5.17691636e-03 7.12271377e-01 -2.48268816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:-52.97, Z:-24.80 [[ 6.64566854e-01 3.05688855e-01 -6.81839586e-01 9.75407278e+01] [-1.77740822e-01 9.50969857e-01 2.53109722e-01 -5.29729984e+01] [ 7.25781715e-01 -4.70176031e-02 6.86316434e-01 -2.48016743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:-52.89, Z:-24.78 [[ 6.62900296e-01 2.31137408e-01 -7.12136711e-01 9.75886216e+01] [-1.74994437e-01 9.72641284e-01 1.52793584e-01 -5.28914862e+01] [ 7.27969878e-01 2.33330509e-02 6.85211956e-01 -2.47841451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-52.92, Z:-24.76 [[ 6.64146003e-01 2.52275508e-01 -7.03752197e-01 9.76003970e+01] [-1.73235416e-01 9.67655442e-01 1.83391482e-01 -5.29244333e+01] [ 7.27254823e-01 1.16084869e-04 6.86367547e-01 -2.47634646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:-52.93, Z:-24.75 [[ 6.65762871e-01 2.50439395e-01 -7.02879726e-01 9.76191888e+01] [-1.70504342e-01 9.68129572e-01 1.83448632e-01 -5.29327539e+01] [ 7.26421413e-01 -2.28924308e-03 6.87245728e-01 -2.47452007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.65, Y:-52.92, Z:-24.73 [[ 6.89686797e-01 2.29934600e-01 -6.86631052e-01 9.76466746e+01] [-1.74741459e-01 9.73069604e-01 1.50336185e-01 -5.29168369e+01] [ 7.02707297e-01 1.62980302e-02 7.11292366e-01 -2.47282783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.66, Y:-52.95, Z:-24.71 [[ 6.90458319e-01 2.47490843e-01 -6.79717288e-01 9.76588583e+01] [-1.75280668e-01 9.68889067e-01 1.74730257e-01 -5.29518362e+01] [ 7.01814788e-01 -1.50265918e-03 7.12357877e-01 -2.47084578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:-52.96, Z:-24.69 [[ 6.89454020e-01 2.46661916e-01 -6.81036749e-01 9.76761127e+01] [-1.74331476e-01 9.69100291e-01 1.74508348e-01 -5.29603734e+01] [ 7.03037475e-01 -1.58934020e-03 7.11151027e-01 -2.46877217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.68, Y:-53.00, Z:-24.67 [[ 6.67069355e-01 2.69438314e-01 -6.94565671e-01 9.76821172e+01] [-1.67713063e-01 9.62688362e-01 2.12375719e-01 -5.29990566e+01] [ 7.25872444e-01 -2.51815978e-02 6.87368229e-01 -2.46653817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-52.95, Z:-24.65 [[ 6.89011166e-01 2.23018458e-01 -6.89584208e-01 9.77214287e+01] [-1.73714690e-01 9.74560985e-01 1.41612476e-01 -5.29483592e+01] [ 7.03624061e-01 2.22183301e-02 7.10224983e-01 -2.46495179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.73, Y:-52.98, Z:-24.63 [[ 6.89912678e-01 2.45653841e-01 -6.80936625e-01 9.77306167e+01] [-1.74199460e-01 9.69357218e-01 1.73208348e-01 -5.29844600e+01] [ 7.02620128e-01 -8.79842485e-04 7.11564601e-01 -2.46283432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.74, Y:-53.02, Z:-24.60 [[ 6.67944232e-01 2.67866229e-01 -6.94332907e-01 9.77377575e+01] [-1.69111128e-01 9.63202148e-01 2.08909189e-01 -5.30173625e+01] [ 7.24742664e-01 -2.21202669e-02 6.88664479e-01 -2.46044479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:-52.97, Z:-24.59 [[ 6.90396169e-01 2.25564101e-01 -6.87367417e-01 9.77723320e+01] [-1.75835640e-01 9.73976891e-01 1.43006443e-01 -5.29740851e+01] [ 7.01737100e-01 2.21325898e-02 7.12092123e-01 -2.45861593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:-53.01, Z:-24.57 [[ 6.89863224e-01 2.46325164e-01 -6.80744185e-01 9.77834450e+01] [-1.76432984e-01 9.69186055e-01 1.71900531e-01 -5.30063608e+01] [ 7.02111198e-01 1.51787333e-03 7.12065700e-01 -2.45654723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-53.02, Z:-24.55 [[ 6.90434278e-01 2.45953724e-01 -6.80299400e-01 9.78030653e+01] [-1.76565796e-01 9.69279727e-01 1.71234726e-01 -5.30172844e+01] [ 7.01516235e-01 1.89128045e-03 7.12650963e-01 -2.45470378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-53.03, Z:-24.53 [[ 6.92149747e-01 2.45535327e-01 -6.78705482e-01 9.78204989e+01] [-1.76909221e-01 9.69385126e-01 1.70280960e-01 -5.30253686e+01] [ 6.99736990e-01 2.20933465e-03 7.14397133e-01 -2.45262285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.84, Y:-53.03, Z:-24.50 [[ 6.94163346e-01 2.45692469e-01 -6.76588841e-01 9.78367872e+01] [-1.78169251e-01 9.69342896e-01 1.69204219e-01 -5.30343189e+01] [ 6.97418789e-01 3.09196015e-03 7.16657151e-01 -2.45043765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:-53.15, Z:-24.47 [[ 6.62325113e-01 3.35130756e-01 -6.70084190e-01 9.78104944e+01] [-1.71817329e-01 9.38485542e-01 2.99539133e-01 -5.31462620e+01] [ 7.29249100e-01 -8.32602143e-02 6.79163814e-01 -2.44704604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-52.93, Z:-24.47 [[ 6.92279159e-01 1.54488246e-01 -7.04899246e-01 9.79072890e+01] [-1.81549775e-01 9.82682847e-01 3.70688769e-02 -5.29273110e+01] [ 6.98419104e-01 1.02312289e-01 7.08338161e-01 -2.44668757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.89, Y:-53.05, Z:-24.44 [[ 6.90100928e-01 2.49819829e-01 -6.79228064e-01 9.78930724e+01] [-1.84323825e-01 9.68253476e-01 1.68848847e-01 -5.30503985e+01] [ 6.99846724e-01 8.67516867e-03 7.14240369e-01 -2.44425554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-53.06, Z:-24.42 [[ 6.91378891e-01 2.50604133e-01 -6.77637659e-01 9.79105511e+01] [-1.86310848e-01 9.68036318e-01 1.67910554e-01 -5.30558490e+01] [ 6.98056944e-01 1.01614339e-02 7.15970145e-01 -2.44209237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-53.06, Z:-24.40 [[ 6.90995222e-01 2.51054646e-01 -6.77862204e-01 9.79304029e+01] [-1.87420063e-01 9.67906310e-01 1.67424894e-01 -5.30602622e+01] [ 6.98139902e-01 1.13551752e-02 7.15871313e-01 -2.44009215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:-53.06, Z:-24.38 [[ 6.89959586e-01 2.52898334e-01 -6.78231673e-01 9.79523606e+01] [-1.90439319e-01 9.67392325e-01 1.66987888e-01 -5.30629189e+01] [ 6.98347074e-01 1.39470840e-02 7.15623395e-01 -2.43830574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:-53.07, Z:-24.36 [[ 6.89486848e-01 2.52669918e-01 -6.78797318e-01 9.79727654e+01] [-1.90510732e-01 9.67444662e-01 1.66602779e-01 -5.30652028e+01] [ 6.98794353e-01 1.44477492e-02 7.15176702e-01 -2.43643522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:-53.06, Z:-24.34 [[ 6.88432042e-01 2.53670752e-01 -6.79494277e-01 9.79930399e+01] [-1.92274980e-01 9.67155072e-01 1.66257025e-01 -5.30641679e+01] [ 6.99350881e-01 1.61930857e-02 7.14595080e-01 -2.43448397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.01, Y:-53.07, Z:-24.32 [[ 6.88796047e-01 2.53421363e-01 -6.79218388e-01 9.80121550e+01] [-1.92490644e-01 9.67213021e-01 1.65669318e-01 -5.30665174e+01] [ 6.98933014e-01 1.66308138e-02 7.14993747e-01 -2.43243281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:-53.07, Z:-24.30 [[ 6.89247111e-01 2.51945730e-01 -6.79309775e-01 9.80313243e+01] [-1.90908367e-01 9.67611689e-01 1.65171468e-01 -5.30682717e+01] [ 6.98922325e-01 1.58419628e-02 7.15022109e-01 -2.43039812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-53.07, Z:-24.28 [[ 6.89614292e-01 2.50502992e-01 -6.79470661e-01 9.80509512e+01] [-1.89357935e-01 9.67998213e-01 1.64690717e-01 -5.30707225e+01] [ 6.98981903e-01 1.50900890e-02 7.14980131e-01 -2.42846312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:98.07, Y:-53.07, Z:-24.27 [[ 6.89643288e-01 2.49981050e-01 -6.79633438e-01 9.80727387e+01] [-1.89101481e-01 9.68130244e-01 1.64208589e-01 -5.30694001e+01] [ 6.99022722e-01 1.52743386e-02 7.14936311e-01 -2.42652364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-53.17, Z:-24.24 [[ 6.63349926e-01 3.27706110e-01 -6.72737379e-01 9.80541338e+01] [-1.81060491e-01 9.42586081e-01 2.80621771e-01 -5.31668245e+01] [ 7.26074359e-01 -6.43442712e-02 6.84599036e-01 -2.42352233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-52.96, Z:-24.23 [[ 6.91692876e-01 1.66404329e-01 -7.02759251e-01 9.81405573e+01] [-1.89127740e-01 9.80869400e-01 4.61076877e-02 -5.29608797e+01] [ 6.96987563e-01 1.01018910e-01 7.09932051e-01 -2.42265579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.13, Y:-53.07, Z:-24.21 [[ 6.88529488e-01 2.50603133e-01 -6.80533037e-01 9.81343010e+01] [-1.90670654e-01 9.67937736e-01 1.63527493e-01 -5.30672081e+01] [ 6.99694109e-01 1.71641783e-02 7.14236337e-01 -2.42060385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-53.07, Z:-24.18 [[ 6.88062815e-01 2.49889790e-01 -6.81266949e-01 9.81534118e+01] [-1.90028245e-01 9.68121888e-01 1.63184792e-01 -5.30668466e+01] [ 7.00327658e-01 1.71785755e-02 7.13614790e-01 -2.41842693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-53.07, Z:-24.16 [[ 6.89227100e-01 2.48393192e-01 -6.80637074e-01 9.81727537e+01] [-1.88529049e-01 9.68522331e-01 1.62546278e-01 -5.30691887e+01] [ 6.99587594e-01 1.62885601e-02 7.14361170e-01 -2.41643932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.19, Y:-53.07, Z:-24.14 [[ 6.92049276e-01 2.46167121e-01 -6.78579065e-01 9.81923377e+01] [-1.86337544e-01 9.69116536e-01 1.61528509e-01 -5.30669947e+01] [ 6.97385201e-01 1.46590682e-02 7.16546574e-01 -2.41429255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.21, Y:-53.07, Z:-24.12 [[ 6.94092982e-01 2.44744499e-01 -6.77004478e-01 9.82121248e+01] [-1.85174880e-01 9.69488385e-01 1.60631677e-01 -5.30684666e+01] [ 6.95661697e-01 1.38709029e-02 7.18235617e-01 -2.41222317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-53.07, Z:-24.10 [[ 6.93735010e-01 2.42923893e-01 -6.78026340e-01 9.82322098e+01] [-1.82931343e-01 9.69960995e-01 1.60348967e-01 -5.30675843e+01] [ 6.96611699e-01 1.27925768e-02 7.17334295e-01 -2.41026506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:-53.12, Z:-24.08 [[ 6.72206778e-01 2.84293305e-01 -6.83604684e-01 9.82327364e+01] [-1.74958631e-01 9.58182503e-01 2.26441533e-01 -5.31187811e+01] [ 7.19393859e-01 -3.26129937e-02 6.93836341e-01 -2.40814076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.27, Y:-53.07, Z:-24.06 [[ 6.71645159e-01 2.42652327e-01 -7.00009021e-01 9.82680218e+01] [-1.75157809e-01 9.70065437e-01 1.68204606e-01 -5.30694885e+01] [ 7.19869796e-01 9.63823705e-03 6.94042205e-01 -2.40637298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:-53.01, Z:-24.04 [[ 6.98816305e-01 1.90077134e-01 -6.89584262e-01 9.83018130e+01] [-1.74306463e-01 9.80237289e-01 9.35527375e-02 -5.30143977e+01] [ 6.93738444e-01 5.48228156e-02 7.18137473e-01 -2.40420555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:-53.08, Z:-24.02 [[ 7.00086580e-01 2.33656057e-01 -6.74747084e-01 9.83063872e+01] [-1.71765802e-01 9.72306722e-01 1.58480747e-01 -5.30796809e+01] [ 6.93091112e-01 4.94822956e-03 7.20833008e-01 -2.40222349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.32, Y:-53.09, Z:-24.00 [[ 7.02921036e-01 2.31376281e-01 -6.72582361e-01 9.83243261e+01] [-1.69588810e-01 9.72858405e-01 1.57436209e-01 -5.30858389e+01] [ 6.90754408e-01 3.39721914e-03 7.23081466e-01 -2.40021789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.34, Y:-53.09, Z:-23.98 [[ 7.02332831e-01 2.28086081e-01 -6.74318422e-01 9.83443338e+01] [-1.65167724e-01 9.73640557e-01 1.57301269e-01 -5.30909296e+01] [ 6.92421994e-01 8.97793811e-04 7.21492187e-01 -2.39833717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.36, Y:-53.10, Z:-23.96 [[ 7.01057961e-01 2.27043197e-01 -6.75994912e-01 9.83646135e+01] [-1.63868691e-01 9.73884502e-01 1.57149704e-01 -5.30957299e+01] [ 6.94020740e-01 6.03349830e-04 7.19954755e-01 -2.39647804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.38, Y:-53.10, Z:-23.95 [[ 7.00758489e-01 2.26490991e-01 -6.76490481e-01 9.83835816e+01] [-1.63515204e-01 9.74012938e-01 1.56721331e-01 -5.31015346e+01] [ 6.94406451e-01 7.92675612e-04 7.19582555e-01 -2.39450686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-53.11, Z:-23.93 [[ 6.98110642e-01 2.26900475e-01 -6.79085934e-01 9.84011442e+01] [-1.64040114e-01 9.73915997e-01 1.56775228e-01 -5.31110872e+01] [ 6.96945028e-01 1.95087902e-03 7.17121902e-01 -2.39252566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.42, Y:-53.12, Z:-23.91 [[ 6.98002275e-01 2.26837252e-01 -6.79218437e-01 9.84207399e+01] [-1.64455540e-01 9.73929119e-01 1.56257632e-01 -5.31184240e+01] [ 6.96955666e-01 2.63305225e-03 7.17109383e-01 -2.39063677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:-53.12, Z:-23.88 [[ 7.00099842e-01 2.32638329e-01 -6.75084898e-01 9.84384661e+01] [-1.73926039e-01 9.72521087e-01 1.54765850e-01 -5.31212565e+01] [ 6.92538768e-01 9.06329526e-03 7.21323722e-01 -2.38849310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:-53.13, Z:-23.86 [[ 6.96685572e-01 2.38435058e-01 -6.76592888e-01 9.84564734e+01] [-1.82214275e-01 9.71033193e-01 1.54571975e-01 -5.31273449e+01] [ 6.93849531e-01 1.55968179e-02 7.19951087e-01 -2.38641125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.48, Y:-53.13, Z:-23.84 [[ 6.95233405e-01 2.40071636e-01 -6.77507286e-01 9.84751976e+01] [-1.84828858e-01 9.70588709e-01 1.54259039e-01 -5.31307775e+01] [ 6.94614142e-01 1.79768616e-02 7.19157859e-01 -2.38440053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:-53.13, Z:-23.82 [[ 6.95137115e-01 2.41348000e-01 -6.77152520e-01 9.84950072e+01] [-1.87174364e-01 9.70233963e-01 1.53661363e-01 -5.31318329e+01] [ 6.94082235e-01 1.99298759e-02 7.19619796e-01 -2.38243427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-53.13, Z:-23.80 [[ 6.94509591e-01 2.42378102e-01 -6.77428435e-01 9.85160775e+01] [-1.89053881e-01 9.69940030e-01 1.53215432e-01 -5.31323301e+01] [ 6.94201022e-01 2.16608879e-02 7.19455174e-01 -2.38048039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:-53.14, Z:-23.78 [[ 6.94597674e-01 2.41818314e-01 -6.77538171e-01 9.85358590e+01] [-1.88746060e-01 9.70076685e-01 1.52729009e-01 -5.31364767e+01] [ 6.94196655e-01 2.17974455e-02 7.19455263e-01 -2.37847004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:-53.19, Z:-23.76 [[ 6.77539538e-01 2.85589039e-01 -6.77775092e-01 9.85364499e+01] [-1.84892423e-01 9.58076692e-01 2.18869469e-01 -5.31923564e+01] [ 7.11867239e-01 -2.29772397e-02 7.01938089e-01 -2.37623518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:-53.13, Z:-23.75 [[ 6.80233292e-01 2.34967556e-01 -6.94314710e-01 9.85738956e+01] [-1.86245677e-01 9.71546849e-01 1.46319063e-01 -5.31326016e+01] [ 7.08939501e-01 2.97820156e-02 7.04640202e-01 -2.37451300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.61, Y:-53.08, Z:-23.72 [[ 6.98835639e-01 1.97201195e-01 -6.87561225e-01 9.86092770e+01] [-1.94327780e-01 9.77433669e-01 8.28259464e-02 -5.30828503e+01] [ 6.88378867e-01 7.57305235e-02 7.21387153e-01 -2.37243642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-53.14, Z:-23.70 [[ 6.95156821e-01 2.49671301e-01 -6.74107733e-01 9.86141680e+01] [-2.00973431e-01 9.67854679e-01 1.51218389e-01 -5.31430624e+01] [ 6.90193215e-01 3.03572496e-02 7.22988079e-01 -2.37031725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:-53.14, Z:-23.68 [[ 6.94488840e-01 2.52935330e-01 -6.73579224e-01 9.86353457e+01] [-2.06064493e-01 9.66878406e-01 1.50610669e-01 -5.31364059e+01] [ 6.89363965e-01 3.42033330e-02 7.23607253e-01 -2.36825829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:-53.14, Z:-23.66 [[ 6.94842999e-01 2.53222230e-01 -6.73106016e-01 9.86562279e+01] [-2.06991836e-01 9.66771708e-01 1.50022815e-01 -5.31365540e+01] [ 6.88728964e-01 3.50851472e-02 7.24169487e-01 -2.36636698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:-53.14, Z:-23.65 [[ 6.93890025e-01 2.53386868e-01 -6.74026504e-01 9.86778827e+01] [-2.07546868e-01 9.66695517e-01 1.49746704e-01 -5.31354789e+01] [ 6.89522248e-01 3.59843460e-02 7.23370027e-01 -2.36452744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-53.14, Z:-23.63 [[ 6.94051518e-01 2.52004086e-01 -6.74378551e-01 9.86985481e+01] [-2.06029222e-01 9.67082504e-01 1.49343196e-01 -5.31361471e+01] [ 6.89814794e-01 3.52898163e-02 7.23125286e-01 -2.36258345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-53.13, Z:-23.61 [[ 6.93326507e-01 2.48403343e-01 -6.76457045e-01 9.87205297e+01] [-2.01164067e-01 9.68109621e-01 1.49321065e-01 -5.31300389e+01] [ 6.91976425e-01 3.25505982e-02 7.21185888e-01 -2.36069979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.74, Y:-53.13, Z:-23.59 [[ 6.92890629e-01 2.46429725e-01 -6.77624503e-01 9.87413664e+01] [-1.98696198e-01 9.68653970e-01 1.49094960e-01 -5.31310336e+01] [ 6.93125095e-01 3.13349121e-02 7.20135908e-01 -2.35883505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.76, Y:-53.14, Z:-23.57 [[ 6.93020654e-01 2.45781660e-01 -6.77726898e-01 9.87611707e+01] [-1.98245489e-01 9.68818001e-01 1.48628420e-01 -5.31351976e+01] [ 6.93124158e-01 3.13537355e-02 7.20135990e-01 -2.35683054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-53.14, Z:-23.55 [[ 6.95480192e-01 2.42976396e-01 -6.76217253e-01 9.87816350e+01] [-1.94999793e-01 9.69597307e-01 1.47838236e-01 -5.31367801e+01] [ 6.91579629e-01 2.90436598e-02 7.21716068e-01 -2.35487216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:-53.14, Z:-23.53 [[ 6.97015139e-01 2.41522161e-01 -6.75156976e-01 9.88008054e+01] [-1.93607986e-01 9.69986203e-01 1.47114626e-01 -5.31388227e+01] [ 6.90424394e-01 2.81746610e-02 7.22855688e-01 -2.35280024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:-53.13, Z:-23.51 [[ 6.98126517e-01 2.38651090e-01 -6.75029646e-01 9.88215209e+01] [-1.90107585e-01 9.70757547e-01 1.46590896e-01 -5.31347982e+01] [ 6.90274201e-01 2.59892637e-02 7.23080968e-01 -2.35081457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-53.13, Z:-23.49 [[ 6.99315331e-01 2.36571724e-01 -6.74530865e-01 9.88425947e+01] [-1.87775765e-01 9.71303214e-01 1.45980577e-01 -5.31349232e+01] [ 6.89708874e-01 2.45740933e-02 7.23669665e-01 -2.34887883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-53.14, Z:-23.47 [[ 6.99507210e-01 2.34822513e-01 -6.74942999e-01 9.88635416e+01] [-1.85574318e-01 9.71759181e-01 1.45760990e-01 -5.31359817e+01] [ 6.90110018e-01 2.32912235e-02 7.23329581e-01 -2.34693699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:-53.13, Z:-23.45 [[ 7.01030406e-01 2.31830650e-01 -6.74396708e-01 9.88844769e+01] [-1.81995873e-01 9.72529579e-01 1.45133454e-01 -5.31345464e+01] [ 6.89517130e-01 2.09944536e-02 7.23965027e-01 -2.34495531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:-53.13, Z:-23.43 [[ 7.01808435e-01 2.27925146e-01 -6.74918550e-01 9.89040103e+01] [-1.76982434e-01 9.73514543e-01 1.44729581e-01 -5.31330714e+01] [ 6.90030535e-01 1.78762865e-02 7.23559465e-01 -2.34292923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.92, Y:-53.14, Z:-23.41 [[ 7.02608374e-01 2.25357643e-01 -6.74948447e-01 9.89236924e+01] [-1.73874724e-01 9.74144698e-01 1.44255634e-01 -5.31357486e+01] [ 6.90006560e-01 1.60012585e-02 7.23626220e-01 -2.34098798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:-53.14, Z:-23.39 [[ 7.04595912e-01 2.21186779e-01 -6.74255893e-01 9.89439875e+01] [-1.68715491e-01 9.75150234e-01 1.43586575e-01 -5.31383690e+01] [ 6.89260244e-01 1.25869000e-02 7.24404504e-01 -2.33903640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.95, Y:-53.17, Z:-23.37 [[ 6.81567425e-01 2.44590415e-01 -6.89667582e-01 9.89547643e+01] [-1.60625741e-01 9.69504559e-01 1.85095332e-01 -5.31735660e+01] [ 7.13908409e-01 -1.53765824e-02 7.00070243e-01 -2.33695205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.98, Y:-53.15, Z:-23.35 [[ 6.79638272e-01 2.27558369e-01 -6.97358594e-01 9.89780295e+01] [-1.58966949e-01 9.73764423e-01 1.62826159e-01 -5.31545886e+01] [ 7.16115444e-01 1.94078754e-04 6.97981829e-01 -2.33484820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.01, Y:-53.09, Z:-23.33 [[ 7.06114446e-01 1.80845541e-01 -6.84614694e-01 9.90110816e+01] [-1.64241494e-01 9.82298371e-01 9.00813109e-02 -5.30892219e+01] [ 6.88786702e-01 4.88344250e-02 7.23317412e-01 -2.33255779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:-53.13, Z:-23.31 [[ 7.05025533e-01 2.18335689e-01 -6.74735892e-01 9.90251015e+01] [-1.65938302e-01 9.75804899e-01 1.42370217e-01 -5.31338198e+01] [ 6.89495089e-01 1.15898901e-02 7.24197623e-01 -2.33090307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-53.14, Z:-23.29 [[ 7.05133302e-01 2.18030863e-01 -6.74721845e-01 9.90443243e+01] [-1.66013735e-01 9.75868199e-01 1.41847449e-01 -5.31378317e+01] [ 6.89366714e-01 1.19917332e-02 7.24313283e-01 -2.32894526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:-53.14, Z:-23.27 [[ 7.07117714e-01 2.17078865e-01 -6.72949704e-01 9.90635299e+01] [-1.65503421e-01 9.76083920e-01 1.40956729e-01 -5.31401183e+01] [ 6.87454112e-01 1.17024784e-02 7.26133525e-01 -2.32698886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:-53.17, Z:-23.25 [[ 6.84071834e-01 2.41554962e-01 -6.88256439e-01 9.90757468e+01] [-1.58879037e-01 9.70262168e-01 1.82616478e-01 -5.31729520e+01] [ 7.11901101e-01 -1.55732685e-02 7.02107040e-01 -2.32506652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-53.10, Z:-23.23 [[ 7.06351065e-01 1.88427525e-01 -6.82321948e-01 9.91110607e+01] [-1.60219298e-01 9.81462141e-01 1.05175293e-01 -5.31041539e+01] [ 6.89491080e-01 3.50304634e-02 7.23446555e-01 -2.32297124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-53.14, Z:-23.21 [[ 7.06648191e-01 2.12050047e-01 -6.75043044e-01 9.91269973e+01] [-1.59053554e-01 9.77225218e-01 1.40473630e-01 -5.31399598e+01] [ 6.89456525e-01 8.10255900e-03 7.24281746e-01 -2.32137912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:-53.15, Z:-23.19 [[ 7.07918174e-01 2.09568855e-01 -6.74487031e-01 9.91467063e+01] [-1.56219318e-01 9.77773126e-01 1.39840049e-01 -5.31454385e+01] [ 6.88801411e-01 6.37259178e-03 7.24922069e-01 -2.31942915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.16, Y:-53.15, Z:-23.17 [[ 7.10345914e-01 2.06885850e-01 -6.72760676e-01 9.91637303e+01] [-1.53334630e-01 9.78354979e-01 1.38960520e-01 -5.31492343e+01] [ 6.86947723e-01 4.44747188e-03 7.26693227e-01 -2.31725129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:-53.15, Z:-23.15 [[ 7.11147162e-01 2.05426228e-01 -6.72361345e-01 9.91826368e+01] [-1.51890451e-01 9.78665488e-01 1.38358781e-01 -5.31505816e+01] [ 6.86439367e-01 3.73181349e-03 7.27177467e-01 -2.31522431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:-53.15, Z:-23.13 [[ 7.10842531e-01 2.03152843e-01 -6.73373461e-01 9.92028651e+01] [-1.49060732e-01 9.79144467e-01 1.38047131e-01 -5.31507765e+01] [ 6.87374566e-01 2.24376870e-03 7.26299643e-01 -2.31323423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:-53.15, Z:-23.11 [[ 7.10484003e-01 2.02244142e-01 -6.74025065e-01 9.92227507e+01] [-1.48175016e-01 9.79332955e-01 1.37663092e-01 -5.31542719e+01] [ 6.87936513e-01 2.06624969e-03 7.25767927e-01 -2.31135355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:-53.16, Z:-23.09 [[ 7.11600844e-01 2.00475504e-01 -6.73374941e-01 9.92416242e+01] [-1.46348417e-01 9.79698157e-01 1.37017015e-01 -5.31584897e+01] [ 6.87172743e-01 1.04593296e-03 7.26493308e-01 -2.30929077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.25, Y:-53.22, Z:-23.08 [[ 6.95602123e-01 2.43781322e-01 -6.75802007e-01 9.92482838e+01] [-1.41554988e-01 9.68735620e-01 2.03748581e-01 -5.32192035e+01] [ 7.04343575e-01 -4.60648005e-02 7.08363016e-01 -2.30762611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-53.11, Z:-23.05 [[ 7.15795374e-01 1.48089909e-01 -6.82426818e-01 9.92858226e+01] [-1.38588593e-01 9.87941814e-01 6.90229902e-02 -5.31090428e+01] [ 6.84419597e-01 4.51702356e-02 7.27687753e-01 -2.30483128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:-53.18, Z:-23.03 [[ 7.16411626e-01 1.93197237e-01 -6.70394816e-01 9.92976717e+01] [-1.37849579e-01 9.81149076e-01 1.35439964e-01 -5.31771926e+01] [ 6.83923882e-01 -4.61712197e-03 7.29538763e-01 -2.30335874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-53.18, Z:-23.01 [[ 7.16900007e-01 1.91279247e-01 -6.70422724e-01 9.93157609e+01] [-1.35690950e-01 9.81518707e-01 1.34940707e-01 -5.31827446e+01] [ 6.83843802e-01 -5.76869741e-03 7.29605631e-01 -2.30124432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.34, Y:-53.19, Z:-22.99 [[ 7.16079464e-01 1.91004022e-01 -6.71377439e-01 9.93359008e+01] [-1.35597642e-01 9.81574582e-01 1.34627708e-01 -5.31863768e+01] [ 6.84721462e-01 -5.36693929e-03 7.28785095e-01 -2.29927438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:-53.19, Z:-22.97 [[ 7.14976375e-01 1.91282278e-01 -6.72472953e-01 9.93562378e+01] [-1.36236829e-01 9.81525041e-01 1.34343294e-01 -5.31911223e+01] [ 6.85746534e-01 -4.43669829e-03 7.27826907e-01 -2.29737054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-53.20, Z:-22.96 [[ 7.12902173e-01 1.92627157e-01 -6.74288714e-01 9.93777046e+01] [-1.38209338e-01 9.81268891e-01 1.34199635e-01 -5.31989377e+01] [ 6.87509033e-01 -2.47821471e-03 7.26171597e-01 -2.29566769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-53.27, Z:-22.94 [[ 6.91063438e-01 2.46997880e-01 -6.79281512e-01 9.93778937e+01] [-1.33297367e-01 9.67231191e-01 2.16091730e-01 -5.32732463e+01] [ 7.10396465e-01 -5.87866563e-02 7.01342279e-01 -2.29424401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:-53.13, Z:-22.91 [[ 7.17354533e-01 1.30744308e-01 -6.84330622e-01 9.94231626e+01] [-1.40013910e-01 9.89248586e-01 4.22296004e-02 -5.31255773e+01] [ 6.82494380e-01 6.55222108e-02 7.27947979e-01 -2.29121423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.42, Y:-53.26, Z:-22.90 [[ 6.98535492e-01 2.31123149e-01 -6.77222457e-01 9.94214632e+01] [-1.38544797e-01 9.72177655e-01 1.88880775e-01 -5.32603667e+01] [ 7.02035259e-01 -3.81142771e-02 7.11121506e-01 -2.29000904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-53.23, Z:-22.88 [[ 6.95796226e-01 2.01600915e-01 -6.89365420e-01 9.94461420e+01] [-1.38283794e-01 9.79443755e-01 1.46858853e-01 -5.32293249e+01] [ 7.04801535e-01 -6.85577055e-03 7.09371408e-01 -2.28777768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:-53.17, Z:-22.86 [[ 7.18788638e-01 1.56073041e-01 -6.77483653e-01 9.94769765e+01] [-1.43098487e-01 9.86823478e-01 7.55132236e-02 -5.31736442e+01] [ 6.80342353e-01 4.26688386e-02 7.31651319e-01 -2.28560077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.48, Y:-53.26, Z:-22.84 [[ 6.94629655e-01 2.17958108e-01 -6.85553722e-01 9.94837327e+01] [-1.39794989e-01 9.75726652e-01 1.68567082e-01 -5.32587997e+01] [ 7.05653600e-01 -2.12547193e-02 7.08238119e-01 -2.28411198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:-53.21, Z:-22.82 [[ 7.19059517e-01 1.76433219e-01 -6.72179090e-01 9.95143505e+01] [-1.44839162e-01 9.84042857e-01 1.03350242e-01 -5.32112574e+01] [ 6.79687449e-01 2.30428811e-02 7.33139822e-01 -2.28220836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:-53.24, Z:-22.80 [[ 7.19619924e-01 1.97807483e-01 -6.65596999e-01 9.95286591e+01] [-1.48500234e-01 9.80229407e-01 1.30759281e-01 -5.32444499e+01] [ 6.78302916e-01 4.74432569e-03 7.34767069e-01 -2.28022999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:-53.28, Z:-22.78 [[ 6.94257504e-01 2.24633782e-01 -6.83773488e-01 9.95406219e+01] [-1.45958013e-01 9.74247805e-01 1.71864696e-01 -5.32802625e+01] [ 7.04771436e-01 -1.95161355e-02 7.09165949e-01 -2.27813046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-53.22, Z:-22.76 [[ 7.17847402e-01 1.81060468e-01 -6.72244163e-01 9.95718180e+01] [-1.55811513e-01 9.82878983e-01 9.83446827e-02 -5.32210270e+01] [ 6.78540993e-01 3.41469049e-02 7.33768430e-01 -2.27596625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:-53.25, Z:-22.74 [[ 7.17384893e-01 2.06760105e-01 -6.65288791e-01 9.95872026e+01] [-1.61895327e-01 9.78279195e-01 1.29459338e-01 -5.32528903e+01] [ 6.77605209e-01 1.48349729e-02 7.35276210e-01 -2.27413176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:-53.28, Z:-22.72 [[ 6.93775205e-01 2.29375266e-01 -6.82688034e-01 9.96000228e+01] [-1.57668404e-01 9.73304556e-01 1.66790036e-01 -5.32843753e+01] [ 7.02720883e-01 -8.07645916e-03 7.11419800e-01 -2.27201807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:99.62, Y:-53.28, Z:-22.70 [[ 6.89174626e-01 2.23449656e-01 -6.89281210e-01 9.96191528e+01] [-1.55469264e-01 9.74709282e-01 1.60533873e-01 -5.32799443e+01] [ 7.07720031e-01 -3.47382946e-03 7.06484458e-01 -2.27010613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:-53.21, Z:-22.68 [[ 7.20199394e-01 1.68942097e-01 -6.72882902e-01 9.96538543e+01] [-1.62386980e-01 9.84004513e-01 7.32501624e-02 -5.32121388e+01] [ 6.74494849e-01 5.65126997e-02 7.36113452e-01 -2.26802677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.66, Y:-53.29, Z:-22.66 [[ 6.97059512e-01 2.25526344e-01 -6.80621705e-01 9.96620882e+01] [-1.58798334e-01 9.74230513e-01 1.60181134e-01 -5.32899298e+01] [ 6.99207499e-01 -3.57419018e-03 7.14909854e-01 -2.26620762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:-53.24, Z:-22.64 [[ 7.19730793e-01 1.89927819e-01 -6.67768680e-01 9.96909571e+01] [-1.60742342e-01 9.81303691e-01 1.05853508e-01 -5.32422371e+01] [ 6.75388396e-01 3.11526722e-02 7.36803926e-01 -2.26425081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:99.70, Y:-53.29, Z:-22.62 [[ 6.94296679e-01 2.22836336e-01 -6.84321627e-01 9.97038583e+01] [-1.55948736e-01 9.74848362e-01 1.59218916e-01 -5.32865856e+01] [ 7.02589577e-01 -3.82607231e-03 7.11585025e-01 -2.26219365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.73, Y:-53.25, Z:-22.60 [[ 7.18775381e-01 1.89925880e-01 -6.68797512e-01 9.97316577e+01] [-1.58129750e-01 9.81410811e-01 1.08755699e-01 -5.32514080e+01] [ 6.77020630e-01 2.75858645e-02 7.35446862e-01 -2.26043112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:-53.27, Z:-22.59 [[ 7.18745796e-01 2.00890431e-01 -6.65618146e-01 9.97497427e+01] [-1.57062434e-01 9.79514230e-01 1.26028823e-01 -5.32723734e+01] [ 6.77300430e-01 1.39609190e-02 7.35574075e-01 -2.25867796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.77, Y:-53.30, Z:-22.57 [[ 6.96798876e-01 2.20764007e-01 -6.82447492e-01 9.97650659e+01] [-1.50837305e-01 9.75280180e-01 1.61482748e-01 -5.33005926e+01] [ 7.01227091e-01 -9.58245699e-03 7.12873582e-01 -2.25661741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:-53.25, Z:-22.54 [[ 7.22532581e-01 1.80504999e-01 -6.67356438e-01 9.97931661e+01] [-1.54445985e-01 9.83060820e-01 9.86806039e-02 -5.32494570e+01] [ 6.73864310e-01 3.17705708e-02 7.38171744e-01 -2.25443141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:-53.28, Z:-22.53 [[ 7.23169450e-01 1.97752246e-01 -6.61755239e-01 9.98099434e+01] [-1.54569756e-01 9.80170771e-01 1.23989719e-01 -5.32751906e+01] [ 6.73152388e-01 1.26217690e-02 7.39396073e-01 -2.25259078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:-53.28, Z:-22.51 [[ 7.21633730e-01 1.97783906e-01 -6.63420143e-01 9.98310586e+01] [-1.54825426e-01 9.80154381e-01 1.23800148e-01 -5.32774729e+01] [ 6.74739837e-01 1.33759436e-02 7.37934439e-01 -2.25076460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:-53.28, Z:-22.49 [[ 7.19691478e-01 1.98009219e-01 -6.65459635e-01 9.98525645e+01] [-1.55291870e-01 9.80095444e-01 1.23682480e-01 -5.32762883e+01] [ 6.76704228e-01 1.43272445e-02 7.36115560e-01 -2.24892525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-53.28, Z:-22.47 [[ 7.20360508e-01 1.97569808e-01 -6.64866084e-01 9.98737513e+01] [-1.55237204e-01 9.80180765e-01 1.23073467e-01 -5.32787957e+01] [ 6.76004548e-01 1.45546867e-02 7.36753698e-01 -2.24706243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.292320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:99.88, Y:-53.33, Z:-22.45 [[ 6.90097207e-01 2.32987037e-01 -6.85188212e-01 9.98807218e+01] [-1.46722690e-01 9.72142609e-01 1.82787306e-01 -5.33305528e+01] [ 7.08687729e-01 -2.56083513e-02 7.05057384e-01 -2.24524977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:-53.23, Z:-22.43 [[ 7.23481033e-01 1.54983361e-01 -6.72722345e-01 9.99155494e+01] [-1.52327023e-01 9.86294263e-01 6.34042980e-02 -5.32299462e+01] [ 6.73328800e-01 5.66019851e-02 7.37173346e-01 -2.24258438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.93, Y:-53.28, Z:-22.41 [[ 7.24753120e-01 1.92408622e-01 -6.61597942e-01 9.99292797e+01] [-1.49423540e-01 9.81256927e-01 1.21685863e-01 -5.32827084e+01] [ 6.72610973e-01 1.06660980e-02 7.39919397e-01 -2.24094596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-53.36, Z:-22.40 [[ 7.03570999e-01 2.49854662e-01 -6.65252206e-01 9.99320557e+01] [-1.42341424e-01 9.66728805e-01 2.12542551e-01 -5.33637416e+01] [ 6.96223218e-01 -5.48458288e-02 7.15727019e-01 -2.23956955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.98, Y:-53.20, Z:-22.36 [[ 7.28311905e-01 1.23651764e-01 -6.73997040e-01 9.99766633e+01] [-1.46899772e-01 9.88891233e-01 2.26845099e-02 -5.31979331e+01] [ 6.69314743e-01 8.24886130e-02 7.38385674e-01 -2.23632921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:99.98, Y:-53.35, Z:-22.36 [[ 7.01959661e-01 2.42330228e-01 -6.69722849e-01 9.99779927e+01] [-1.42074599e-01 9.69080782e-01 2.01735582e-01 -5.33529553e+01] [ 6.97902172e-01 -4.64596354e-02 7.14684588e-01 -2.23585423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.02, Y:-53.21, Z:-22.33 [[ 7.30720284e-01 1.36653551e-01 -6.68859980e-01 1.00016737e+02] [-1.48204553e-01 9.88148461e-01 3.99753670e-02 -5.32106906e+01] [ 6.66395736e-01 6.99172831e-02 7.42312803e-01 -2.23278411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.03, Y:-53.29, Z:-22.32 [[ 7.29692864e-01 1.91273533e-01 -6.56477539e-01 1.00031238e+02] [-1.49221852e-01 9.81482499e-01 1.20103887e-01 -5.32876117e+01] [ 6.67293910e-01 1.03218450e-02 7.44722967e-01 -2.23162792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:-53.29, Z:-22.30 [[ 7.29562276e-01 1.90676499e-01 -6.56796284e-01 1.00050853e+02] [-1.48639210e-01 9.81600173e-01 1.19864449e-01 -5.32912978e+01] [ 6.67566679e-01 1.01771002e-02 7.44480460e-01 -2.22967022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:-53.30, Z:-22.28 [[ 7.28565851e-01 1.89761189e-01 -6.58166007e-01 1.00070976e+02] [-1.47643779e-01 9.81779177e-01 1.19628435e-01 -5.32967560e+01] [ 6.68874514e-01 1.00169240e-02 7.43307840e-01 -2.22774679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-53.30, Z:-22.26 [[ 7.29578894e-01 1.87842815e-01 -6.57593883e-01 1.00091842e+02] [-1.45579488e-01 9.82158930e-01 1.19039697e-01 -5.32980427e+01] [ 6.68222456e-01 8.88333038e-03 7.43908486e-01 -2.22592387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.11, Y:-53.30, Z:-22.24 [[ 7.31381498e-01 1.87204877e-01 -6.55770873e-01 1.00111829e+02] [-1.45422030e-01 9.82280612e-01 1.18225347e-01 -5.32974450e+01] [ 6.66283376e-01 8.89569971e-03 7.45645579e-01 -2.22395933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.13, Y:-53.29, Z:-22.22 [[ 7.32573324e-01 1.87293088e-01 -6.54413955e-01 1.00133257e+02] [-1.46168443e-01 9.82257357e-01 1.17495830e-01 -5.32936166e+01] [ 6.64809079e-01 9.58035852e-03 7.46951876e-01 -2.22200207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.15, Y:-53.33, Z:-22.20 [[ 7.06965039e-01 2.09390757e-01 -6.75541224e-01 1.00146102e+02] [-1.40798476e-01 9.77717555e-01 1.55705404e-01 -5.33257862e+01] [ 6.93091786e-01 -1.49631018e-02 7.20694028e-01 -2.22021095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:-53.27, Z:-22.18 [[ 7.32789142e-01 1.63564977e-01 -6.60504786e-01 1.00173985e+02] [-1.45203637e-01 9.85909815e-01 8.30526416e-02 -5.32677822e+01] [ 6.64782654e-01 3.50476233e-02 7.46214236e-01 -2.21775155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:-53.30, Z:-22.16 [[ 7.30994133e-01 1.86023108e-01 -6.56538636e-01 1.00192530e+02] [-1.45182188e-01 9.82494613e-01 1.16732466e-01 -5.33006056e+01] [ 6.66760609e-01 9.98696734e-03 7.45205039e-01 -2.21623376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77232058799999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:100.21, Y:-53.30, Z:-22.14 [[ 7.31908976e-01 1.83362405e-01 -6.56267841e-01 1.00213598e+02] [-1.42077443e-01 9.83011254e-01 1.16201873e-01 -5.32997978e+01] [ 6.66425728e-01 8.19166265e-03 7.45526422e-01 -2.21436384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.23, Y:-53.30, Z:-22.12 [[ 7.33216457e-01 1.81197765e-01 -6.55409031e-01 1.00233586e+02] [-1.39728564e-01 9.83422859e-01 1.15565606e-01 -5.33018951e+01] [ 6.65484452e-01 6.84475866e-03 7.46380327e-01 -2.21239551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.25, Y:-53.30, Z:-22.10 [[ 7.34172886e-01 1.78155009e-01 -6.55172470e-01 1.00252336e+02] [-1.36114337e-01 9.83991122e-01 1.15040688e-01 -5.33048346e+01] [ 6.65178969e-01 4.71861272e-03 7.46669053e-01 -2.21030151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:-53.31, Z:-22.08 [[ 7.34341880e-01 1.77089276e-01 -6.55271998e-01 1.00271490e+02] [-1.35098596e-01 9.84185016e-01 1.14578457e-01 -5.33089966e+01] [ 6.65199498e-01 4.38656777e-03 7.46652788e-01 -2.20830532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.29, Y:-53.31, Z:-22.06 [[ 7.34026378e-01 1.75764477e-01 -6.55981802e-01 1.00291082e+02] [-1.33646247e-01 9.84424804e-01 1.14221219e-01 -5.33125389e+01] [ 6.65840789e-01 3.82811839e-03 7.46084036e-01 -2.20640676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.31, Y:-53.31, Z:-22.05 [[ 7.33641263e-01 1.73156481e-01 -6.57105266e-01 1.00313152e+02] [-1.30408125e-01 9.84892078e-01 1.13935572e-01 -5.33140955e+01] [ 6.66906453e-01 2.10402884e-03 7.45138481e-01 -2.20464163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.34, Y:-53.32, Z:-22.03 [[ 7.36462208e-01 1.70150298e-01 -6.54730703e-01 1.00335046e+02] [-1.27171590e-01 9.85418122e-01 1.13042075e-01 -5.33174150e+01] [ 6.64417642e-01 1.19281772e-05 7.47361490e-01 -2.20291773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-53.32, Z:-22.01 [[ 7.36668962e-01 1.68030361e-01 -6.55045524e-01 1.00354890e+02] [-1.24715129e-01 9.85781009e-01 1.12614118e-01 -5.33233138e+01] [ 6.64654028e-01 -1.26523874e-03 7.47150201e-01 -2.20102359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:100.36, Y:-53.42, Z:-22.00 [[ 7.16049634e-01 2.28679022e-01 -6.59529246e-01 1.00359805e+02] [-1.17159197e-01 9.70785599e-01 2.09401633e-01 -5.34153957e+01] [ 6.88147255e-01 -7.26720460e-02 7.21922523e-01 -2.19980707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.40, Y:-53.25, Z:-21.96 [[ 7.38786591e-01 9.54858452e-02 -6.67140785e-01 1.00396380e+02] [-1.18697549e-01 9.92873209e-01 1.06621871e-02 -5.32462921e+01] [ 6.63404300e-01 7.13108953e-02 7.44855349e-01 -2.19591666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-53.34, Z:-21.95 [[ 7.38803302e-01 1.64132782e-01 -6.53628420e-01 1.00410596e+02] [-1.20436929e-01 9.86431283e-01 1.11571817e-01 -5.33409895e+01] [ 6.63072113e-01 -3.70862696e-03 7.48546337e-01 -2.19509866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:-53.34, Z:-21.93 [[ 7.37428919e-01 1.64587697e-01 -6.55064484e-01 1.00431019e+02] [-1.21235410e-01 9.86358774e-01 1.11347850e-01 -5.33426274e+01] [ 6.64455088e-01 -2.69411293e-03 7.47323342e-01 -2.19325866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:-53.35, Z:-21.91 [[ 7.37593246e-01 1.65129791e-01 -6.54742969e-01 1.00451030e+02] [-1.22429523e-01 9.86270577e-01 1.10821297e-01 -5.33450986e+01] [ 6.64053624e-01 -1.58117081e-03 7.47683278e-01 -2.19134912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:-53.43, Z:-21.90 [[ 7.14301797e-01 2.30351030e-01 -6.60841393e-01 1.00458872e+02] [-1.22683939e-01 9.70871187e-01 2.05810079e-01 -5.34328613e+01] [ 6.89000431e-01 -6.59358840e-02 7.21755405e-01 -2.18998587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:-53.27, Z:-21.86 [[ 7.35742448e-01 1.05911725e-01 -6.68928813e-01 1.00495420e+02] [-1.27536019e-01 9.91692653e-01 1.67405202e-02 -5.32680742e+01] [ 6.65144807e-01 7.29958067e-02 7.43137940e-01 -2.18638725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:-53.35, Z:-21.85 [[ 7.36764836e-01 1.70863912e-01 -6.54204173e-01 1.00510961e+02] [-1.30943327e-01 9.85283341e-01 1.09866202e-01 -5.33535655e+01] [ 6.63348643e-01 4.71811644e-03 7.48295608e-01 -2.18542679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:-53.36, Z:-21.83 [[ 7.37721149e-01 1.68955345e-01 -6.53621907e-01 1.00531552e+02] [-1.28897851e-01 9.85617042e-01 1.09290396e-01 -5.33563200e+01] [ 6.62686087e-01 3.62462291e-03 7.48888518e-01 -2.18349266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:-53.44, Z:-21.82 [[ 7.17402784e-01 2.26553799e-01 -6.58791789e-01 1.00538899e+02] [-1.23465099e-01 9.72022376e-01 1.99822096e-01 -5.34404644e+01] [ 6.85630815e-01 -6.20151347e-02 7.25303046e-01 -2.18201412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-53.29, Z:-21.79 [[ 7.40416693e-01 1.06474421e-01 -6.63661298e-01 1.00573230e+02] [-1.23814706e-01 9.92082481e-01 2.10302051e-02 -5.32872246e+01] [ 6.60645926e-01 6.65999134e-02 7.47737528e-01 -2.17861681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:-53.37, Z:-21.78 [[ 7.39632354e-01 1.63135052e-01 -6.52940224e-01 1.00589552e+02] [-1.22016367e-01 9.86603658e-01 1.08283093e-01 -5.33700524e+01] [ 6.61857981e-01 -4.20285298e-04 7.49629132e-01 -2.17768075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:-53.37, Z:-21.76 [[ 7.40106968e-01 1.61534761e-01 -6.52800273e-01 1.00610570e+02] [-1.20322042e-01 9.86866261e-01 1.07784917e-01 -5.33730225e+01] [ 6.61637576e-01 -1.22610632e-03 7.49822789e-01 -2.17587965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-53.38, Z:-21.74 [[ 7.40602505e-01 1.60088315e-01 -6.52594561e-01 1.00632385e+02] [-1.18840849e-01 9.87100875e-01 1.07278683e-01 -5.33787602e+01] [ 6.61350725e-01 -1.89596941e-03 7.50074412e-01 -2.17416857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:-53.38, Z:-21.72 [[ 7.40555401e-01 1.58803821e-01 -6.52961748e-01 1.00652409e+02] [-1.17490363e-01 9.87307181e-01 1.06866949e-01 -5.33845832e+01] [ 6.61644703e-01 -2.42418303e-03 7.49813584e-01 -2.17231494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:-53.39, Z:-21.70 [[ 7.39256118e-01 1.57409299e-01 -6.54769199e-01 1.00671304e+02] [-1.15777841e-01 9.87528699e-01 1.06689079e-01 -5.33921833e+01] [ 6.63397229e-01 -3.06279026e-03 7.48261142e-01 -2.17039995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:-53.40, Z:-21.68 [[ 7.39418834e-01 1.56758782e-01 -6.54741531e-01 1.00691057e+02] [-1.15331409e-01 9.87632292e-01 1.06212629e-01 -5.33967411e+01] [ 6.63293641e-01 -3.02335508e-03 7.48353129e-01 -2.16846735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-53.40, Z:-21.67 [[ 7.40908097e-01 1.56238019e-01 -6.53180583e-01 1.00710657e+02] [-1.15282028e-01 9.87715294e-01 1.05491950e-01 -5.34014849e+01] [ 6.61638305e-01 -2.85985791e-03 7.49817695e-01 -2.16655147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:-53.50, Z:-21.65 [[ 7.15523547e-01 2.21299661e-01 -6.62610379e-01 1.00713038e+02] [-1.07548809e-01 9.72086380e-01 2.08521758e-01 -5.34951962e+01] [ 6.90260319e-01 -7.79392711e-02 7.19351209e-01 -2.16527753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:-53.31, Z:-21.62 [[ 7.43656640e-01 8.01468645e-02 -6.63740372e-01 1.00754605e+02] [-1.15630776e-01 9.93245695e-01 -9.61831874e-03 -5.33057589e+01] [ 6.58486390e-01 8.39015411e-02 7.47901201e-01 -2.16152141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:-53.42, Z:-21.61 [[ 7.42011982e-01 1.58843265e-01 -6.51296427e-01 1.00768860e+02] [-1.19178376e-01 9.87303766e-01 1.05013276e-01 -5.34157046e+01] [ 6.59708067e-01 -3.00658067e-04 7.51521906e-01 -2.16084100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-53.42, Z:-21.59 [[ 7.42798270e-01 1.61127422e-01 -6.49837428e-01 1.00787248e+02] [-1.22830574e-01 9.86930837e-01 1.04308064e-01 -5.34194963e+01] [ 6.58151487e-01 2.34005502e-03 7.52881893e-01 -2.15873811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-53.42, Z:-21.57 [[ 7.43549254e-01 1.62447076e-01 -6.48648946e-01 1.00806704e+02] [-1.25150367e-01 9.86708699e-01 1.03650027e-01 -5.34226035e+01] [ 6.56865202e-01 4.10975313e-03 7.53996828e-01 -2.15674553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.81, Y:-53.50, Z:-21.55 [[ 7.24931461e-01 2.16503661e-01 -6.53911723e-01 1.00814349e+02] [-1.22558242e-01 9.74713762e-01 1.86849031e-01 -5.34984118e+01] [ 6.77830255e-01 -5.53104698e-02 7.33134979e-01 -2.15535683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.85, Y:-53.35, Z:-21.52 [[ 7.43901844e-01 1.08924772e-01 -6.59352288e-01 1.00853067e+02] [-1.30881965e-01 9.91267351e-01 1.60919066e-02 -5.33511622e+01] [ 6.55347204e-01 7.43265243e-02 7.51661899e-01 -2.15233410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-53.43, Z:-21.51 [[ 7.42915508e-01 1.70476231e-01 -6.47313218e-01 1.00869489e+02] [-1.36558197e-01 9.85288045e-01 1.02758584e-01 -5.34307675e+01] [ 6.55307872e-01 1.20549799e-02 7.55265695e-01 -2.15132812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:-53.53, Z:-21.50 [[ 7.21477397e-01 2.39980638e-01 -6.49522639e-01 1.00872311e+02] [-1.32179982e-01 9.68505059e-01 2.11012802e-01 -5.35258020e+01] [ 6.79704949e-01 -6.63870767e-02 7.30475145e-01 -2.14977155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:-53.33, Z:-21.46 [[ 7.47836164e-01 9.66110600e-02 -6.56816089e-01 1.00912808e+02] [-1.39235566e-01 9.90175448e-01 -1.28856346e-02 -5.33272166e+01] [ 6.49118270e-01 1.01088504e-01 7.53940705e-01 -2.14599043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:-53.43, Z:-21.45 [[ 7.46392140e-01 1.75632808e-01 -6.41912681e-01 1.00927352e+02] [-1.44630144e-01 9.84302892e-01 1.01143161e-01 -5.34286212e+01] [ 6.49600565e-01 1.73474633e-02 7.60077740e-01 -2.14520811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.95, Y:-53.43, Z:-21.43 [[ 7.46669229e-01 1.76462557e-01 -6.41362634e-01 1.00948531e+02] [-1.46175733e-01 9.84130822e-01 1.00594136e-01 -5.34302396e+01] [ 6.48935835e-01 1.86411074e-02 7.60614746e-01 -2.14331301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:-53.43, Z:-21.42 [[ 7.45770687e-01 1.77621073e-01 -6.42087874e-01 1.00971428e+02] [-1.48025364e-01 9.83889870e-01 1.00245776e-01 -5.34298343e+01] [ 6.49549517e-01 2.02849302e-02 7.60048648e-01 -2.14165618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:-53.43, Z:-21.40 [[ 7.44430567e-01 1.77486392e-01 -6.43678266e-01 1.00993928e+02] [-1.48087963e-01 9.83902266e-01 1.00031429e-01 -5.34305394e+01] [ 6.51070722e-01 2.08545499e-02 7.58730520e-01 -2.14003115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:-53.43, Z:-21.38 [[ 7.42211651e-01 1.77790780e-01 -6.46151920e-01 1.01017171e+02] [-1.48650493e-01 9.83825385e-01 9.99532042e-02 -5.34265082e+01] [ 6.53471420e-01 2.18643687e-02 7.56635350e-01 -2.13829719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:-53.42, Z:-21.36 [[ 7.41648108e-01 1.77886777e-01 -6.46772277e-01 1.01037897e+02] [-1.49115838e-01 9.83791793e-01 9.95900328e-02 -5.34247155e+01] [ 6.54005008e-01 2.25832307e-02 7.56153058e-01 -2.13637478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:-53.42, Z:-21.34 [[ 7.42144976e-01 1.78573040e-01 -6.46012774e-01 1.01057034e+02] [-1.50490795e-01 9.83640348e-01 9.90160910e-02 -5.34226685e+01] [ 6.53125834e-01 2.37346817e-02 7.56877341e-01 -2.13432331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:-53.50, Z:-21.33 [[ 7.19974248e-01 2.39383611e-01 -6.51408144e-01 1.01065483e+02] [-1.46928438e-01 9.69927821e-01 1.94041376e-01 -5.34993111e+01] [ 6.78269207e-01 -4.39944129e-02 7.33495313e-01 -2.13280171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:-53.33, Z:-21.29 [[ 7.45739587e-01 1.15089534e-01 -6.56221660e-01 1.01099178e+02] [-1.50784803e-01 9.88564541e-01 2.02254132e-03 -5.33279802e+01] [ 6.48950238e-01 9.74399645e-02 7.54565466e-01 -2.12896823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:-53.41, Z:-21.29 [[ 7.45504056e-01 1.76730755e-01 -6.42642935e-01 1.01121156e+02] [-1.49010385e-01 9.83992974e-01 9.77431960e-02 -5.34128353e+01] [ 6.49630362e-01 2.28925220e-02 7.59905471e-01 -2.12861332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:-53.41, Z:-21.27 [[ 7.47162313e-01 1.73675516e-01 -6.41549135e-01 1.01141806e+02] [-1.45468585e-01 9.84584131e-01 9.71235233e-02 -5.34130989e+01] [ 6.48527076e-01 2.07582087e-02 7.60908489e-01 -2.12678458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:-53.41, Z:-21.25 [[ 7.46898857e-01 1.68570890e-01 -6.43215324e-01 1.01163125e+02] [-1.38967942e-01 9.85542946e-01 9.69175525e-02 -5.34092811e+01] [ 6.50253803e-01 1.69987006e-02 7.59526850e-01 -2.12494313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.17, Y:-53.49, Z:-21.24 [[ 7.24024529e-01 2.23422834e-01 -6.52587710e-01 1.01174911e+02] [-1.30738324e-01 9.73389300e-01 1.88204039e-01 -5.34896187e+01] [ 6.77270974e-01 -5.09461172e-02 7.33967656e-01 -2.12359164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:-53.41, Z:-21.21 [[ 7.30964502e-01 1.61597221e-01 -6.63006210e-01 1.01198487e+02] [-1.26418626e-01 9.86807288e-01 1.01142019e-01 -5.34113232e+01] [ 6.70603629e-01 9.88510870e-03 7.41749997e-01 -2.12094108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.22, Y:-53.33, Z:-21.18 [[ 7.52692093e-01 1.00358435e-01 -6.50678721e-01 1.01221475e+02] [-1.24748908e-01 9.92150036e-01 8.71875486e-03 -5.33329802e+01] [ 6.46445917e-01 7.46089218e-02 7.59303092e-01 -2.11775120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:-53.41, Z:-21.17 [[ 7.52933673e-01 1.53178253e-01 -6.40021333e-01 1.01244022e+02] [-1.20166929e-01 9.88184488e-01 9.51384636e-02 -5.34116941e+01] [ 6.47032297e-01 5.27644542e-03 7.62444336e-01 -2.11739223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:-53.41, Z:-21.16 [[ 7.54130610e-01 1.50049024e-01 -6.39353043e-01 1.01265046e+02] [-1.16525932e-01 9.88673472e-01 9.45857973e-02 -5.34135420e+01] [ 6.46303899e-01 3.17116447e-03 7.63073531e-01 -2.11553435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:-53.42, Z:-21.14 [[ 7.56124629e-01 1.44363885e-01 -6.38306050e-01 1.01285872e+02] [-1.09588355e-01 9.89524044e-01 9.39816906e-02 -5.34150522e+01] [ 6.45186747e-01 -1.11096116e-03 7.64024102e-01 -2.11362050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:-53.42, Z:-21.12 [[ 7.56194285e-01 1.43711523e-01 -6.38370740e-01 1.01306949e+02] [-1.09106935e-01 9.89619029e-01 9.35406554e-02 -5.34180287e+01] [ 6.45186702e-01 -1.08423420e-03 7.64024178e-01 -2.11173941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.33, Y:-53.42, Z:-21.10 [[ 7.56729289e-01 1.41086458e-01 -6.38322328e-01 1.01327615e+02] [-1.06027655e-01 9.89993357e-01 9.31197640e-02 -5.34205825e+01] [ 6.45072802e-01 -2.78663317e-03 7.64116035e-01 -2.10983039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.35, Y:-53.43, Z:-21.08 [[ 7.57304251e-01 1.35691153e-01 -6.38809974e-01 1.01347971e+02] [-9.92783210e-02 9.90727716e-01 9.27491648e-02 -5.34282769e+01] [ 6.45471988e-01 -6.81935513e-03 7.63753501e-01 -2.10806099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-53.53, Z:-21.07 [[ 7.32214717e-01 2.02650514e-01 -6.50226405e-01 1.01355787e+02] [-8.83712753e-02 9.74905764e-01 2.04326377e-01 -5.35333282e+01] [ 6.75316316e-01 -9.21494437e-02 7.31748832e-01 -2.10727474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.39, Y:-53.33, Z:-21.02 [[ 7.57106386e-01 5.09125062e-02 -6.51304719e-01 1.01385072e+02] [-9.24542843e-02 9.95274712e-01 -2.96724384e-02 -5.33318634e+01] [ 6.46716418e-01 8.26811043e-02 7.58235919e-01 -2.10227705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:-53.44, Z:-21.02 [[ 7.58142702e-01 1.31325761e-01 -6.38727789e-01 1.01406691e+02] [-9.40657757e-02 9.91290927e-01 9.21625073e-02 -5.34446011e+01] [ 6.45268373e-01 -9.78990738e-03 7.63893241e-01 -2.10233206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:-53.45, Z:-21.00 [[ 7.57574309e-01 1.33977264e-01 -6.38851516e-01 1.01428194e+02] [-9.78798299e-02 9.90959845e-01 9.17503409e-02 -5.34458536e+01] [ 6.45368659e-01 -6.97702342e-03 7.63839391e-01 -2.10047693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:-53.45, Z:-20.99 [[ 7.56513519e-01 1.35419834e-01 -6.39803692e-01 1.01448897e+02] [-9.99872669e-02 9.90774487e-01 9.14793050e-02 -5.34501621e+01] [ 6.46289287e-01 -5.23310838e-03 7.63074552e-01 -2.09868428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:-53.46, Z:-20.97 [[ 7.55422555e-01 1.37196514e-01 -6.40713571e-01 1.01470414e+02] [-1.02574600e-01 9.90538847e-01 9.11660267e-02 -5.34552374e+01] [ 6.47159343e-01 -3.14793461e-03 7.62348264e-01 -2.09696459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:-53.46, Z:-20.95 [[ 7.54972708e-01 1.39865411e-01 -6.40666744e-01 1.01490351e+02] [-1.06453964e-01 9.90170482e-01 9.07191829e-02 -5.34601178e+01] [ 6.47057774e-01 -2.88992764e-04 7.62440918e-01 -2.09510860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.51, Y:-53.46, Z:-20.93 [[ 7.55789232e-01 1.40856633e-01 -6.39485767e-01 1.01510549e+02] [-1.08246776e-01 9.90029394e-01 9.01356397e-02 -5.34597411e+01] [ 6.45805909e-01 1.09872679e-03 7.63500832e-01 -2.09321854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:-53.46, Z:-20.91 [[ 7.55618651e-01 1.41688036e-01 -6.39503678e-01 1.01531675e+02] [-1.09715298e-01 9.89908465e-01 8.96871471e-02 -5.34600857e+01] [ 6.45757700e-01 2.39405542e-03 7.63538644e-01 -2.09142298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:-53.46, Z:-20.90 [[ 7.55653099e-01 1.42518548e-01 -6.39278388e-01 1.01552758e+02] [-1.11204285e-01 9.89785299e-01 8.92113702e-02 -5.34607224e+01] [ 6.45462626e-01 3.67764773e-03 7.63783002e-01 -2.08960590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:-53.46, Z:-20.88 [[ 7.55367270e-01 1.44845554e-01 -6.39093149e-01 1.01574913e+02] [-1.14651078e-01 9.89434579e-01 8.87374994e-02 -5.34587574e+01] [ 6.45194093e-01 6.24331607e-03 7.63993196e-01 -2.08777795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:-53.46, Z:-20.86 [[ 7.54538748e-01 1.45391404e-01 -6.39947355e-01 1.01595542e+02] [-1.15657781e-01 9.89347209e-01 8.84046199e-02 -5.34582489e+01] [ 6.45983402e-01 7.31018011e-03 7.63316452e-01 -2.08590663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:-53.55, Z:-20.85 [[ 7.32707239e-01 2.05612529e-01 -6.48740001e-01 1.01607780e+02] [-1.11061331e-01 9.76614079e-01 1.84093241e-01 -5.35458109e+01] [ 6.71420496e-01 -6.28365227e-02 7.38407807e-01 -2.08496277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:-53.38, Z:-20.81 [[ 7.58855212e-01 8.15189733e-02 -6.46137310e-01 1.01633861e+02] [-1.14566319e-01 9.93372770e-01 -9.22485064e-03 -5.33769715e+01] [ 6.41103209e-01 8.10258993e-02 7.63165433e-01 -2.08062408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-53.47, Z:-20.80 [[ 7.58202748e-01 1.42087797e-01 -6.36348686e-01 1.01655808e+02] [-1.12330957e-01 9.89839414e-01 8.71762005e-02 -5.34657697e+01] [ 6.42269685e-01 5.38442228e-03 7.66459823e-01 -2.08025287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:-53.47, Z:-20.78 [[ 7.59451764e-01 1.40346186e-01 -6.35244808e-01 1.01677240e+02] [-1.10546612e-01 9.90092407e-01 8.65821689e-02 -5.34653658e+01] [ 6.41102538e-01 4.46918079e-03 7.67442220e-01 -2.07836287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.70, Y:-53.46, Z:-20.76 [[ 7.60946019e-01 1.37401963e-01 -6.34099249e-01 1.01697987e+02] [-1.07202413e-01 9.90512097e-01 8.59850525e-02 -5.34624645e+01] [ 6.39897491e-01 2.54698611e-03 7.68456058e-01 -2.07647746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:-53.47, Z:-20.75 [[ 7.60380784e-01 1.35419130e-01 -6.35202899e-01 1.01717885e+02] [-1.04868890e-01 9.90787334e-01 8.56911544e-02 -5.34660428e+01] [ 6.40955209e-01 1.45511598e-03 7.67576904e-01 -2.07457229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:-53.47, Z:-20.73 [[ 7.59809430e-01 1.34034015e-01 -6.36179623e-01 1.01738830e+02] [-1.03321986e-01 9.90976362e-01 8.53839387e-02 -5.34696898e+01] [ 6.41883321e-01 8.55820264e-04 7.66801845e-01 -2.07276815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:-53.47, Z:-20.71 [[ 7.58821155e-01 1.32334367e-01 -6.37713157e-01 1.01760334e+02] [-1.01303380e-01 9.91205133e-01 8.51469907e-02 -5.34719638e+01] [ 6.43372427e-01 -8.83983018e-06 7.65553342e-01 -2.07095458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.78, Y:-53.47, Z:-20.69 [[ 7.59253581e-01 1.29508857e-01 -6.37778532e-01 1.01782685e+02] [-9.79758097e-02 9.91576570e-01 8.47150872e-02 -5.34719013e+01] [ 6.43377604e-01 -1.83336520e-03 7.65546797e-01 -2.06920069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:-53.54, Z:-20.68 [[ 7.41436810e-01 1.77472632e-01 -6.47128211e-01 1.01798802e+02] [-9.07622955e-02 9.82052225e-01 1.65334913e-01 -5.35449897e+01] [ 6.64856122e-01 -6.38505486e-02 7.44237492e-01 -2.06845024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:-53.45, Z:-20.65 [[ 7.43689580e-01 1.09829802e-01 -6.59441599e-01 1.01822866e+02] [-9.22997272e-02 9.93834476e-01 6.14312151e-02 -5.34509676e+01] [ 6.62122775e-01 1.51805251e-02 7.49241605e-01 -2.06521217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:-53.42, Z:-20.63 [[ 7.61818662e-01 8.40557814e-02 -6.42313749e-01 1.01844112e+02] [-9.22252176e-02 9.95518944e-01 2.08935757e-02 -5.34206915e+01] [ 6.41191731e-01 4.33204094e-02 7.66156973e-01 -2.06265770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:-53.48, Z:-20.62 [[ 7.62617881e-01 1.23827117e-01 -6.34886456e-01 1.01866183e+02] [-9.15543390e-02 9.92288017e-01 8.35601199e-02 -5.34836504e+01] [ 6.40337231e-01 -5.59783184e-03 7.68073495e-01 -2.06185714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:-53.49, Z:-20.60 [[ 7.62938143e-01 1.22875537e-01 -6.34686531e-01 1.01887459e+02] [-9.06970607e-02 9.92404904e-01 8.31056526e-02 -5.34857873e+01] [ 6.40077678e-01 -5.84026939e-03 7.68288004e-01 -2.06005042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:-53.49, Z:-20.58 [[ 7.63562653e-01 1.22309692e-01 -6.34044490e-01 1.01907960e+02] [-9.03909817e-02 9.92475293e-01 8.25969958e-02 -5.34861080e+01] [ 6.39375904e-01 -5.75607734e-03 7.68872760e-01 -2.05816928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:-53.49, Z:-20.56 [[ 7.64056623e-01 1.21041102e-01 -6.33692772e-01 1.01927694e+02] [-8.91380769e-02 9.92627743e-01 8.21253136e-02 -5.34853324e+01] [ 6.38961564e-01 -6.26223470e-03 7.69213172e-01 -2.05622416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:-53.49, Z:-20.54 [[ 7.63382834e-01 1.20164781e-01 -6.34670840e-01 1.01948996e+02] [-8.82351758e-02 9.92732900e-01 8.18287363e-02 -5.34889424e+01] [ 6.39891556e-01 -6.46635946e-03 7.68438015e-01 -2.05441400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:-53.50, Z:-20.53 [[ 7.61462731e-01 1.16732324e-01 -6.37611225e-01 1.01970294e+02] [-8.37697191e-02 9.93123911e-01 8.17773295e-02 -5.34950393e+01] [ 6.42773011e-01 -8.85787547e-03 7.66005479e-01 -2.05272683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:-53.50, Z:-20.51 [[ 7.62287803e-01 1.14237004e-01 -6.37077085e-01 1.01991039e+02] [-8.09408827e-02 9.93399145e-01 8.12816786e-02 -5.34982932e+01] [ 6.42157208e-01 -1.03944506e-02 7.66502496e-01 -2.05089134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.01, Y:-53.50, Z:-20.49 [[ 7.63385598e-01 1.11016871e-01 -6.36331425e-01 1.02010927e+02] [-7.71936500e-02 9.93739478e-01 8.07650296e-02 -5.35014808e+01] [ 6.41313940e-01 -1.25341151e-02 7.67176203e-01 -2.04902520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-53.51, Z:-20.47 [[ 7.65624195e-01 1.06847927e-01 -6.34352514e-01 1.02030653e+02] [-7.23788879e-02 9.94155966e-01 8.00950181e-02 -5.35086685e+01] [ 6.39203323e-01 -1.54089543e-02 7.68883396e-01 -2.04710981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:-53.51, Z:-20.45 [[ 7.65371894e-01 1.05489864e-01 -6.34884046e-01 1.02051672e+02] [-7.08914611e-02 9.94291212e-01 7.97457626e-02 -5.35144078e+01] [ 6.39671997e-01 -1.60273077e-02 7.68480879e-01 -2.04537727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:-53.52, Z:-20.44 [[ 7.63256111e-01 1.04391155e-01 -6.37606929e-01 1.02073947e+02] [-6.94501973e-02 9.94398992e-01 7.96700430e-02 -5.35190427e+01] [ 6.42352535e-01 -1.65267201e-02 7.66231093e-01 -2.04369718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-53.52, Z:-20.42 [[ 7.62235407e-01 1.04052232e-01 -6.38882084e-01 1.02095520e+02] [-6.91890410e-02 9.94437808e-01 7.94123633e-02 -5.35226904e+01] [ 6.43591532e-01 -1.63272764e-02 7.65194982e-01 -2.04196536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:-53.53, Z:-20.40 [[ 7.63252803e-01 1.04787270e-01 -6.37545909e-01 1.02115835e+02] [-7.06698778e-02 9.94379806e-01 7.88325398e-02 -5.35273006e+01] [ 6.42223424e-01 -1.51138655e-02 7.66368478e-01 -2.04004590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:-53.53, Z:-20.38 [[ 7.64071715e-01 1.04801568e-01 -6.36561895e-01 1.02136269e+02] [-7.11617432e-02 9.94387070e-01 7.82966268e-02 -5.35313347e+01] [ 6.41194527e-01 -1.45253838e-02 7.67240896e-01 -2.03811884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:-53.54, Z:-20.36 [[ 7.63550036e-01 1.05062325e-01 -6.37144607e-01 1.02157160e+02] [-7.17746567e-02 9.94370022e-01 7.79529237e-02 -5.35365120e+01] [ 6.41747412e-01 -1.37901224e-02 7.66792079e-01 -2.03637554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:-53.54, Z:-20.35 [[ 7.62814617e-01 1.04443360e-01 -6.38126512e-01 1.02178699e+02] [-7.11945904e-02 9.94435013e-01 7.76552289e-02 -5.35404204e+01] [ 6.42685919e-01 -1.38053880e-02 7.66005366e-01 -2.03469365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:-53.55, Z:-20.33 [[ 7.63212278e-01 1.03951948e-01 -6.37731143e-01 1.02199706e+02] [-7.09525949e-02 9.94488449e-01 7.71910233e-02 -5.35451111e+01] [ 6.42240413e-01 -1.36644574e-02 7.66381455e-01 -2.03289525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.22, Y:-53.55, Z:-20.31 [[ 7.64491898e-01 1.04729673e-01 -6.36069048e-01 1.02218509e+02] [-7.25202070e-02 9.94423292e-01 7.65711134e-02 -5.35503219e+01] [ 6.40541144e-01 -1.24101368e-02 7.67823568e-01 -2.03080824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:-53.55, Z:-20.29 [[ 7.65447092e-01 1.05840785e-01 -6.34734966e-01 1.02238468e+02] [-7.44710649e-02 9.94323344e-01 7.59944009e-02 -5.35533081e+01] [ 6.39175101e-01 -1.09003044e-02 7.68983988e-01 -2.02889457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:-53.56, Z:-20.27 [[ 7.65084890e-01 1.07377722e-01 -6.34913487e-01 1.02258969e+02] [-7.67976636e-02 9.94176871e-01 7.55941025e-02 -5.35561756e+01] [ 6.39333426e-01 -9.07603318e-03 7.68876060e-01 -2.02702581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:-53.58, Z:-20.25 [[ 7.51722883e-01 1.28302900e-01 -6.46877943e-01 1.02280608e+02] [-8.25378521e-02 9.91483503e-01 1.00737114e-01 -5.35803941e+01] [ 6.54293673e-01 -2.23344778e-02 7.55910683e-01 -2.02536261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-53.55, Z:-20.23 [[ 7.65494125e-01 1.02534900e-01 -6.35220701e-01 1.02302178e+02] [-8.21418984e-02 9.94716626e-01 6.15754944e-02 -5.35494504e+01] [ 6.38178230e-01 5.04255503e-03 7.69872145e-01 -2.02341054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-53.56, Z:-20.22 [[ 7.65148269e-01 1.11202371e-01 -6.34178334e-01 1.02322409e+02] [-8.29712055e-02 9.93789243e-01 7.41533473e-02 -5.35635759e+01] [ 6.38485635e-01 -4.11976448e-03 7.69622714e-01 -2.02172442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:-53.57, Z:-20.20 [[ 7.64585336e-01 1.10771233e-01 -6.34932278e-01 1.02343004e+02] [-8.26883483e-02 9.93838141e-01 7.38131905e-02 -5.35719413e+01] [ 6.39196293e-01 -3.93498175e-03 7.69033559e-01 -2.01988428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:-53.58, Z:-20.18 [[ 7.64352083e-01 1.10049572e-01 -6.35338481e-01 1.02363146e+02] [-8.20644822e-02 9.93918095e-01 7.34318863e-02 -5.35784313e+01] [ 6.39555560e-01 -3.98909185e-03 7.68734527e-01 -2.01802317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-53.58, Z:-20.16 [[ 7.64378680e-01 1.10090163e-01 -6.35299449e-01 1.02383386e+02] [-8.24560317e-02 9.93915671e-01 7.30249421e-02 -5.35829511e+01] [ 6.39473406e-01 -3.43443732e-03 7.68805546e-01 -2.01613445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:-53.59, Z:-20.14 [[ 7.64936334e-01 1.10515757e-01 -6.34553916e-01 1.02403739e+02] [-8.34465250e-02 9.93871205e-01 7.25031372e-02 -5.35853344e+01] [ 6.38677604e-01 -2.50896472e-03 7.69470352e-01 -2.01430757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:-53.63, Z:-20.13 [[ 7.52117537e-01 1.45955445e-01 -6.42663379e-01 1.02421457e+02] [-8.61474115e-02 9.88573711e-01 1.23695763e-01 -5.36312774e+01] [ 6.53374192e-01 -3.76699661e-02 7.56097308e-01 -2.01288534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-53.55, Z:-20.10 [[ 7.68754722e-01 8.29703177e-02 -6.34138868e-01 1.02444983e+02] [-8.81075672e-02 9.95834122e-01 2.34831296e-02 -5.35467526e+01] [ 6.33445526e-01 3.78196662e-02 7.72862496e-01 -2.00999186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:-53.59, Z:-20.09 [[ 7.68716574e-01 1.14956814e-01 -6.29173871e-01 1.02465592e+02] [-9.06285514e-02 9.93367038e-01 7.07700086e-02 -5.35945373e+01] [ 6.33136079e-01 2.61903795e-03 7.74036075e-01 -2.00877844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.49, Y:-53.60, Z:-20.07 [[ 7.67480667e-01 1.16735899e-01 -6.30353992e-01 1.02488299e+02] [-9.31828550e-02 9.93152086e-01 7.04690738e-02 -5.36003611e+01] [ 6.34263653e-01 4.65453291e-03 7.73102809e-01 -2.00717869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:-53.60, Z:-20.05 [[ 7.67408407e-01 1.16615435e-01 -6.30464255e-01 1.02509095e+02] [-9.33730506e-02 9.93163985e-01 7.00483581e-02 -5.36030571e+01] [ 6.34323111e-01 5.11267184e-03 7.73051131e-01 -2.00539618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:-53.60, Z:-20.04 [[ 7.66177417e-01 1.16592510e-01 -6.31963885e-01 1.02530447e+02] [-9.35812600e-02 9.93163596e-01 6.97754873e-02 -5.36048613e+01] [ 6.35778824e-01 5.67957400e-03 7.71850393e-01 -2.00356880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-53.60, Z:-20.01 [[ 7.66580669e-01 1.17057813e-01 -6.31388586e-01 1.02549850e+02] [-9.45872623e-02 9.93103080e-01 6.92785848e-02 -5.36030166e+01] [ 6.35143549e-01 6.61369386e-03 7.72365802e-01 -2.00144729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.57, Y:-53.60, Z:-20.00 [[ 7.66378889e-01 1.17145158e-01 -6.31617297e-01 1.02570457e+02] [-9.50388991e-02 9.93088358e-01 6.88703228e-02 -5.36030188e+01] [ 6.35319609e-01 7.24745105e-03 7.72215300e-01 -1.99957956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:-53.60, Z:-19.98 [[ 7.66769116e-01 1.17451794e-01 -6.31086523e-01 1.02592125e+02] [-9.58351596e-02 9.93045948e-01 6.83766590e-02 -5.36036063e+01] [ 6.34728876e-01 8.05116726e-03 7.72692975e-01 -1.99779326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:-53.61, Z:-19.96 [[ 7.66226562e-01 1.17553283e-01 -6.31726271e-01 1.02614582e+02] [-9.62818040e-02 9.93028317e-01 6.80042366e-02 -5.36069970e+01] [ 6.35316196e-01 8.71709252e-03 7.72202916e-01 -1.99608510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.64, Y:-53.61, Z:-19.94 [[ 7.66465530e-01 1.16821823e-01 -6.31572049e-01 1.02636445e+02] [-9.57055310e-02 9.93115042e-01 6.75497268e-02 -5.36105215e+01] [ 6.35114984e-01 8.67040111e-03 7.72368941e-01 -1.99431981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.66, Y:-53.61, Z:-19.92 [[ 7.66526637e-01 1.16171171e-01 -6.31617902e-01 1.02657905e+02] [-9.52175033e-02 9.93191168e-01 6.71187885e-02 -5.36126842e+01] [ 6.35114589e-01 8.69274040e-03 7.72369015e-01 -1.99246920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.68, Y:-53.61, Z:-19.91 [[ 7.68668233e-01 1.13843165e-01 -6.29435367e-01 1.02678571e+02] [-9.26960807e-02 9.93472339e-01 6.64841933e-02 -5.36135206e+01] [ 6.32895398e-01 7.24190425e-03 7.74203443e-01 -1.99064252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.70, Y:-53.61, Z:-19.89 [[ 7.67454886e-01 1.12479244e-01 -6.31158790e-01 1.02699675e+02] [-9.11596244e-02 9.93631437e-01 6.62305810e-02 -5.36141540e+01] [ 6.34588781e-01 6.70721515e-03 7.72820867e-01 -1.98885571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:-53.62, Z:-19.87 [[ 7.67346486e-01 1.10399393e-01 -6.31657617e-01 1.02720064e+02] [-8.87633711e-02 9.93871981e-01 6.58752484e-02 -5.36151444e+01] [ 6.35059395e-01 5.51891913e-03 7.72443595e-01 -1.98700788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:-53.62, Z:-19.85 [[ 7.65981914e-01 1.09315830e-01 -6.33499611e-01 1.02741039e+02] [-8.75839129e-02 9.93993365e-01 6.56220075e-02 -5.36157873e+01] [ 6.36867934e-01 5.21910381e-03 7.70955249e-01 -1.98518044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:-53.62, Z:-19.83 [[ 7.65462105e-01 1.08038369e-01 -6.34346495e-01 1.02762469e+02] [-8.62221286e-02 9.94135465e-01 6.52719021e-02 -5.36171880e+01] [ 6.37678218e-01 4.73153745e-03 7.70288324e-01 -1.98332389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:-53.62, Z:-19.82 [[ 7.65609468e-01 1.06234973e-01 -6.34473225e-01 1.02784644e+02] [-8.42361454e-02 9.94333787e-01 6.48428191e-02 -5.36192299e+01] [ 6.37766739e-01 3.80130259e-03 7.70220187e-01 -1.98160337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.81, Y:-53.62, Z:-19.80 [[ 7.67633140e-01 1.05020416e-01 -6.32226285e-01 1.02806392e+02] [-8.31988997e-02 9.94464464e-01 6.41745524e-02 -5.36229235e+01] [ 6.35466212e-01 3.33801809e-03 7.72121462e-01 -1.97980966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.83, Y:-53.63, Z:-19.78 [[ 7.69373738e-01 1.04297952e-01 -6.30226934e-01 1.02826484e+02] [-8.27747934e-02 9.94540681e-01 6.35387069e-02 -5.36263461e+01] [ 6.33413281e-01 3.28189181e-03 7.73806723e-01 -1.97787206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:-53.63, Z:-19.76 [[ 7.68796288e-01 1.03862062e-01 -6.31003121e-01 1.02847041e+02] [-8.25087780e-02 9.94585588e-01 6.31807777e-02 -5.36269116e+01] [ 6.34148696e-01 3.49014906e-03 7.73203240e-01 -1.97602420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:-53.63, Z:-19.74 [[ 7.67881602e-01 1.03775099e-01 -6.32130188e-01 1.02868878e+02] [-8.26704207e-02 9.94592774e-01 6.28555154e-02 -5.36271061e+01] [ 6.35234954e-01 3.99287473e-03 7.72308624e-01 -1.97419718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-53.63, Z:-19.72 [[ 7.66042676e-01 1.05069762e-01 -6.34144277e-01 1.02891077e+02] [-8.45615803e-02 9.94448767e-01 6.26177949e-02 -5.36257894e+01] [ 6.37203231e-01 5.65633906e-03 7.70675060e-01 -1.97239434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:102.91, Y:-53.70, Z:-19.71 [[ 7.49477307e-01 1.58484779e-01 -6.42780166e-01 1.02907183e+02] [-8.26757427e-02 9.85728404e-01 1.46643223e-01 -5.37018044e+01] [ 6.56847386e-01 -5.67634404e-02 7.51883916e-01 -1.97120819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:-53.63, Z:-19.68 [[ 7.46816814e-01 1.05345607e-01 -6.56633040e-01 1.02930651e+02] [-8.45276207e-02 9.94402216e-01 6.33980540e-02 -5.36273404e+01] [ 6.59636057e-01 8.15689582e-03 7.51540908e-01 -1.96828998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.95, Y:-53.56, Z:-19.66 [[ 7.70517215e-01 5.91127488e-02 -6.34672281e-01 1.02950551e+02] [-8.46639563e-02 9.96359526e-01 -9.98544540e-03 -5.35642212e+01] [ 6.31771506e-01 6.14278239e-02 7.72716886e-01 -1.96557087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.97, Y:-53.71, Z:-19.66 [[ 7.48351514e-01 1.64943448e-01 -6.42466864e-01 1.02968445e+02] [-8.22462259e-02 9.84188060e-01 1.56873902e-01 -5.37137130e+01] [ 6.58183539e-01 -6.45563474e-02 7.50084600e-01 -1.96566202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:102.99, Y:-53.54, Z:-19.62 [[ 7.69759587e-01 4.17236000e-02 -6.36968853e-01 1.02990978e+02] [-8.52130325e-02 9.95647009e-01 -3.77594149e-02 -5.35399253e+01] [ 6.32620674e-01 8.33437192e-02 7.69964225e-01 -1.96155522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.02, Y:-53.63, Z:-19.61 [[ 7.69800411e-01 1.05969886e-01 -6.29426494e-01 1.03016542e+02] [-8.73742812e-02 9.94333960e-01 6.05451141e-02 -5.36252099e+01] [ 6.32276097e-01 8.38803372e-03 7.74697734e-01 -1.96121248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:-53.62, Z:-19.59 [[ 7.71011965e-01 1.06379781e-01 -6.27872513e-01 1.03036317e+02] [-8.83518110e-02 9.94282649e-01 5.99664196e-02 -5.36233281e+01] [ 6.30661960e-01 9.23884657e-03 7.76002665e-01 -1.95926421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.912320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:103.06, Y:-53.67, Z:-19.58 [[ 7.58768382e-01 1.40873688e-01 -6.35944295e-01 1.03057563e+02] [-8.97057975e-02 9.89629323e-01 1.12190345e-01 -5.36680925e+01] [ 6.45153789e-01 -2.80785962e-02 7.63536627e-01 -1.95772035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.08, Y:-53.58, Z:-19.55 [[ 7.73126974e-01 7.88612216e-02 -6.29329476e-01 1.03077183e+02] [-8.92226276e-02 9.95895929e-01 1.51862415e-02 -5.35810230e+01] [ 6.27944269e-01 4.44095366e-02 7.76990211e-01 -1.95470707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.972320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:103.10, Y:-53.62, Z:-19.54 [[ 7.71863700e-01 1.07119576e-01 -6.26699151e-01 1.03100874e+02] [-9.02043419e-02 9.94183966e-01 5.88338240e-02 -5.36205406e+01] [ 6.29356502e-01 1.11192914e-02 7.77037165e-01 -1.95364465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:103.12, Y:-53.62, Z:-19.52 [[ 7.71628079e-01 1.05526183e-01 -6.27259382e-01 1.03123792e+02] [-8.84628477e-02 9.94362367e-01 5.84620164e-02 -5.36199953e+01] [ 6.29892398e-01 1.03782178e-02 7.76613070e-01 -1.95197184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:-53.62, Z:-19.50 [[ 7.72559773e-01 1.04187993e-01 -6.26335580e-01 1.03144902e+02] [-8.71357441e-02 9.94509301e-01 5.79535288e-02 -5.36187590e+01] [ 6.28934622e-01 9.80365173e-03 7.77396379e-01 -1.95007615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-53.61, Z:-19.48 [[ 7.74408171e-01 1.00523277e-01 -6.24649546e-01 1.03166169e+02] [-8.28690154e-02 9.94907666e-01 5.73712670e-02 -5.36139618e+01] [ 6.27235769e-01 7.33531486e-03 7.78794891e-01 -1.94825220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:-53.65, Z:-19.47 [[ 7.49877151e-01 1.26394353e-01 -6.49391042e-01 1.03187335e+02] [-7.86332638e-02 9.91650192e-01 1.02209134e-01 -5.36542223e+01] [ 6.56887409e-01 -2.55805572e-02 7.53554621e-01 -1.94673791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:-53.66, Z:-19.45 [[ 7.56739528e-01 1.28048075e-01 -6.41053022e-01 1.03204920e+02] [-7.64504442e-02 9.91234364e-01 1.07748622e-01 -5.36635586e+01] [ 6.49230788e-01 -3.25288529e-02 7.59895557e-01 -1.94529371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:-53.54, Z:-19.41 [[ 7.77607159e-01 3.67610664e-02 -6.27674861e-01 1.03221860e+02] [-7.48470877e-02 9.96602962e-01 -3.43576665e-02 -5.35415048e+01] [ 6.24279601e-01 7.36964028e-02 7.77717057e-01 -1.94127577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:-53.62, Z:-19.41 [[ 7.76818203e-01 9.20647204e-02 -6.22958720e-01 1.03249515e+02] [-7.30919725e-02 9.95750975e-01 5.60139207e-02 -5.36241282e+01] [ 6.25468659e-01 2.02064838e-03 7.80246675e-01 -1.94111698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.27, Y:-53.62, Z:-19.39 [[ 7.77674268e-01 9.08392207e-02 -6.22069906e-01 1.03270715e+02] [-7.19151984e-02 9.95864349e-01 5.55193905e-02 -5.36237398e+01] [ 6.24540580e-01 1.56027939e-03 7.80990800e-01 -1.93933015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:-53.62, Z:-19.38 [[ 7.78948160e-01 8.96325956e-02 -6.20649468e-01 1.03291911e+02] [-7.08015249e-02 9.95974269e-01 5.49763483e-02 -5.36230118e+01] [ 6.23078573e-01 1.11920343e-03 7.82158449e-01 -1.93752437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:-53.73, Z:-19.37 [[ 7.55267303e-01 1.58683582e-01 -6.35917307e-01 1.03307211e+02] [-6.34629363e-02 9.83395357e-01 1.70017730e-01 -5.37268480e+01] [ 6.52337150e-01 -8.80516526e-02 7.52796885e-01 -1.93704993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:-53.51, Z:-19.31 [[ 7.80990964e-01 5.12724912e-03 -6.24521277e-01 1.03322146e+02] [-6.46410232e-02 9.95259399e-01 -7.26654380e-02 -5.35118541e+01] [ 6.21188097e-01 9.71207449e-02 7.77620029e-01 -1.93138547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:-53.71, Z:-19.33 [[ 7.52154697e-01 1.36216499e-01 -6.44754509e-01 1.03349745e+02] [-5.85421336e-02 9.88346561e-01 1.40512965e-01 -5.37051315e+01] [ 6.56381086e-01 -6.79421817e-02 7.51363913e-01 -1.93307888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:-53.66, Z:-19.31 [[ 7.55641726e-01 9.73327044e-02 -6.47712843e-01 1.03372009e+02] [-5.72961898e-02 9.94928894e-01 8.26658431e-02 -5.36567295e+01] [ 6.52474313e-01 -2.53542824e-02 7.57386580e-01 -1.93083154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:-53.53, Z:-19.26 [[ 7.83815890e-01 1.07550384e-03 -6.20992347e-01 1.03385999e+02] [-5.45824571e-02 9.96247533e-01 -6.71685076e-02 -5.35311486e+01] [ 6.18589853e-01 8.65430316e-02 7.80933350e-01 -1.92631830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.41, Y:-53.64, Z:-19.27 [[ 7.85406102e-01 7.66649135e-02 -6.14214739e-01 1.03414657e+02] [-5.52557019e-02 9.97022301e-01 5.37897593e-02 -5.36425579e+01] [ 6.16509580e-01 -8.30793869e-03 7.87303573e-01 -1.92664068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:-53.64, Z:-19.25 [[ 7.84813258e-01 7.55200225e-02 -6.15113710e-01 1.03436217e+02] [-5.40380055e-02 9.97106100e-01 5.34726042e-02 -5.36446398e+01] [ 6.17371885e-01 -8.72649062e-03 7.86623038e-01 -1.92495198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:-53.65, Z:-19.23 [[ 7.83061982e-01 7.36460563e-02 -6.17567965e-01 1.03458517e+02] [-5.17603740e-02 9.97236635e-01 5.32912428e-02 -5.36476579e+01] [ 6.19786089e-01 -9.76479739e-03 7.84710043e-01 -1.92323369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:-53.65, Z:-19.22 [[ 7.82162099e-01 7.35115836e-02 -6.18723281e-01 1.03480560e+02] [-5.18070510e-02 9.97250112e-01 5.29928713e-02 -5.36548191e+01] [ 6.20917451e-01 -9.39478687e-03 7.83819659e-01 -1.92152581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:-53.66, Z:-19.20 [[ 7.82427020e-01 7.33604394e-02 -6.18406181e-01 1.03501633e+02] [-5.19528399e-02 9.97264834e-01 5.25714034e-02 -5.36609602e+01] [ 6.20571399e-01 -9.00532923e-03 7.84098236e-01 -1.91970642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:-53.67, Z:-19.18 [[ 7.83947093e-01 7.33948639e-02 -6.16473965e-01 1.03522531e+02] [-5.24655998e-02 9.97267322e-01 5.20120018e-02 -5.36674706e+01] [ 6.18606755e-01 -8.43098127e-03 7.85655524e-01 -1.91785982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:-53.68, Z:-19.16 [[ 7.84908638e-01 7.41395734e-02 -6.15159941e-01 1.03542116e+02] [-5.38275479e-02 9.97221052e-01 5.15050378e-02 -5.36760576e+01] [ 6.17269005e-01 -7.31419781e-03 7.86718169e-01 -1.91593167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:-53.68, Z:-19.14 [[ 7.84082678e-01 7.44519299e-02 -6.16174702e-01 1.03563835e+02] [-5.44574096e-02 9.97202861e-01 5.11941919e-02 -5.36794268e+01] [ 6.18262682e-01 -6.58520098e-03 7.85943949e-01 -1.91415724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:-53.75, Z:-19.13 [[ 7.66242127e-01 1.27350181e-01 -6.29805473e-01 1.03582140e+02] [-5.53254042e-02 9.89598644e-01 1.32791654e-01 -5.37544047e+01] [ 6.40165683e-01 -6.69063175e-02 7.65317870e-01 -1.91315700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:-53.61, Z:-19.09 [[ 7.84532541e-01 3.02401929e-02 -6.19349838e-01 1.03601617e+02] [-6.28442412e-02 9.97544907e-01 -3.08991794e-02 -5.36118153e+01] [ 6.16894880e-01 6.31639824e-02 7.84506863e-01 -1.90939783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:-53.69, Z:-19.09 [[ 7.84587279e-01 8.47742450e-02 -6.14195514e-01 1.03626635e+02] [-6.82499475e-02 9.96397246e-01 5.03435517e-02 -5.36886833e+01] [ 6.16250555e-01 2.41990140e-03 7.87546441e-01 -1.90882194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:-53.69, Z:-19.07 [[ 7.84246210e-01 8.72167603e-02 -6.14289116e-01 1.03647851e+02] [-7.16673566e-02 9.96177512e-01 4.99415043e-02 -5.36916868e+01] [ 6.16296740e-01 4.85804170e-03 7.87499034e-01 -1.90710579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:103.67, Y:-53.69, Z:-19.05 [[ 7.84677801e-01 9.29501822e-02 -6.12895596e-01 1.03670224e+02] [-7.93169157e-02 9.95622392e-01 4.94457131e-02 -5.36931448e+01] [ 6.14808568e-01 9.81403492e-03 7.88615311e-01 -1.90538834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:-53.69, Z:-19.04 [[ 7.84785073e-01 9.49151894e-02 -6.12456934e-01 1.03691406e+02] [-8.21514533e-02 9.95414689e-01 4.89973055e-02 -5.36940157e+01] [ 6.14299217e-01 1.18618732e-02 7.88984010e-01 -1.90364283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:-53.69, Z:-19.02 [[ 7.84488284e-01 9.64517998e-02 -6.12597081e-01 1.03712503e+02] [-8.43963668e-02 9.95245310e-01 4.86212576e-02 -5.36949792e+01] [ 6.14373979e-01 1.35581610e-02 7.88898466e-01 -1.90179858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.73, Y:-53.76, Z:-19.00 [[ 7.67217530e-01 1.42513280e-01 -6.25353682e-01 1.03731425e+02] [-8.75862080e-02 9.89147729e-01 1.17963666e-01 -5.37556090e+01] [ 6.35378563e-01 -3.57314350e-02 7.71373675e-01 -1.90043715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-53.70, Z:-18.98 [[ 7.68760375e-01 1.09837630e-01 -6.30034270e-01 1.03753800e+02] [-9.07899769e-02 9.93907346e-01 6.24929353e-02 -5.37047757e+01] [ 6.33059765e-01 9.15870455e-03 7.74048740e-01 -1.89817992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:-53.68, Z:-18.96 [[ 7.73609360e-01 9.26038902e-02 -6.26859696e-01 1.03774466e+02] [-9.28834353e-02 9.95150260e-01 3.23825101e-02 -5.36763053e+01] [ 6.26818336e-01 3.31734691e-02 7.78458923e-01 -1.89620065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:-53.70, Z:-18.95 [[ 7.69412711e-01 1.18864317e-01 -6.27594897e-01 1.03797693e+02] [-9.85060446e-02 9.92859575e-01 6.72787063e-02 -5.37033116e+01] [ 6.31110640e-01 1.00567992e-02 7.75627630e-01 -1.89501574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:-53.63, Z:-18.92 [[ 7.88060372e-01 6.95831054e-02 -6.11652714e-01 1.03816825e+02] [-9.92060229e-02 9.94959372e-01 -1.46291714e-02 -5.36305630e+01] [ 6.07551657e-01 7.22083034e-02 7.90991116e-01 -1.89226145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.84, Y:-53.69, Z:-18.91 [[ 7.86909728e-01 1.08573330e-01 -6.07441282e-01 1.03841173e+02] [-1.01543376e-01 9.93763353e-01 4.60797233e-02 -5.36852477e+01] [ 6.08655915e-01 2.54210562e-02 7.93026953e-01 -1.89135273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.86, Y:-53.75, Z:-18.90 [[ 7.70237614e-01 1.53285594e-01 -6.19061826e-01 1.03860948e+02] [-1.01453540e-01 9.87775048e-01 1.18353854e-01 -5.37487695e+01] [ 6.29635765e-01 -2.83545765e-02 7.76372862e-01 -1.89003271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.88, Y:-53.62, Z:-18.86 [[ 7.89362295e-01 6.87628448e-02 -6.10064618e-01 1.03880161e+02] [-1.03977522e-01 9.94325970e-01 -2.24619700e-02 -5.36175677e+01] [ 6.05058544e-01 8.11636395e-02 7.92033220e-01 -1.88647433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:103.91, Y:-53.68, Z:-18.86 [[ 7.86936458e-01 1.10644347e-01 -6.07032816e-01 1.03906984e+02] [-1.04848143e-01 9.93462457e-01 4.51576552e-02 -5.36765757e+01] [ 6.08060752e-01 2.81100581e-02 7.93392681e-01 -1.88593284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:103.93, Y:-53.67, Z:-18.84 [[ 7.85772870e-01 1.09117349e-01 -6.08813929e-01 1.03930084e+02] [-1.03203276e-01 9.93646796e-01 4.48901857e-02 -5.36746811e+01] [ 6.09844308e-01 2.75581018e-02 7.92041963e-01 -1.88430381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-53.67, Z:-18.83 [[ 7.87244297e-01 1.05949714e-01 -6.07471049e-01 1.03951220e+02] [-9.95272622e-02 9.94044133e-01 4.43912873e-02 -5.36694631e+01] [ 6.08556276e-01 2.55131426e-02 7.93100459e-01 -1.88250025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:-53.67, Z:-18.81 [[ 7.87306543e-01 1.05317825e-01 -6.07500258e-01 1.03973299e+02] [-9.90395802e-02 9.94110742e-01 4.39885761e-02 -5.36709380e+01] [ 6.08555313e-01 2.55340768e-02 7.93100524e-01 -1.88072109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:-53.67, Z:-18.79 [[ 7.88695990e-01 1.04209119e-01 -6.05887031e-01 1.03994665e+02] [-9.79526406e-02 9.94240074e-01 4.34966033e-02 -5.36693374e+01] [ 6.06929910e-01 2.50426380e-02 7.94360719e-01 -1.87883322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:-53.67, Z:-18.77 [[ 7.88547194e-01 1.02518419e-01 -6.06368944e-01 1.04015822e+02] [-9.61218776e-02 9.94434811e-01 4.31276180e-02 -5.36682665e+01] [ 6.07415762e-01 2.42771593e-02 7.94013043e-01 -1.87706091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-53.71, Z:-18.76 [[ 7.65976228e-01 1.30845687e-01 -6.29412285e-01 1.04038594e+02] [-9.03987173e-02 9.91262437e-01 9.60565082e-02 -5.37114576e+01] [ 6.36481335e-01 -1.66789387e-02 7.71111745e-01 -1.87583384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.06, Y:-53.62, Z:-18.73 [[ 7.89281316e-01 6.93234106e-02 -6.10105949e-01 1.04057551e+02] [-8.98411960e-02 9.95951401e-01 -3.06050033e-03 -5.36234905e+01] [ 6.07423710e-01 5.72282438e-02 7.92313931e-01 -1.87284466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:-53.70, Z:-18.72 [[ 7.67665639e-01 1.17657114e-01 -6.29957356e-01 1.04084422e+02] [-8.68145006e-02 9.93033167e-01 7.96766741e-02 -5.36973971e+01] [ 6.34943076e-01 -6.47561161e-03 7.72531784e-01 -1.87230840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:-53.71, Z:-18.71 [[ 7.69358302e-01 1.23676916e-01 -6.26731062e-01 1.04101543e+02] [-8.17815642e-02 9.92075828e-01 9.53799117e-02 -5.37103207e+01] [ 6.33561031e-01 -2.21262803e-02 7.73376266e-01 -1.87088651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:-53.58, Z:-18.66 [[ 7.92612255e-01 3.60022716e-02 -6.08662180e-01 1.04114949e+02] [-8.32237131e-02 9.95300554e-01 -4.95037397e-02 -5.35795376e+01] [ 6.04019558e-01 8.98923974e-02 7.91883660e-01 -1.86646858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:-53.66, Z:-18.66 [[ 7.90925032e-01 9.16228588e-02 -6.05014748e-01 1.04144489e+02] [-8.36050865e-02 9.95635166e-01 4.14825995e-02 -5.36587483e+01] [ 6.06174714e-01 1.77726840e-02 7.95132912e-01 -1.86646612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.17, Y:-53.69, Z:-18.65 [[ 7.68523390e-01 1.13425486e-01 -6.29687588e-01 1.04166430e+02] [-7.72212404e-02 9.93410065e-01 8.46954755e-02 -5.36921736e+01] [ 6.35144613e-01 -1.64651974e-02 7.72217727e-01 -1.86506921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-53.62, Z:-18.62 [[ 7.93358754e-01 6.18265177e-02 -6.05606613e-01 1.04184321e+02] [-7.81197103e-02 9.96943828e-01 -5.60414666e-04 -5.36181104e+01] [ 6.03721127e-01 4.77544231e-02 7.95763983e-01 -1.86188953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-53.66, Z:-18.61 [[ 7.93322653e-01 8.62588786e-02 -6.02659584e-01 1.04209777e+02] [-7.75923013e-02 9.96164615e-01 4.04412588e-02 -5.36562629e+01] [ 6.03836570e-01 1.46787773e-02 7.96972979e-01 -1.86098109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.23, Y:-53.66, Z:-18.59 [[ 7.93221518e-01 8.43136827e-02 -6.03067845e-01 1.04232348e+02] [-7.54385056e-02 9.96344958e-01 4.00718873e-02 -5.36557031e+01] [ 6.04242215e-01 1.37086537e-02 7.96682759e-01 -1.85939694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-53.66, Z:-18.58 [[ 7.92067527e-01 8.28890937e-02 -6.04779655e-01 1.04255165e+02] [-7.38980696e-02 9.96471679e-01 3.97903152e-02 -5.36550002e+01] [ 6.05943981e-01 1.31754325e-02 7.95398202e-01 -1.85771003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.28, Y:-53.70, Z:-18.57 [[ 7.77935798e-01 1.15152430e-01 -6.17702042e-01 1.04278105e+02] [-7.18762877e-02 9.92919194e-01 9.45794524e-02 -5.37019116e+01] [ 6.24219268e-01 -2.91786121e-02 7.80704115e-01 -1.85677807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.29, Y:-53.63, Z:-18.53 [[ 7.70011412e-01 6.25989246e-02 -6.34951809e-01 1.04292894e+02] [-6.95510219e-02 9.97480224e-01 1.39949341e-02 -5.36262709e+01] [ 6.34227941e-01 3.33852882e-02 7.72424975e-01 -1.85349490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:-53.62, Z:-18.52 [[ 7.93628522e-01 6.16622192e-02 -6.05269808e-01 1.04317256e+02] [-7.03282220e-02 9.97479571e-01 9.40460113e-03 -5.36217320e+01] [ 6.04324177e-01 3.51037897e-02 7.95964832e-01 -1.85178868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-53.65, Z:-18.51 [[ 7.93381980e-01 7.86898759e-02 -6.03616549e-01 1.04342111e+02] [-6.91856129e-02 9.96840564e-01 3.90158981e-02 -5.36495321e+01] [ 6.04779617e-01 1.08070704e-02 7.96319547e-01 -1.85063159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:-53.65, Z:-18.49 [[ 7.94573736e-01 7.70237219e-02 -6.02262339e-01 1.04363617e+02] [-6.74331215e-02 9.96979205e-01 3.85387899e-02 -5.36496392e+01] [ 6.03411429e-01 9.99051916e-03 7.97367442e-01 -1.84892325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.39, Y:-53.65, Z:-18.47 [[ 7.94640937e-01 7.51491692e-02 -6.02410478e-01 1.04385723e+02] [-6.53730673e-02 9.97131133e-01 3.81558117e-02 -5.36499312e+01] [ 6.03549620e-01 9.06125080e-03 7.97273949e-01 -1.84717926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:-53.65, Z:-18.46 [[ 7.94965628e-01 7.18167789e-02 -6.02388580e-01 1.04408209e+02] [-6.14870219e-02 9.97393159e-01 3.77654820e-02 -5.36483988e+01] [ 6.03530444e-01 7.01681966e-03 7.97309079e-01 -1.84556363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:104.43, Y:-53.75, Z:-18.46 [[ 7.69962989e-01 1.34229228e-01 -6.23810476e-01 1.04428660e+02] [-5.20477590e-02 9.87577655e-01 1.48261277e-01 -5.37476318e+01] [ 6.35962283e-01 -8.16877586e-02 7.67384574e-01 -1.84571162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.43, Y:-53.53, Z:-18.39 [[ 7.98653125e-01 -7.67566869e-03 -6.01742694e-01 1.04432954e+02] [-5.94888672e-02 9.94014135e-01 -9.16350019e-02 -5.35313056e+01] [ 5.98844103e-01 1.08981572e-01 7.93415879e-01 -1.83884336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:-53.65, Z:-18.40 [[ 7.96623618e-01 7.08055794e-02 -6.00314402e-01 1.04471870e+02] [-6.03169164e-02 9.97470556e-01 3.76079609e-02 -5.36457675e+01] [ 6.01458794e-01 6.24972374e-03 7.98879378e-01 -1.84018166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.49, Y:-53.65, Z:-18.38 [[ 7.96326374e-01 6.94033839e-02 -6.00872263e-01 1.04494309e+02] [-5.88308316e-02 9.97572499e-01 3.72564447e-02 -5.36487995e+01] [ 6.01999368e-01 5.68152538e-03 7.98476350e-01 -1.83848820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.52, Y:-53.65, Z:-18.37 [[ 7.97125928e-01 6.81475087e-02 -5.99955141e-01 1.04517135e+02] [-5.75811960e-02 9.97661714e-01 3.68172460e-02 -5.36518707e+01] [ 6.01061278e-01 5.19815318e-03 7.99186035e-01 -1.83683845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.54, Y:-53.65, Z:-18.35 [[ 7.98462040e-01 6.57304910e-02 -5.98446216e-01 1.04538587e+02] [-5.49062035e-02 9.97830014e-01 3.63396692e-02 -5.36523114e+01] [ 5.99536221e-01 3.84256336e-03 8.00338400e-01 -1.83511949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:-53.65, Z:-18.33 [[ 7.98071372e-01 6.33415459e-02 -5.99224444e-01 1.04560623e+02] [-5.21757289e-02 9.97988697e-01 3.60035234e-02 -5.36525037e+01] [ 6.00299741e-01 2.53159089e-03 7.99771100e-01 -1.83337548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:104.58, Y:-53.65, Z:-18.32 [[ 7.98255912e-01 6.09235995e-02 -5.99229351e-01 1.04583056e+02] [-4.94390392e-02 9.98141722e-01 3.56213881e-02 -5.36538100e+01] [ 6.00285999e-01 1.19033974e-03 7.99784535e-01 -1.83166437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.61, Y:-53.66, Z:-18.30 [[ 7.98275220e-01 5.90802120e-02 -5.99388189e-01 1.04605043e+02] [-4.74151276e-02 9.98253199e-01 3.52470894e-02 -5.36566393e+01] [ 6.00423582e-01 2.83189424e-04 7.99682088e-01 -1.82996032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.63, Y:-53.66, Z:-18.28 [[ 7.96582849e-01 5.62294129e-02 -6.01908646e-01 1.04627155e+02] [-4.40226951e-02 9.98416907e-01 3.50097523e-02 -5.36628448e+01] [ 6.02924346e-01 -1.39052747e-03 7.97797154e-01 -1.82837806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.65, Y:-53.67, Z:-18.27 [[ 7.95739103e-01 5.48762958e-02 -6.03148301e-01 1.04648859e+02] [-4.25599951e-02 9.98491278e-01 3.46960282e-02 -5.36667239e+01] [ 6.04142307e-01 -1.93899762e-03 7.96874089e-01 -1.82667964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:-53.67, Z:-18.25 [[ 7.96362080e-01 5.40738476e-02 -6.02398088e-01 1.04670421e+02] [-4.18795570e-02 9.98534810e-01 3.42685816e-02 -5.36703157e+01] [ 6.03368495e-01 -2.06203379e-03 7.97459847e-01 -1.82499252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-53.67, Z:-18.23 [[ 7.96581506e-01 5.41140794e-02 -6.02104285e-01 1.04692166e+02] [-4.22343178e-02 9.98533559e-01 3.38673023e-02 -5.36740696e+01] [ 6.03054033e-01 -1.54860292e-03 7.97698838e-01 -1.82330804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:-53.68, Z:-18.22 [[ 7.96004916e-01 5.43040602e-02 -6.02849270e-01 1.04713451e+02] [-4.27300200e-02 9.98524016e-01 3.35251336e-02 -5.36761048e+01] [ 6.03780025e-01 -9.26409830e-04 7.97150439e-01 -1.82157103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:-53.74, Z:-18.21 [[ 7.78231141e-01 9.76863382e-02 -6.20333515e-01 1.04737164e+02] [-4.21486390e-02 9.93724676e-01 1.03608688e-01 -5.37414438e+01] [ 6.26561875e-01 -5.44852938e-02 7.77464835e-01 -1.82089269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-53.62, Z:-18.17 [[ 7.97606978e-01 1.40867221e-02 -6.03012996e-01 1.04748761e+02] [-4.65088837e-02 9.98187229e-01 -3.81992166e-02 -5.36194671e+01] [ 6.01381769e-01 5.85134230e-02 7.96816257e-01 -1.81650225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:-53.69, Z:-18.16 [[ 7.97337295e-01 5.85364477e-02 -6.00688540e-01 1.04778318e+02] [-4.85814927e-02 9.98280664e-01 3.27956447e-02 -5.36867664e+01] [ 6.01575496e-01 3.03315528e-03 7.98810192e-01 -1.81616538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.80, Y:-53.74, Z:-18.16 [[ 7.81815408e-01 9.57678875e-02 -6.16111336e-01 1.04801909e+02] [-5.12880362e-02 9.94662928e-01 8.95276343e-02 -5.37393209e+01] [ 6.21396978e-01 -3.83949434e-02 7.82554550e-01 -1.81551648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-53.72, Z:-18.13 [[ 7.73463166e-01 8.50366312e-02 -6.28111058e-01 1.04822221e+02] [-5.10252940e-02 9.96096925e-01 7.20231572e-02 -5.37226439e+01] [ 6.31784100e-01 -2.36577078e-02 7.74783301e-01 -1.81340107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:104.83, Y:-53.60, Z:-18.09 [[ 7.99251559e-01 3.39785270e-03 -6.00987022e-01 1.04832792e+02] [-5.42347412e-02 9.96311786e-01 -6.64937499e-02 -5.35999845e+01] [ 5.98544517e-01 8.57396089e-02 7.96488029e-01 -1.80890624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:-53.69, Z:-18.09 [[ 7.99199117e-01 6.47030673e-02 -5.97573665e-01 1.04866115e+02] [-5.69041247e-02 9.97868557e-01 3.19415519e-02 -5.36892954e+01] [ 5.98366687e-01 8.47674629e-03 8.01177541e-01 -1.80931673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:-53.76, Z:-18.09 [[ 7.80422562e-01 1.11863064e-01 -6.15164433e-01 1.04886311e+02] [-5.26558872e-02 9.92129101e-01 1.13609883e-01 -5.37649672e+01] [ 6.23031285e-01 -5.62716867e-02 7.80170183e-01 -1.80883247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:-53.61, Z:-18.03 [[ 8.02682991e-01 1.01202431e-02 -5.96320045e-01 1.04895697e+02] [-5.87332066e-02 9.96337219e-01 -6.21494638e-02 -5.36102249e+01] [ 5.93506888e-01 8.49101059e-02 8.00337334e-01 -1.80343310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-53.70, Z:-18.04 [[ 8.01408996e-01 6.68608741e-02 -5.94367937e-01 1.04928533e+02] [-5.98708052e-02 9.97708777e-01 3.15068797e-02 -5.36959983e+01] [ 5.95112685e-01 1.03353902e-02 8.03575803e-01 -1.80365033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:-53.70, Z:-18.02 [[ 8.01078991e-01 6.58749597e-02 -5.94922634e-01 1.04952403e+02] [-5.89151299e-02 9.97776819e-01 3.11516723e-02 -5.36963316e+01] [ 5.95652129e-01 1.00949941e-02 8.03179079e-01 -1.80215224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:-53.70, Z:-18.01 [[ 8.01771210e-01 6.46187942e-02 -5.94127376e-01 1.04975427e+02] [-5.76534786e-02 9.97863677e-01 3.07271623e-02 -5.36958902e+01] [ 5.94843680e-01 9.61735591e-03 8.03783866e-01 -1.80057183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:-53.69, Z:-17.99 [[ 8.01912123e-01 6.39863809e-02 -5.94005631e-01 1.04997622e+02] [-5.71519169e-02 9.97904409e-01 3.03388986e-02 -5.36949621e+01] [ 5.94702114e-01 9.61942987e-03 8.03888588e-01 -1.79881398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-53.70, Z:-17.97 [[ 8.01700988e-01 6.34534928e-02 -5.94347693e-01 1.05019935e+02] [-5.67648792e-02 9.97937568e-01 2.99726319e-02 -5.36951091e+01] [ 5.95023760e-01 9.70898643e-03 8.03649464e-01 -1.79706162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.04, Y:-53.70, Z:-17.95 [[ 8.01395278e-01 6.23725065e-02 -5.94874170e-01 1.05040459e+02] [-5.56959837e-02 9.98008641e-01 2.96092904e-02 -5.36981311e+01] [ 5.95536368e-01 9.40335657e-03 8.03273311e-01 -1.79522173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:-53.70, Z:-17.94 [[ 8.01494261e-01 6.13585403e-02 -5.94846265e-01 1.05062515e+02] [-5.47199435e-02 9.98074044e-01 2.92220811e-02 -5.37003424e+01] [ 5.95493642e-01 9.12862370e-03 8.03308154e-01 -1.79358408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.09, Y:-53.70, Z:-17.92 [[ 8.02102677e-01 5.98832889e-02 -5.94176142e-01 1.05085558e+02] [-5.31814887e-02 9.98169257e-01 2.88073558e-02 -5.37019101e+01] [ 5.94813437e-01 8.49271457e-03 8.03818916e-01 -1.79193478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:-53.78, Z:-17.92 [[ 7.85118432e-01 1.07483195e-01 -6.09947875e-01 1.05110113e+02] [-4.93625833e-02 9.92552778e-01 1.11365697e-01 -5.37775441e+01] [ 6.17375398e-01 -5.73266587e-02 7.84577129e-01 -1.79158299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.12, Y:-53.63, Z:-17.87 [[ 8.05959051e-01 4.44549700e-03 -5.91954598e-01 1.05119426e+02] [-4.76901316e-02 9.97209125e-01 -5.74422483e-02 -5.36265788e+01] [ 5.90047168e-01 7.45264926e-02 8.03921726e-01 -1.78683109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.15, Y:-53.70, Z:-17.87 [[ 8.05670866e-01 5.43247746e-02 -5.89867167e-01 1.05151495e+02] [-4.67399638e-02 9.98511222e-01 2.81196696e-02 -5.37038490e+01] [ 5.90516580e-01 4.91517145e-03 8.07010539e-01 -1.78687686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:-53.70, Z:-17.85 [[ 8.05466491e-01 5.32673024e-02 -5.90242599e-01 1.05172973e+02] [-4.56949987e-02 9.98569643e-01 2.77603157e-02 -5.37032071e+01] [ 5.90877059e-01 4.61113067e-03 8.06748436e-01 -1.78513226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:-53.70, Z:-17.83 [[ 8.04933933e-01 5.22781886e-02 -5.91056980e-01 1.05194261e+02] [-4.47226989e-02 9.98623036e-01 2.74210203e-02 -5.37026282e+01] [ 5.91676637e-01 4.36155361e-03 8.06163590e-01 -1.78332207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:-53.70, Z:-17.82 [[ 8.04817614e-01 5.07464386e-02 -5.91348804e-01 1.05216201e+02] [-4.30915790e-02 9.98704691e-01 2.70565264e-02 -5.37047413e+01] [ 5.91955847e-01 3.70658465e-03 8.05961870e-01 -1.78169277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:-53.71, Z:-17.80 [[ 8.04585499e-01 4.94475035e-02 -5.91774551e-01 1.05238895e+02] [-4.17448369e-02 9.98771526e-01 2.66984581e-02 -5.37075531e+01] [ 5.92367744e-01 3.22233991e-03 8.05661264e-01 -1.78002071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:-53.71, Z:-17.78 [[ 8.05541884e-01 4.68738150e-02 -5.90681909e-01 1.05262206e+02] [-3.88618161e-02 9.98899209e-01 2.62703089e-02 -5.37122249e+01] [ 5.91263082e-01 1.79313759e-03 8.06476753e-01 -1.77846858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.28, Y:-53.71, Z:-17.77 [[ 8.06022046e-01 4.45541531e-02 -5.90206225e-01 1.05283535e+02] [-3.62774989e-02 9.99006815e-01 2.58713616e-02 -5.37142693e+01] [ 5.90772718e-01 5.58317886e-04 8.06837830e-01 -1.77668232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.31, Y:-53.82, Z:-17.77 [[ 7.82124062e-01 1.06817451e-01 -6.13899001e-01 1.05305670e+02] [-2.84835173e-02 9.90296379e-01 1.36021219e-01 -5.38156383e+01] [ 6.22471397e-01 -8.88994653e-02 7.77577163e-01 -1.77663584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:-53.61, Z:-17.70 [[ 8.06454751e-01 -3.54547060e-02 -5.90231902e-01 1.05310215e+02] [-2.74140917e-02 9.94885414e-01 -9.72187273e-02 -5.36101334e+01] [ 5.90659971e-01 9.45831760e-02 8.01358111e-01 -1.77036710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:-53.72, Z:-17.71 [[ 8.06515677e-01 3.73087618e-02 -5.90034337e-01 1.05348016e+02] [-2.75434042e-02 9.99294339e-01 2.55379157e-02 -5.37235033e+01] [ 5.90570761e-01 -4.34517512e-03 8.06974161e-01 -1.77140391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:-53.73, Z:-17.70 [[ 8.07149541e-01 3.60413752e-02 -5.89245821e-01 1.05369846e+02] [-2.62775243e-02 9.99338773e-01 2.51298380e-02 -5.37281408e+01] [ 5.89761909e-01 -4.79961584e-03 8.07562910e-01 -1.76973938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:-53.73, Z:-17.68 [[ 8.07164720e-01 3.54404279e-02 -5.89261479e-01 1.05392459e+02] [-2.58048386e-02 9.99360368e-01 2.47581155e-02 -5.37290470e+01] [ 5.89762007e-01 -4.77808004e-03 8.07562967e-01 -1.76802564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.41, Y:-53.73, Z:-17.66 [[ 8.08253958e-01 3.47667794e-02 -5.87806780e-01 1.05413183e+02] [-2.52767186e-02 9.99383799e-01 2.43538332e-02 -5.37337437e+01] [ 5.88291278e-01 -4.82625552e-03 8.08634701e-01 -1.76624781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:-53.74, Z:-17.65 [[ 8.08815052e-01 3.47094412e-02 -5.87037875e-01 1.05435600e+02] [-2.55007958e-02 9.99387735e-01 2.39554601e-02 -5.37392636e+01] [ 5.87509933e-01 -4.40560371e-03 8.09204962e-01 -1.76453860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:-53.83, Z:-17.64 [[ 7.84076579e-01 9.14788037e-02 -6.13885613e-01 1.05456994e+02] [-1.94766059e-02 9.92217989e-01 1.22980181e-01 -5.38311409e+01] [ 6.20358428e-01 -8.44694719e-02 7.79756583e-01 -1.76432076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:-53.65, Z:-17.59 [[ 8.07892359e-01 -3.07024086e-02 -5.88529777e-01 1.05465693e+02] [-2.50688338e-02 9.95947737e-01 -8.63693149e-02 -5.36466453e+01] [ 5.88796646e-01 8.45308647e-02 8.03848893e-01 -1.75901548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:-53.75, Z:-17.59 [[ 8.08207230e-01 3.65553256e-02 -5.87762521e-01 1.05500238e+02] [-2.80406894e-02 9.99328279e-01 2.35947039e-02 -5.37527226e+01] [ 5.88230221e-01 -2.58814397e-03 8.08689377e-01 -1.75947953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.52, Y:-53.76, Z:-17.58 [[ 8.08791409e-01 3.64087794e-02 -5.86967509e-01 1.05521842e+02] [-2.81542628e-02 9.99334486e-01 2.31931457e-02 -5.37571734e+01] [ 5.87421309e-01 -2.23277948e-03 8.09278210e-01 -1.75780635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:-53.76, Z:-17.56 [[ 8.08569430e-01 3.60765235e-02 -5.87293761e-01 1.05544551e+02] [-2.80010548e-02 9.99346988e-01 2.28372393e-02 -5.37603627e+01] [ 5.87734139e-01 -2.02064878e-03 8.09051605e-01 -1.75618562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:-53.77, Z:-17.55 [[ 8.09217456e-01 3.76416910e-02 -5.86302151e-01 1.05567026e+02] [-3.02348428e-02 9.99291212e-01 2.24260621e-02 -5.37653942e+01] [ 5.86730742e-01 -4.20807547e-04 8.09781983e-01 -1.75456784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:-53.77, Z:-17.53 [[ 8.09074082e-01 3.85482583e-02 -5.86441099e-01 1.05588846e+02] [-3.16211688e-02 9.99256496e-01 2.20580199e-02 -5.37679790e+01] [ 5.86855376e-01 6.97380779e-04 8.09691473e-01 -1.75282129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:-53.77, Z:-17.51 [[ 8.08991718e-01 4.12053053e-02 -5.86374047e-01 1.05610685e+02] [-3.51769224e-02 9.99145928e-01 2.16794624e-02 -5.37704778e+01] [ 5.86766550e-01 3.08832880e-03 8.09750257e-01 -1.75104043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:-53.77, Z:-17.49 [[ 8.09213801e-01 4.27908081e-02 -5.85953899e-01 1.05632013e+02] [-3.74128906e-02 9.99073034e-01 2.12919738e-02 -5.37711361e+01] [ 5.86321840e-01 4.69247002e-03 8.10064615e-01 -1.74930808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:-53.77, Z:-17.48 [[ 8.09268743e-01 4.35855108e-02 -5.85819430e-01 1.05653731e+02] [-3.86662288e-02 9.99033290e-01 2.09143045e-02 -5.37711025e+01] [ 5.86164673e-01 5.72613521e-03 8.10171702e-01 -1.74763501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-53.77, Z:-17.46 [[ 8.08671218e-01 4.52773342e-02 -5.86515835e-01 1.05676799e+02] [-4.10153086e-02 9.98946856e-01 2.05650902e-02 -5.37710794e+01] [ 5.86829282e-01 7.42573146e-03 8.09676634e-01 -1.74600492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:-53.81, Z:-17.45 [[ 7.85701539e-01 7.29145066e-02 -6.14293550e-01 1.05699191e+02] [-4.15965738e-02 9.97008903e-01 6.51381088e-02 -5.38104335e+01] [ 6.17205651e-01 -2.56266054e-02 7.86384423e-01 -1.74476773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:-53.73, Z:-17.42 [[ 8.09336023e-01 2.51973558e-02 -5.86805159e-01 1.05719347e+02] [-4.69473985e-02 9.98657950e-01 -2.18687257e-02 -5.37338889e+01] [ 5.85466603e-01 4.52481232e-02 8.09432804e-01 -1.74213007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:-53.77, Z:-17.41 [[ 8.09600100e-01 5.07172706e-02 -5.84786660e-01 1.05745507e+02] [-4.83589445e-02 9.98636525e-01 1.96596698e-02 -5.37721761e+01] [ 5.84986403e-01 1.23631950e-02 8.10948864e-01 -1.74106646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:-53.77, Z:-17.39 [[ 8.09730058e-01 5.10535937e-02 -5.84577423e-01 1.05766696e+02] [-4.90443012e-02 9.98610525e-01 1.92789026e-02 -5.37721915e+01] [ 5.84749424e-01 1.30594843e-02 8.11108846e-01 -1.73931422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:-53.77, Z:-17.37 [[ 8.09364658e-01 5.15378937e-02 -5.85040765e-01 1.05788022e+02] [-4.99120581e-02 9.98574446e-01 1.89172593e-02 -5.37695840e+01] [ 5.85181713e-01 1.38896276e-02 8.10783227e-01 -1.73746125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.81, Y:-53.80, Z:-17.36 [[ 7.88385893e-01 7.23310706e-02 -6.10913988e-01 1.05810331e+02] [-4.89267053e-02 9.97290365e-01 5.49372845e-02 -5.38001896e+01] [ 6.13232306e-01 -1.34217715e-02 7.89788576e-01 -1.73607112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:-53.74, Z:-17.34 [[ 8.11240516e-01 3.11794926e-02 -5.83880694e-01 1.05829273e+02] [-5.02336066e-02 9.98601709e-01 -1.64685053e-02 -5.37361055e+01] [ 5.82550779e-01 4.26903518e-02 8.11672424e-01 -1.73351276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:-53.76, Z:-17.32 [[ 8.10636373e-01 5.18970544e-02 -5.83245546e-01 1.05856026e+02] [-5.09747261e-02 9.98537695e-01 1.80013342e-02 -5.37638074e+01] [ 5.83326879e-01 1.51382457e-02 8.12096414e-01 -1.73249831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:-53.76, Z:-17.31 [[ 8.09994816e-01 5.12149456e-02 -5.84196394e-01 1.05878467e+02] [-5.04055168e-02 9.98572784e-01 1.76544114e-02 -5.37623737e+01] [ 5.84266790e-01 1.51467394e-02 8.11420295e-01 -1.73091813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:-53.76, Z:-17.29 [[ 8.09397653e-01 5.04681544e-02 -5.85088374e-01 1.05901541e+02] [-4.97534476e-02 9.98611519e-01 1.73097896e-02 -5.37608519e+01] [ 5.85149583e-01 1.50996606e-02 8.10784784e-01 -1.72933352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.92, Y:-53.76, Z:-17.28 [[ 8.08482301e-01 4.93708445e-02 -5.86445981e-01 1.05924238e+02] [-4.86712148e-02 9.98670584e-01 1.69758081e-02 -5.37592841e+01] [ 5.86504460e-01 1.48183979e-02 8.09810430e-01 -1.72767373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.95, Y:-53.76, Z:-17.26 [[ 8.10008153e-01 4.66379232e-02 -5.84561114e-01 1.05945426e+02] [-4.55658084e-02 9.98824238e-01 1.65498723e-02 -5.37560903e+01] [ 5.84645661e-01 1.32304682e-02 8.11180871e-01 -1.72590604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.97, Y:-53.76, Z:-17.24 [[ 8.10671161e-01 4.40712907e-02 -5.83840723e-01 1.05967252e+02] [-4.26726221e-02 9.98958490e-01 1.61549642e-02 -5.37561168e+01] [ 5.83944618e-01 1.18176510e-02 8.11707476e-01 -1.72414192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:-53.76, Z:-17.23 [[ 8.10077488e-01 3.80782785e-02 -5.85085044e-01 1.05989455e+02] [-3.55471455e-02 9.99242846e-01 1.58156581e-02 -5.37572468e+01] [ 5.85244277e-01 7.98619462e-03 8.10817708e-01 -1.72253299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:-53.76, Z:-17.21 [[ 8.09500560e-01 3.46917447e-02 -5.86093274e-01 1.06012451e+02] [-3.16301923e-02 9.99379947e-01 1.54678035e-02 -5.37572586e+01] [ 5.86266470e-01 6.01704736e-03 8.10095934e-01 -1.72088985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.04, Y:-53.76, Z:-17.19 [[ 8.09686598e-01 3.12637990e-02 -5.86029170e-01 1.06035469e+02] [-2.76715069e-02 9.99503171e-01 1.50897232e-02 -5.37575085e+01] [ 5.86209775e-01 3.99836357e-03 8.10149438e-01 -1.71923008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.06, Y:-53.76, Z:-17.18 [[ 8.09387508e-01 2.80762264e-02 -5.86603433e-01 1.06058235e+02] [-2.40017211e-02 9.99603451e-01 1.47261319e-02 -5.37588922e+01] [ 5.86784270e-01 2.16034477e-03 8.09740423e-01 -1.71757473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.08, Y:-53.76, Z:-17.16 [[ 8.10496922e-01 2.26378050e-02 -5.85305278e-01 1.06079271e+02] [-1.75804339e-02 9.99742863e-01 1.43226053e-02 -5.37632526e+01] [ 5.85479007e-01 -1.31850675e-03 8.10686496e-01 -1.71580248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.10, Y:-53.77, Z:-17.14 [[ 8.09613769e-01 1.97513700e-02 -5.86630572e-01 1.06101246e+02] [-1.42617801e-02 9.99800565e-01 1.39796625e-02 -5.37663195e+01] [ 5.86789695e-01 -2.95173103e-03 8.09733994e-01 -1.71412244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:-53.77, Z:-17.13 [[ 8.09323539e-01 1.64805171e-02 -5.87131843e-01 1.06123571e+02] [-1.04797132e-02 9.99852328e-01 1.36197771e-02 -5.37715018e+01] [ 5.87269601e-01 -4.86983287e-03 8.09376736e-01 -1.71253841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-53.88, Z:-17.12 [[ 7.83772164e-01 8.22824156e-02 -6.15573552e-01 1.06145598e+02] [-1.08717875e-03 9.91364667e-01 1.31129381e-01 -5.38812492e+01] [ 6.21047512e-01 -1.02106321e-01 7.77093487e-01 -1.71236766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-53.66, Z:-17.06 [[ 8.11885936e-01 -6.49844286e-02 -5.80188117e-01 1.06149218e+02] [-7.42404505e-03 9.92556213e-01 -1.21560877e-01 -5.36572832e+01] [ 5.83768885e-01 1.03000909e-01 8.05359983e-01 -1.70632791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.19, Y:-53.78, Z:-17.07 [[ 8.12927395e-01 1.42224559e-02 -5.82191354e-01 1.06188130e+02] [-7.82230639e-03 9.99878223e-01 1.35037332e-02 -5.37804745e+01] [ 5.82312512e-01 -6.42347552e-03 8.12939651e-01 -1.70735078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.21, Y:-53.79, Z:-17.06 [[ 8.13302332e-01 1.39074772e-02 -5.81675080e-01 1.06210749e+02] [-7.70604241e-03 9.99884078e-01 1.31319409e-02 -5.37864973e+01] [ 5.81790283e-01 -6.19782534e-03 8.13315224e-01 -1.70567737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.23, Y:-53.79, Z:-17.04 [[ 8.13626644e-01 1.43800214e-02 -5.81209858e-01 1.06233436e+02] [-8.55551587e-03 9.99881962e-01 1.27618764e-02 -5.37899988e+01] [ 5.81324769e-01 -5.41085253e-03 8.13653634e-01 -1.70404892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-53.89, Z:-17.04 [[ 7.91450203e-01 7.68323289e-02 -6.06385496e-01 1.06255598e+02] [-4.56666295e-03 9.92783836e-01 1.19830716e-01 -5.38901769e+01] [ 6.11216592e-01 -9.20708860e-02 7.86089836e-01 -1.70357149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.26, Y:-53.69, Z:-16.98 [[ 8.16045201e-01 -5.14833895e-02 -5.75690621e-01 1.06262165e+02] [-1.04201676e-02 9.94552740e-01 -1.03712431e-01 -5.36929183e+01] [ 5.77894152e-01 9.06328243e-02 8.11063524e-01 -1.69838089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.30, Y:-53.82, Z:-16.99 [[ 7.94446170e-01 3.35116337e-02 -6.06409312e-01 1.06297842e+02] [-1.40554253e-02 9.99223590e-01 3.68057279e-02 -5.38187816e+01] [ 6.07171910e-01 -2.07168288e-02 7.94300374e-01 -1.69899072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:-53.78, Z:-16.97 [[ 8.16240578e-01 7.86848322e-03 -5.77658555e-01 1.06318668e+02] [-1.41542730e-02 9.99879466e-01 -6.38051172e-03 -5.37827701e+01] [ 5.77538723e-01 1.33843695e-02 8.16253565e-01 -1.69705604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.34, Y:-53.80, Z:-16.96 [[ 8.17123732e-01 2.22871545e-02 -5.76031326e-01 1.06342943e+02] [-1.91144448e-02 9.99750395e-01 1.15666019e-02 -5.38018284e+01] [ 5.76145333e-01 1.55917407e-03 8.17345780e-01 -1.69566132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.37, Y:-53.80, Z:-16.94 [[ 8.17536811e-01 2.32293046e-02 -5.75407648e-01 1.06365747e+02] [-2.05305016e-02 9.99726610e-01 1.11894813e-02 -5.38030304e+01] [ 5.75510261e-01 2.66559473e-03 8.17790214e-01 -1.69399508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:-53.80, Z:-16.92 [[ 8.17114465e-01 2.51791229e-02 -5.75925311e-01 1.06388662e+02] [-2.31691836e-02 9.99672864e-01 1.08330207e-02 -5.38037810e+01] [ 5.76009670e-01 4.49190131e-03 8.17430537e-01 -1.69233043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:-53.80, Z:-16.91 [[ 8.15133373e-01 2.91681031e-02 -5.78538509e-01 1.06412453e+02] [-2.83071178e-02 9.99544014e-01 1.05104957e-02 -5.38035706e+01] [ 5.78581275e-01 7.80930190e-03 8.15587349e-01 -1.69080725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.44, Y:-53.80, Z:-16.89 [[ 8.14932351e-01 3.03266905e-02 -5.78762089e-01 1.06435211e+02] [-2.99744308e-02 9.99498956e-01 1.01671520e-02 -5.38022677e+01] [ 5.78780440e-01 9.06252311e-03 8.15433059e-01 -1.68918786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:-53.80, Z:-16.88 [[ 8.14436827e-01 3.13088025e-02 -5.79406950e-01 1.06458377e+02] [-3.14484799e-02 9.99457315e-01 9.80142113e-03 -5.38001639e+01] [ 5.79399385e-01 1.02388295e-02 8.14979459e-01 -1.68755074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:-53.87, Z:-16.87 [[ 7.89438685e-01 7.97640480e-02 -6.08624892e-01 1.06480793e+02] [-3.16035377e-02 9.95487780e-01 8.94723180e-02 -5.38686425e+01] [ 6.13015317e-01 -5.13982093e-02 7.88397390e-01 -1.68651346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.50, Y:-53.77, Z:-16.83 [[ 7.92294302e-01 1.36846540e-02 -6.09985630e-01 1.06496485e+02] [-3.55175754e-02 9.99087541e-01 -2.37189282e-02 -5.37664762e+01] [ 6.09104458e-01 4.04575823e-02 7.92057412e-01 -1.68336109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.52, Y:-53.76, Z:-16.82 [[ 8.17324208e-01 9.17054988e-03 -5.76105060e-01 1.06520450e+02] [-3.49580928e-02 9.98820564e-01 -3.36958708e-02 -5.37577636e+01] [ 5.75116571e-01 4.76799850e-02 8.16680812e-01 -1.68179910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.55, Y:-53.79, Z:-16.81 [[ 8.16642891e-01 3.39970920e-02 -5.76141116e-01 1.06546849e+02] [-3.55606077e-02 9.99330827e-01 8.56391671e-03 -5.37902046e+01] [ 5.76046726e-01 1.34942665e-02 8.17305374e-01 -1.68073058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:-53.79, Z:-16.79 [[ 8.16991693e-01 3.35879584e-02 -5.75670412e-01 1.06569202e+02] [-3.53174104e-02 9.99342627e-01 8.18497463e-03 -5.37873335e+01] [ 5.75566898e-01 1.36441319e-02 8.17640865e-01 -1.67909371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.59, Y:-53.79, Z:-16.77 [[ 8.17537976e-01 3.25194494e-02 -5.74955775e-01 1.06592078e+02] [-3.42434073e-02 9.99382820e-01 7.83380807e-03 -5.37863744e+01] [ 5.74855675e-01 1.32840092e-02 8.18146984e-01 -1.67743314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.62, Y:-53.86, Z:-16.77 [[ 7.90289130e-01 7.94151270e-02 -6.07565904e-01 1.06615967e+02] [-3.10118371e-02 9.95478617e-01 8.97807837e-02 -5.38606916e+01] [ 6.11948818e-01 -5.21110427e-02 7.89178740e-01 -1.67653537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:106.63, Y:-53.71, Z:-16.73 [[ 8.19994350e-01 -1.69370762e-02 -5.72120968e-01 1.06626334e+02] [-3.10483019e-02 9.96774162e-01 -7.40086003e-02 -5.37137487e+01] [ 5.71528888e-01 7.84500186e-02 8.16823313e-01 -1.67266099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.66, Y:-53.78, Z:-16.72 [[ 8.18408401e-01 2.99957475e-02 -5.73853591e-01 1.06658142e+02] [-3.16405864e-02 9.99473961e-01 7.11862210e-03 -5.37839999e+01] [ 5.73765250e-01 1.23311240e-02 8.18926969e-01 -1.67246929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.68, Y:-53.78, Z:-16.71 [[ 8.18246298e-01 2.87822889e-02 -5.74146824e-01 1.06681193e+02] [-3.04184390e-02 9.99514424e-01 6.75530663e-03 -5.37810851e+01] [ 5.74062466e-01 1.19371455e-02 8.18724490e-01 -1.67082245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.70, Y:-53.78, Z:-16.69 [[ 8.18804694e-01 2.77342619e-02 -5.73401852e-01 1.06703823e+02] [-2.93891354e-02 9.99547691e-01 6.37904369e-03 -5.37785861e+01] [ 5.73319415e-01 1.16285937e-02 8.19249427e-01 -1.66913233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.73, Y:-53.77, Z:-16.67 [[ 8.18979435e-01 2.72478270e-02 -5.73175577e-01 1.06725635e+02] [-2.90500865e-02 9.99559893e-01 6.00934819e-03 -5.37739678e+01] [ 5.73087060e-01 1.17292675e-02 8.19410548e-01 -1.66742390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-53.77, Z:-16.66 [[ 8.18243931e-01 2.69547489e-02 -5.74238898e-01 1.06748284e+02] [-2.89615458e-02 9.99564549e-01 5.65165890e-03 -5.37716335e+01] [ 5.74141184e-01 1.20064105e-02 8.18668277e-01 -1.66587777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:-53.77, Z:-16.64 [[ 8.18261620e-01 2.63414358e-02 -5.74242152e-01 1.06771235e+02] [-2.84569561e-02 9.99580953e-01 5.30292391e-03 -5.37717867e+01] [ 5.74141204e-01 1.20020046e-02 8.18668327e-01 -1.66420736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.79, Y:-53.77, Z:-16.63 [[ 8.17983151e-01 2.53366085e-02 -5.74683932e-01 1.06794142e+02] [-2.74828021e-02 9.99610007e-01 4.95273709e-03 -5.37698539e+01] [ 5.74585295e-01 1.17426693e-02 8.18360464e-01 -1.66260408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.82, Y:-53.81, Z:-16.61 [[ 7.96032295e-01 5.04312168e-02 -6.03149466e-01 1.06818348e+02] [-2.70481471e-02 9.98491165e-01 4.77890265e-02 -5.38065033e+01] [ 6.04649471e-01 -2.17275329e-02 7.96195284e-01 -1.66131136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:-53.73, Z:-16.58 [[ 8.19682620e-01 2.42689128e-03 -5.72812808e-01 1.06833683e+02] [-2.64100717e-02 9.99087724e-01 -3.35593046e-02 -5.37332066e+01] [ 5.72208800e-01 4.26360060e-02 8.18998938e-01 -1.65846395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.86, Y:-53.76, Z:-16.58 [[ 8.18916197e-01 2.46880178e-02 -5.73381865e-01 1.06861188e+02] [-2.73828453e-02 9.99617288e-01 3.93161001e-03 -5.37644330e+01] [ 5.73259489e-01 1.24811678e-02 8.19278816e-01 -1.65754492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:-53.83, Z:-16.57 [[ 7.98184246e-01 7.53822534e-02 -5.97678362e-01 1.06889660e+02] [-2.80469521e-02 9.95714177e-01 8.81285761e-02 -5.38320432e+01] [ 6.01760150e-01 -5.35797847e-02 7.96877612e-01 -1.65719931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.89, Y:-53.68, Z:-16.53 [[ 8.19809962e-01 -2.13158876e-02 -5.72238814e-01 1.06894237e+02] [-2.93769026e-02 9.96425533e-01 -7.92032469e-02 -5.36780548e+01] [ 5.71881652e-01 8.17422146e-02 8.16253383e-01 -1.65264914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:-53.75, Z:-16.53 [[ 8.19462909e-01 2.71948986e-02 -5.72486661e-01 1.06928230e+02] [-3.09239106e-02 9.99516570e-01 3.21536582e-03 -5.37504244e+01] [ 5.72297346e-01 1.50686533e-02 8.19907729e-01 -1.65272236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:-53.75, Z:-16.51 [[ 8.18639977e-01 2.62046290e-02 -5.73708903e-01 1.06949620e+02] [-2.99904938e-02 9.99546090e-01 2.86088860e-03 -5.37484455e+01] [ 5.73523459e-01 1.48637755e-02 8.19054278e-01 -1.65095056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.98, Y:-53.78, Z:-16.50 [[ 7.98546554e-01 4.72491128e-02 -6.00075764e-01 1.06976301e+02] [-2.99123772e-02 9.98797698e-01 3.88382280e-02 -5.37796345e+01] [ 6.01189364e-01 -1.30644405e-02 7.98999793e-01 -1.64963985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.99, Y:-53.75, Z:-16.48 [[ 7.98391755e-01 2.90319075e-02 -6.01438072e-01 1.06994503e+02] [-2.82021087e-02 9.99543774e-01 1.08113064e-02 -5.37530498e+01] [ 6.01477553e-01 8.33016399e-03 7.98846269e-01 -1.64768227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:-53.71, Z:-16.45 [[ 8.20606604e-01 4.03020647e-03 -5.71479273e-01 1.07013473e+02] [-2.55616042e-02 9.99233211e-01 -2.96579524e-02 -5.37138090e+01] [ 5.70921541e-01 3.89454385e-02 8.20080390e-01 -1.64541209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.04, Y:-53.74, Z:-16.44 [[ 8.19611262e-01 2.12729166e-02 -5.72524971e-01 1.07040362e+02] [-2.47864416e-02 9.99691389e-01 1.66124607e-03 -5.37391218e+01] [ 5.72383623e-01 1.28292808e-02 8.19885600e-01 -1.64441923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.06, Y:-53.74, Z:-16.43 [[ 8.19454217e-01 2.05578580e-02 -5.72775838e-01 1.07063025e+02] [-2.41721516e-02 9.99706967e-01 1.29869712e-03 -5.37357194e+01] [ 5.72634695e-01 1.27810016e-02 8.19711018e-01 -1.64271386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.09, Y:-53.73, Z:-16.41 [[ 8.18697692e-01 2.21373507e-02 -5.73797897e-01 1.07085899e+02] [-2.63728669e-02 9.99651735e-01 9.38023317e-04 -5.37293066e+01] [ 5.73618829e-01 1.43647380e-02 8.18996394e-01 -1.64117893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.11, Y:-53.73, Z:-16.39 [[ 8.18656628e-01 2.19082393e-02 -5.73865275e-01 1.07107571e+02] [-2.63454872e-02 9.99652729e-01 5.79793741e-04 -5.37257609e+01] [ 5.73678691e-01 1.46441083e-02 8.18949516e-01 -1.63949856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.13, Y:-53.72, Z:-16.38 [[ 8.19666573e-01 2.25370447e-02 -5.72397406e-01 1.07129136e+02] [-2.73317643e-02 9.99626393e-01 2.19587220e-04 -5.37216705e+01] [ 5.72188504e-01 1.54646427e-02 8.19976318e-01 -1.63773674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.15, Y:-53.72, Z:-16.36 [[ 8.18995903e-01 2.30828281e-02 -5.73334887e-01 1.07153045e+02] [-2.82711869e-02 9.99600280e-01 -1.40205691e-04 -5.37152660e+01] [ 5.73102478e-01 1.63236856e-02 8.19321114e-01 -1.63629952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.18, Y:-53.74, Z:-16.35 [[ 7.97871006e-01 4.03584037e-02 -6.01475732e-01 1.07175664e+02] [-2.49094013e-02 9.99111486e-01 3.39964765e-02 -5.37432922e+01] [ 6.02313356e-01 -1.21424025e-02 7.98167390e-01 -1.63532435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:-53.67, Z:-16.32 [[ 8.20961561e-01 -3.90087071e-04 -5.70983331e-01 1.07190779e+02] [-2.75221802e-02 9.98810371e-01 -4.02538459e-02 -5.36724484e+01] [ 5.70319775e-01 4.87615663e-02 8.19974185e-01 -1.63216999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.22, Y:-53.70, Z:-16.31 [[ 8.22253631e-01 2.12549873e-02 -5.68724180e-01 1.07219087e+02] [-2.61800577e-02 9.99657123e-01 -4.90480291e-04 -5.37028587e+01] [ 5.68518752e-01 1.52925310e-02 8.22528156e-01 -1.63129354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.24, Y:-53.73, Z:-16.30 [[ 8.00556829e-01 3.39661265e-02 -5.98293462e-01 1.07240393e+02] [-1.70450597e-02 9.99279077e-01 3.39233201e-02 -5.37252853e+01] [ 5.99014382e-01 -1.69595978e-02 8.00558644e-01 -1.62999025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-53.65, Z:-16.27 [[ 8.23681483e-01 -9.01005953e-03 -5.66981158e-01 1.07256233e+02] [-1.90071227e-02 9.98873215e-01 -4.34859639e-02 -5.36544364e+01] [ 5.66734103e-01 4.65952637e-02 8.22582116e-01 -1.62671407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.29, Y:-53.69, Z:-16.26 [[ 8.21944968e-01 1.28627893e-02 -5.69421652e-01 1.07287435e+02] [-1.62859165e-02 9.99866951e-01 -9.22074654e-04 -5.36917987e+01] [ 5.69334030e-01 1.00314481e-02 8.22045091e-01 -1.62620997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.732320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.31, Y:-53.68, Z:-16.25 [[ 8.21892391e-01 9.00113391e-03 -5.69571661e-01 1.07310136e+02] [-1.18347928e-02 9.99929153e-01 -1.27539687e-03 -5.36844635e+01] [ 5.69519829e-01 7.78900156e-03 8.21940689e-01 -1.62455600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:107.33, Y:-53.68, Z:-16.23 [[ 8.22864753e-01 7.56556814e-03 -5.68186906e-01 1.07332178e+02] [-1.03153750e-02 9.99945476e-01 -1.62447053e-03 -5.36797181e+01] [ 5.68143636e-01 7.19778056e-03 8.22897929e-01 -1.62287173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.35, Y:-53.68, Z:-16.21 [[ 8.23221263e-01 4.65511479e-03 -5.67701578e-01 1.07354794e+02] [-7.01532069e-03 9.99973446e-01 -1.97316693e-03 -5.36752046e+01] [ 5.67677318e-01 5.60696160e-03 8.23232060e-01 -1.62122807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:107.38, Y:-53.68, Z:-16.20 [[ 8.22957164e-01 2.58459625e-03 -5.68097550e-01 1.07378493e+02] [-4.74570185e-03 9.99986036e-01 -2.32521541e-03 -5.36751871e+01] [ 5.68083607e-01 4.60957427e-03 8.22957937e-01 -1.61968103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.40, Y:-53.68, Z:-16.18 [[ 8.22913987e-01 -1.33122512e-04 -5.68165954e-01 1.07401112e+02] [-1.68499370e-03 9.99995003e-01 -2.67479372e-03 -5.36751677e+01] [ 5.68163471e-01 3.15848122e-03 8.22909651e-01 -1.61809533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:-53.68, Z:-16.17 [[ 8.21905628e-01 -6.90480158e-03 -5.69581831e-01 1.07424435e+02] [ 6.29767197e-03 9.99975565e-01 -3.03475415e-03 -5.36760907e+01] [ 5.69588867e-01 -1.09275801e-03 8.21929029e-01 -1.61659489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.45, Y:-53.70, Z:-16.16 [[ 8.04931068e-01 1.71960034e-03 -5.93365839e-01 1.07448126e+02] [ 1.20329724e-02 9.99742854e-01 1.92206404e-02 -5.36965489e+01] [ 5.93246309e-01 -2.26112454e-02 8.04703391e-01 -1.61551663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.46, Y:-53.65, Z:-16.13 [[ 8.22693613e-01 -3.05682473e-02 -5.67662577e-01 1.07464527e+02] [ 1.53991526e-02 9.99385158e-01 -3.14987615e-02 -5.36502950e+01] [ 5.68276417e-01 1.71723072e-02 8.22658511e-01 -1.61257829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.49, Y:-53.67, Z:-16.12 [[ 8.23149123e-01 -1.71929704e-02 -5.67564906e-01 1.07492244e+02] [ 1.83996962e-02 9.99824224e-01 -3.60179859e-03 -5.36745350e+01] [ 5.67527067e-01 -7.47820450e-03 8.23320779e-01 -1.61161606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:-53.67, Z:-16.10 [[ 8.22570978e-01 -2.02337800e-02 -5.68302367e-01 1.07514052e+02] [ 2.18653543e-02 9.99753134e-01 -3.94680587e-03 -5.36728007e+01] [ 5.68241931e-01 -9.17960463e-03 8.22810332e-01 -1.60994248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-53.67, Z:-16.08 [[ 8.21670065e-01 -2.09303470e-02 -5.69578989e-01 1.07536923e+02] [ 2.24867743e-02 9.99737901e-01 -4.29817796e-03 -5.36731609e+01] [ 5.69519665e-01 -9.27630997e-03 8.21925362e-01 -1.60842093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.57, Y:-53.74, Z:-16.08 [[ 8.02377007e-01 1.70348721e-02 -5.96574347e-01 1.07565853e+02] [ 2.63912097e-02 9.97602061e-01 6.39815030e-02 -5.37367154e+01] [ 5.96233715e-01 -6.70816056e-02 8.00003385e-01 -1.60838224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.58, Y:-53.67, Z:-16.05 [[ 8.04899731e-01 -2.60531653e-02 -5.92838642e-01 1.07576861e+02] [ 2.33307384e-02 9.99652686e-01 -1.22549563e-02 -5.36684727e+01] [ 5.92952021e-01 -3.96735225e-03 8.05228018e-01 -1.60493348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:-53.61, Z:-16.01 [[ 8.25428695e-01 -6.40590629e-02 -5.60859970e-01 1.07588331e+02] [ 2.36390008e-02 9.96591406e-01 -7.90364875e-02 -5.36112430e+01] [ 5.64011230e-01 5.19808154e-02 8.24129436e-01 -1.60115335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:-53.68, Z:-16.01 [[ 8.26382004e-01 -2.22352998e-02 -5.62670752e-01 1.07624977e+02] [ 2.35869703e-02 9.99709955e-01 -4.86430611e-03 -5.36777758e+01] [ 5.62615711e-01 -9.25192327e-03 8.26666779e-01 -1.60139556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.65, Y:-53.68, Z:-16.00 [[ 8.26799098e-01 -2.37338464e-02 -5.61996402e-01 1.07647869e+02] [ 2.51688768e-02 9.99669745e-01 -5.18936327e-03 -5.36781624e+01] [ 5.61933964e-01 -9.85425735e-03 8.27123397e-01 -1.59986223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:-53.68, Z:-15.98 [[ 8.24961784e-01 -2.65491290e-02 -5.64564610e-01 1.07670488e+02] [ 2.83730291e-02 9.99582016e-01 -5.54651691e-03 -5.36791145e+01] [ 5.64475886e-01 -1.14427436e-02 8.25370242e-01 -1.59832262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:-53.68, Z:-15.97 [[ 8.24506878e-01 -2.76616218e-02 -5.65175409e-01 1.07693784e+02] [ 2.95008517e-02 9.99547437e-01 -5.88392202e-03 -5.36808730e+01] [ 5.65082391e-01 -1.18218217e-02 8.24949778e-01 -1.59683486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.72, Y:-53.68, Z:-15.95 [[ 8.24334135e-01 -2.83938559e-02 -5.65391036e-01 1.07716927e+02] [ 3.01651905e-02 9.99525602e-01 -6.21550306e-03 -5.36829727e+01] [ 5.65299297e-01 -1.19314770e-02 8.24799578e-01 -1.59531691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.74, Y:-53.68, Z:-15.94 [[ 8.24914502e-01 -2.94576068e-02 -5.64489427e-01 1.07739521e+02] [ 3.12204245e-02 9.99491166e-01 -6.53411147e-03 -5.36849074e+01] [ 5.64394675e-01 -1.22335162e-02 8.25414437e-01 -1.59373117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:-53.69, Z:-15.92 [[ 8.25825182e-01 -2.98917670e-02 -5.63133422e-01 1.07762233e+02] [ 3.15073335e-02 9.99480057e-01 -6.84859996e-03 -5.36880884e+01] [ 5.63045341e-01 -1.20870862e-02 8.26337610e-01 -1.59208447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:-53.77, Z:-15.92 [[ 8.07263265e-01 1.96564035e-02 -5.89864092e-01 1.07791023e+02] [ 3.67060999e-02 9.95838276e-01 8.34193600e-02 -5.37728428e+01] [ 5.89048965e-01 -8.89929952e-02 8.03182149e-01 -1.59243976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.79, Y:-53.60, Z:-15.86 [[ 8.24803663e-01 -8.72935888e-02 -5.58640087e-01 1.07786042e+02] [ 2.79009771e-02 9.93090401e-01 -1.13986802e-01 -5.35981730e+01] [ 5.64730425e-01 7.84301275e-02 8.21540177e-01 -1.58585790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:-53.69, Z:-15.87 [[ 8.25527407e-01 -2.46529033e-02 -5.63823319e-01 1.07830017e+02] [ 2.50484546e-02 9.99661486e-01 -7.03477865e-03 -5.36935663e+01] [ 5.63805885e-01 -8.31550022e-03 8.25865471e-01 -1.58708307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:-53.69, Z:-15.86 [[ 8.26832033e-01 -2.39030304e-02 -5.61940775e-01 1.07853119e+02] [ 2.39098238e-02 9.99687154e-01 -7.34266754e-03 -5.36943815e+01] [ 5.61940486e-01 -7.36475217e-03 8.27144879e-01 -1.58552118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.88, Y:-53.70, Z:-15.84 [[ 8.28334476e-01 -2.14736560e-02 -5.59822185e-01 1.07876241e+02] [ 2.07500831e-02 9.99755457e-01 -7.64599136e-03 -5.36985993e+01] [ 5.59849471e-01 -5.28291858e-03 8.28577492e-01 -1.58393594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:-53.70, Z:-15.82 [[ 8.27988209e-01 -2.10869186e-02 -5.60348880e-01 1.07899527e+02] [ 2.00558074e-02 9.99766952e-01 -7.98793820e-03 -5.37010606e+01] [ 5.60386733e-01 -4.62433061e-03 8.28218163e-01 -1.58244464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:-53.70, Z:-15.81 [[ 8.27596841e-01 -2.03508425e-02 -5.60953930e-01 1.07921893e+02] [ 1.89364863e-02 9.99785958e-01 -8.33350131e-03 -5.37022624e+01] [ 5.61003456e-01 -3.72571706e-03 8.27805074e-01 -1.58078951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.95, Y:-53.78, Z:-15.81 [[ 8.06468510e-01 2.70583251e-02 -5.90657591e-01 1.07950815e+02] [ 1.96858173e-02 9.97169799e-01 7.25593593e-02 -5.37758545e+01] [ 5.90949246e-01 -7.01444158e-02 8.03653376e-01 -1.58052864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:-53.70, Z:-15.77 [[ 8.08554460e-01 -2.05706745e-02 -5.88061674e-01 1.07958628e+02] [ 1.85328309e-02 9.99783202e-01 -9.49120131e-03 -5.37002008e+01] [ 5.88129424e-01 -3.22429443e-03 8.08760400e-01 -1.57737539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.97, Y:-53.61, Z:-15.73 [[ 8.32291977e-01 -7.37458317e-02 -5.49410244e-01 1.07965340e+02] [ 1.38229388e-02 9.93564257e-01 -1.12423279e-01 -5.36062950e+01] [ 5.54165130e-01 8.59745293e-02 8.27954944e-01 -1.57272894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:-53.70, Z:-15.74 [[ 8.32102515e-01 -1.37953276e-02 -5.54450263e-01 1.08008937e+02] [ 1.10593877e-02 9.99904552e-01 -8.28111519e-03 -5.36976519e+01] [ 5.54511582e-01 7.58856334e-04 8.32175660e-01 -1.57385299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:-53.70, Z:-15.72 [[ 8.32138226e-01 -1.23862779e-02 -5.54429935e-01 1.08033568e+02] [ 9.13736197e-03 9.99921059e-01 -8.62462802e-03 -5.36994253e+01] [ 5.54492995e-01 2.11085565e-03 8.32185714e-01 -1.57243778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:-53.76, Z:-15.72 [[ 8.14070805e-01 2.19998612e-02 -5.80348801e-01 1.08061733e+02] [ 9.35334105e-03 9.98656015e-01 5.09772323e-02 -5.37551179e+01] [ 5.80690313e-01 -4.69272768e-02 8.12770934e-01 -1.57199577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.07, Y:-53.65, Z:-15.68 [[ 8.34276977e-01 -4.72965274e-02 -5.49313176e-01 1.08066055e+02] [ 9.76319133e-03 9.97424866e-01 -7.10515031e-02 -5.36455178e+01] [ 5.51259110e-01 5.39135836e-02 8.32590367e-01 -1.56752659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:-53.70, Z:-15.67 [[ 8.33708108e-01 -1.23726147e-02 -5.52066761e-01 1.08099867e+02] [ 8.75067179e-03 9.99919438e-01 -9.19474292e-03 -5.36975590e+01] [ 5.52136048e-01 2.83477669e-03 8.33749212e-01 -1.56734703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.12, Y:-53.70, Z:-15.66 [[ 8.34400351e-01 -1.28023987e-02 -5.51010121e-01 1.08122435e+02] [ 9.05992089e-03 9.99913708e-01 -9.51287938e-03 -5.36954710e+01] [ 5.51084361e-01 2.94544178e-03 8.34444337e-01 -1.56568536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:-53.69, Z:-15.64 [[ 8.33233881e-01 -1.25947574e-02 -5.52777235e-01 1.08145492e+02] [ 8.55819198e-03 9.99914545e-01 -9.88229118e-03 -5.36930970e+01] [ 5.52854463e-01 3.50348613e-03 8.33270465e-01 -1.56411444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:-53.69, Z:-15.63 [[ 8.33362668e-01 -1.31735644e-02 -5.52569562e-01 1.08168791e+02] [ 9.03285701e-03 9.99907023e-01 -1.02153541e-02 -5.36929334e+01] [ 5.52652758e-01 3.52181288e-03 8.33404179e-01 -1.56250987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.19, Y:-53.69, Z:-15.61 [[ 8.33792683e-01 -1.42739340e-02 -5.51893121e-01 1.08191848e+02] [ 1.01429031e-02 9.99893040e-01 -1.05370562e-02 -5.36931396e+01] [ 5.51984496e-01 3.18792193e-03 8.33848280e-01 -1.56088560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.21, Y:-53.69, Z:-15.59 [[ 8.34921464e-01 -1.79190584e-02 -5.50077319e-01 1.08213892e+02] [ 1.43184058e-02 9.99838754e-01 -1.08374305e-02 -5.36947848e+01] [ 5.50182818e-01 1.17217309e-03 8.35043408e-01 -1.55922674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.24, Y:-53.69, Z:-15.58 [[ 8.34913269e-01 -1.85002655e-02 -5.50070516e-01 1.08237164e+02] [ 1.47928127e-02 9.99828145e-01 -1.11737866e-02 -5.36943030e+01] [ 5.50182702e-01 1.19205254e-03 8.35043456e-01 -1.55760652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:-53.69, Z:-15.56 [[ 8.35482753e-01 -2.10969189e-02 -5.49111545e-01 1.08260318e+02] [ 1.77104504e-02 9.99777425e-01 -1.14647878e-02 -5.36949335e+01] [ 5.49231198e-01 -1.46380352e-04 8.35670431e-01 -1.55605881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:108.28, Y:-53.70, Z:-15.54 [[ 8.33843175e-01 -2.33767366e-02 -5.51506200e-01 1.08282662e+02] [ 2.01888354e-02 9.99725943e-01 -1.18511949e-02 -5.36957067e+01] [ 5.51632098e-01 -1.25222994e-03 8.34086603e-01 -1.55436878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.31, Y:-53.70, Z:-15.53 [[ 8.33975947e-01 -2.64148131e-02 -5.51168193e-01 1.08305506e+02] [ 2.36150214e-02 9.99646973e-01 -1.21761891e-02 -5.36978979e+01] [ 5.51295248e-01 -2.86119979e-03 8.34305318e-01 -1.55273811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.33, Y:-53.70, Z:-15.51 [[ 8.33490988e-01 -2.79539374e-02 -5.51825471e-01 1.08327824e+02] [ 2.52341119e-02 9.99603130e-01 -1.25228696e-02 -5.36984762e+01] [ 5.51956531e-01 -3.48712673e-03 8.33865593e-01 -1.55107293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:108.36, Y:-53.76, Z:-15.51 [[ 8.16755779e-01 7.06626781e-03 -5.76940262e-01 1.08355254e+02] [ 2.90055254e-02 9.98157866e-01 5.32874603e-02 -5.37592953e+01] [ 5.76254004e-01 -6.02572965e-02 8.15046245e-01 -1.55085886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.36, Y:-53.63, Z:-15.46 [[ 8.34022401e-01 -7.30024122e-02 -5.46879587e-01 1.08359752e+02] [ 2.83648769e-02 9.95570273e-01 -8.96396389e-02 -5.36326175e+01] [ 5.51000970e-01 5.92492947e-02 8.32398614e-01 -1.54596568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-53.71, Z:-15.46 [[ 8.34912122e-01 -3.04196319e-02 -5.49541987e-01 1.08397780e+02] [ 2.80572746e-02 9.99525622e-01 -1.27012003e-02 -5.37063882e+01] [ 5.49667662e-01 -4.81426428e-03 8.35369550e-01 -1.54641103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:-53.71, Z:-15.45 [[ 8.35346049e-01 -3.10602043e-02 -5.48846283e-01 1.08420459e+02] [ 2.86135291e-02 9.99505829e-01 -1.30139477e-02 -5.37089767e+01] [ 5.48979275e-01 -4.83327929e-03 8.35821988e-01 -1.54472407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.44, Y:-53.71, Z:-15.43 [[ 8.35121745e-01 -3.07507580e-02 -5.49204937e-01 1.08443638e+02] [ 2.80222586e-02 9.99518099e-01 -1.33537433e-02 -5.37103279e+01] [ 5.49350912e-01 -4.23796134e-03 8.35581004e-01 -1.54322164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:-53.71, Z:-15.42 [[ 8.33801299e-01 -2.84007904e-02 -5.51333645e-01 1.08467964e+02] [ 2.49661473e-02 9.99593941e-01 -1.37347903e-02 -5.37101599e+01] [ 5.51499850e-01 -2.31259101e-03 8.34171785e-01 -1.54184052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.49, Y:-53.71, Z:-15.40 [[ 8.33675431e-01 -2.72311022e-02 -5.51582943e-01 1.08490717e+02] [ 2.33412154e-02 9.99628511e-01 -1.40722051e-02 -5.37091745e+01] [ 5.51761238e-01 -1.14296464e-03 8.34001337e-01 -1.54032027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:-53.71, Z:-15.39 [[ 8.34615125e-01 -2.55421901e-02 -5.50241029e-01 1.08513383e+02] [ 2.11346917e-02 9.99673685e-01 -1.43473888e-02 -5.37082340e+01] [ 5.50427941e-01 3.45373184e-04 8.34882604e-01 -1.53868655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.54, Y:-53.71, Z:-15.37 [[ 8.36349264e-01 -2.23303318e-02 -5.47741970e-01 1.08535019e+02] [ 1.71204911e-02 9.99746594e-01 -1.46163038e-02 -5.37080079e+01] [ 5.47929556e-01 2.84672336e-03 8.36519634e-01 -1.53690376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.56, Y:-53.71, Z:-15.35 [[ 8.36483147e-01 -2.19852897e-02 -5.47551451e-01 1.08557790e+02] [ 1.64948549e-02 9.99752279e-01 -1.49432083e-02 -5.37074480e+01] [ 5.47744342e-01 3.46796021e-03 8.36638577e-01 -1.53533555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:-53.71, Z:-15.34 [[ 8.36681815e-01 -2.21016597e-02 -5.47243143e-01 1.08580355e+02] [ 1.64247403e-02 9.99748568e-01 -1.52652825e-02 -5.37065648e+01] [ 5.47442936e-01 3.78385776e-03 8.36834460e-01 -1.53373095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.60, Y:-53.71, Z:-15.32 [[ 8.36831430e-01 -2.29551830e-02 -5.46979175e-01 1.08603492e+02] [ 1.72333362e-02 9.99729940e-01 -1.55903311e-02 -5.37063796e+01] [ 5.47189337e-01 3.62020306e-03 8.37001030e-01 -1.53218274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:-53.71, Z:-15.31 [[ 8.36920703e-01 -2.32591507e-02 -5.46829726e-01 1.08626832e+02] [ 1.73836110e-02 9.99722188e-01 -1.59171761e-02 -5.37088508e+01] [ 5.47048030e-01 3.81553899e-03 8.37092524e-01 -1.53058348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:-53.71, Z:-15.29 [[ 8.37366686e-01 -2.36769025e-02 -5.46128590e-01 1.08649563e+02] [ 1.76819594e-02 9.99711922e-01 -1.62302398e-02 -5.37090636e+01] [ 5.46355544e-01 3.93403859e-03 8.37544114e-01 -1.52896137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.67, Y:-53.71, Z:-15.27 [[ 8.37231454e-01 -2.40872688e-02 -5.46317943e-01 1.08672356e+02] [ 1.79487074e-02 9.99701584e-01 -1.65706773e-02 -5.37074988e+01] [ 5.46554055e-01 4.06779141e-03 8.37413946e-01 -1.52730551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.69, Y:-53.70, Z:-15.26 [[ 8.37178194e-01 -2.41150020e-02 -5.46398333e-01 1.08694864e+02] [ 1.77635145e-02 9.99699305e-01 -1.69043776e-02 -5.37041928e+01] [ 5.46641682e-01 4.44602163e-03 8.37354826e-01 -1.52575222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:-53.70, Z:-15.24 [[ 8.37023253e-01 -2.58301291e-02 -5.46557297e-01 1.08717791e+02] [ 1.95909586e-02 9.99659412e-01 -1.72410903e-02 -5.37038606e+01] [ 5.46816486e-01 3.72361207e-03 8.37244209e-01 -1.52425482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-53.70, Z:-15.23 [[ 8.36690999e-01 -2.72152235e-02 -5.46998632e-01 1.08741228e+02] [ 2.10172836e-02 9.99624416e-01 -1.75869360e-02 -5.37046144e+01] [ 5.47271821e-01 3.21840566e-03 8.36948742e-01 -1.52275401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-53.81, Z:-15.23 [[ 8.15571929e-01 2.86811707e-02 -5.77944477e-01 1.08773681e+02] [ 2.80289863e-02 9.95640460e-01 8.89631970e-02 -5.38060907e+01] [ 5.77976473e-01 -8.87550841e-02 8.11212507e-01 -1.52303968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.76, Y:-53.61, Z:-15.17 [[ 8.38704107e-01 -9.67953247e-02 -5.35916119e-01 1.08764362e+02] [ 2.97584122e-02 9.90752930e-01 -1.32374725e-01 -5.36084865e+01] [ 5.43773720e-01 9.50752130e-02 8.33829026e-01 -1.51691054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:-53.71, Z:-15.18 [[ 8.37713951e-01 -3.41807047e-02 -5.45038546e-01 1.08809291e+02] [ 2.91453162e-02 9.99415257e-01 -1.78799827e-02 -5.37111881e+01] [ 5.45330989e-01 -9.07009791e-04 8.38220311e-01 -1.51810767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:-53.71, Z:-15.17 [[ 8.37526373e-01 -3.59668778e-02 -5.45211847e-01 1.08832657e+02] [ 3.10554699e-02 9.99351584e-01 -1.82200393e-02 -5.37114708e+01] [ 5.45513641e-01 -1.67204673e-03 8.38100275e-01 -1.51652104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.85, Y:-53.71, Z:-15.15 [[ 8.38683840e-01 -3.79154676e-02 -5.43297187e-01 1.08853506e+02] [ 3.32029506e-02 9.99277726e-01 -1.84821574e-02 -5.37102646e+01] [ 5.43605537e-01 -2.53838294e-03 8.39336986e-01 -1.51470185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.88, Y:-53.71, Z:-15.13 [[ 8.37893526e-01 -3.90257982e-02 -5.44436797e-01 1.08875530e+02] [ 3.42931541e-02 9.99234061e-01 -1.88486433e-02 -5.37095201e+01] [ 5.44755375e-01 -2.87729875e-03 8.38590068e-01 -1.51299839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.90, Y:-53.71, Z:-15.11 [[ 8.37536938e-01 -3.99908751e-02 -5.44915230e-01 1.08899223e+02] [ 3.52238758e-02 9.99195171e-01 -1.91908606e-02 -5.37096231e+01] [ 5.45244126e-01 -3.12097173e-03 8.38271497e-01 -1.51145714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-53.81, Z:-15.12 [[ 8.11738823e-01 1.88871883e-02 -5.83715134e-01 1.08929291e+02] [ 4.38697508e-02 9.94681214e-01 9.31918810e-02 -5.38149303e+01] [ 5.82370611e-01 -1.01254905e-01 8.06592782e-01 -1.51197905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:108.92, Y:-53.60, Z:-15.05 [[ 8.38153550e-01 -1.15533962e-01 -5.33057717e-01 1.08919229e+02] [ 3.88856928e-02 9.87479038e-01 -1.52882477e-01 -5.35954519e+01] [ 5.44046440e-01 1.07410672e-01 8.32151680e-01 -1.50523713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:108.97, Y:-53.71, Z:-15.07 [[ 8.39737736e-01 -4.09317593e-02 -5.41447252e-01 1.08967499e+02] [ 3.64030522e-02 9.99155122e-01 -1.90750997e-02 -5.37135096e+01] [ 5.41770572e-01 -3.69225155e-03 8.40518301e-01 -1.50681398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:-53.71, Z:-15.05 [[ 8.39802978e-01 -4.19804638e-02 -5.41265738e-01 1.08990257e+02] [ 3.74445183e-02 9.99110502e-01 -1.93936242e-02 -5.37132481e+01] [ 5.41598436e-01 -3.98061142e-03 8.40627913e-01 -1.50523916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.01, Y:-53.71, Z:-15.04 [[ 8.38663708e-01 -4.38824981e-02 -5.42878911e-01 1.09013436e+02] [ 3.94727655e-02 9.99024953e-01 -1.97748236e-02 -5.37130673e+01] [ 5.43217347e-01 -4.84450510e-03 8.39578135e-01 -1.50362833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.04, Y:-53.71, Z:-15.02 [[ 8.38720111e-01 -4.48584839e-02 -5.42711979e-01 1.09035970e+02] [ 4.04297700e-02 9.98980378e-01 -2.00907378e-02 -5.37130464e+01] [ 5.43059858e-01 -5.09121467e-03 8.39678552e-01 -1.50206630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.06, Y:-53.71, Z:-15.00 [[ 8.39014540e-01 -4.59734787e-02 -5.42163297e-01 1.09059115e+02] [ 4.15582214e-02 9.98927949e-01 -2.03928243e-02 -5.37135864e+01] [ 5.42519600e-01 -5.42146626e-03 8.40025649e-01 -1.50046195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.08, Y:-53.72, Z:-14.99 [[ 8.38447098e-01 -4.74541350e-02 -5.42913040e-01 1.09083502e+02] [ 4.30993200e-02 9.98855369e-01 -2.07460807e-02 -5.37162771e+01] [ 5.43276093e-01 -6.00469176e-03 8.39532626e-01 -1.49900736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-53.72, Z:-14.97 [[ 8.38468623e-01 -4.83092624e-02 -5.42804370e-01 1.09106738e+02] [ 4.39106775e-02 9.98813354e-01 -2.10650682e-02 -5.37162201e+01] [ 5.43177891e-01 -6.17250887e-03 8.39594950e-01 -1.49742107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.13, Y:-53.72, Z:-14.96 [[ 8.39100797e-01 -4.93470487e-02 -5.41733073e-01 1.09129894e+02] [ 4.49561693e-02 9.98760905e-01 -2.13447289e-02 -5.37156594e+01] [ 5.42115113e-01 -6.44386474e-03 8.40279525e-01 -1.49584294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.15, Y:-53.72, Z:-14.94 [[ 8.39086583e-01 -4.91589484e-02 -5.41772189e-01 1.09152379e+02] [ 4.45226496e-02 9.98773317e-01 -2.16701563e-02 -5.37158299e+01] [ 5.42172888e-01 -5.93799593e-03 8.40245976e-01 -1.49424412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:-53.72, Z:-14.93 [[ 8.39144114e-01 -4.99854026e-02 -5.41607437e-01 1.09176089e+02] [ 4.53020026e-02 9.98731396e-01 -2.19847093e-02 -5.37160193e+01] [ 5.42019267e-01 -6.08756216e-03 8.40344011e-01 -1.49270542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.20, Y:-53.72, Z:-14.91 [[ 8.37985380e-01 -5.08630004e-02 -5.43317089e-01 1.09200280e+02] [ 4.61071088e-02 9.98685786e-01 -2.23793300e-02 -5.37161841e+01] [ 5.43741334e-01 -6.29722878e-03 8.39229234e-01 -1.49125813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.22, Y:-53.72, Z:-14.90 [[ 8.36800518e-01 -5.23637095e-02 -5.44998105e-01 1.09224157e+02] [ 4.76699190e-02 9.98603963e-01 -2.27530974e-02 -5.37171154e+01] [ 5.45428705e-01 -6.94021189e-03 8.38128488e-01 -1.48977741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.25, Y:-53.72, Z:-14.88 [[ 8.37323370e-01 -5.38995198e-02 -5.44044499e-01 1.09247561e+02] [ 4.93050247e-02 9.98517963e-01 -2.30411103e-02 -5.37179574e+01] [ 5.44480109e-01 -7.53126734e-03 8.38739942e-01 -1.48818968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.27, Y:-53.72, Z:-14.86 [[ 8.37320244e-01 -5.48123321e-02 -5.43958103e-01 1.09270020e+02] [ 5.01843179e-02 9.98466700e-01 -2.33619887e-02 -5.37214392e+01] [ 5.44404577e-01 -7.73670027e-03 8.38787101e-01 -1.48645814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.29, Y:-53.72, Z:-14.85 [[ 8.36775633e-01 -5.63586703e-02 -5.44637715e-01 1.09293515e+02] [ 5.18073447e-02 9.98375483e-01 -2.37148305e-02 -5.37234406e+01] [ 5.45089479e-01 -8.37224160e-03 8.38336070e-01 -1.48489128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:-53.79, Z:-14.84 [[ 8.19381592e-01 -1.69456789e-02 -5.72997950e-01 1.09322401e+02] [ 5.17524136e-02 9.97667968e-01 4.45007073e-02 -5.37884209e+01] [ 5.70907606e-01 -6.61170873e-02 8.18347748e-01 -1.48422379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.34, Y:-53.74, Z:-14.82 [[ 8.20153200e-01 -5.45305886e-02 -5.69539414e-01 1.09335048e+02] [ 5.35661398e-02 9.98393760e-01 -1.84544882e-02 -5.37365204e+01] [ 5.69630931e-01 -1.53725203e-02 8.21756830e-01 -1.48206939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:-53.66, Z:-14.79 [[ 8.38063064e-01 -1.03925390e-01 -5.35583620e-01 1.09346129e+02] [ 5.45039106e-02 9.92726821e-01 -1.07344224e-01 -5.36560415e+01] [ 5.42844014e-01 6.07698272e-02 8.37632022e-01 -1.47862547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.38, Y:-53.73, Z:-14.79 [[ 8.38973087e-01 -5.81516047e-02 -5.41056883e-01 1.09383744e+02] [ 5.36555480e-02 9.98268820e-01 -2.40924264e-02 -5.37299664e+01] [ 5.41521230e-01 -8.81780619e-03 8.40640829e-01 -1.47865866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.41, Y:-53.79, Z:-14.78 [[ 8.20783992e-01 -2.07947909e-02 -5.70860066e-01 1.09412553e+02] [ 5.29547699e-02 9.97803808e-01 3.97913732e-02 -5.37939880e+01] [ 5.68778894e-01 -6.28898856e-02 8.20082576e-01 -1.47801073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.42, Y:-53.68, Z:-14.74 [[ 8.38972741e-01 -9.47944814e-02 -5.35853288e-01 1.09419264e+02] [ 5.45626841e-02 9.94401931e-01 -9.04859816e-02 -5.36786527e+01] [ 5.41431117e-01 4.66776782e-02 8.39448355e-01 -1.47426995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.46, Y:-53.83, Z:-14.75 [[ 8.19571130e-01 -5.45563735e-03 -5.72951480e-01 1.09457971e+02] [ 5.61066147e-02 9.95913199e-01 7.07739167e-02 -5.38267769e+01] [ 5.70223825e-01 -9.01506268e-02 8.16527803e-01 -1.47501829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:-53.65, Z:-14.70 [[ 8.41103891e-01 -1.15702335e-01 -5.28353304e-01 1.09456783e+02] [ 5.59179319e-02 9.90218879e-01 -1.27827054e-01 -5.36476031e+01] [ 5.37975305e-01 7.79714081e-02 8.39346788e-01 -1.47013614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.50, Y:-53.84, Z:-14.72 [[ 8.19707077e-01 2.55332923e-04 -5.72782894e-01 1.09504181e+02] [ 5.85651033e-02 9.94721624e-01 8.42556845e-02 -5.38445686e+01] [ 5.69781043e-01 -1.02610070e-01 8.15365400e-01 -1.47202495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.50, Y:-53.64, Z:-14.67 [[ 8.42089325e-01 -1.25376448e-01 -5.24562976e-01 1.09500799e+02] [ 5.62990488e-02 9.87725667e-01 -1.45699775e-01 -5.36393104e+01] [ 5.36391635e-01 9.31598283e-02 8.38811815e-01 -1.46681044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.54, Y:-53.75, Z:-14.68 [[ 8.43795214e-01 -5.96753792e-02 -5.33337121e-01 1.09544396e+02] [ 5.51760457e-02 9.98178647e-01 -2.43924629e-02 -5.37508208e+01] [ 5.33821356e-01 -8.84518994e-03 8.45551017e-01 -1.46758999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.57, Y:-53.82, Z:-14.67 [[ 8.26687239e-01 -1.87030747e-02 -5.62350783e-01 1.09569554e+02] [ 5.45503423e-02 9.97403333e-01 4.70196959e-02 -5.38203668e+01] [ 5.60011133e-01 -6.95470103e-02 8.25560867e-01 -1.46651491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:-53.69, Z:-14.63 [[ 8.44171506e-01 -9.92940212e-02 -5.26797082e-01 1.09575843e+02] [ 5.42299691e-02 9.93472730e-01 -1.00354595e-01 -5.36867076e+01] [ 5.33323147e-01 5.61482998e-02 8.44046083e-01 -1.46276346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-53.82, Z:-14.63 [[ 8.29866767e-01 -1.66001881e-02 -5.57714607e-01 1.09616772e+02] [ 5.06556328e-02 9.97671001e-01 4.56790976e-02 -5.38180960e+01] [ 5.55657408e-01 -6.61589513e-02 8.28774902e-01 -1.46309880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-53.70, Z:-14.60 [[ 8.46369686e-01 -9.36456398e-02 -5.24298435e-01 1.09624635e+02] [ 5.20724563e-02 9.94254257e-01 -9.35250312e-02 -5.36962574e+01] [ 5.30044163e-01 5.18552439e-02 8.46383022e-01 -1.45983330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.66, Y:-53.76, Z:-14.59 [[ 8.46834864e-01 -5.66698373e-02 -5.28828179e-01 1.09658264e+02] [ 5.12175546e-02 9.98375305e-01 -2.49702185e-02 -5.37564482e+01] [ 5.29384053e-01 -5.93963452e-03 8.48361506e-01 -1.45934725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:-53.76, Z:-14.58 [[ 8.46705249e-01 -5.65153906e-02 -5.29052202e-01 1.09682275e+02] [ 5.08468156e-02 9.98386579e-01 -2.52752786e-02 -5.37588990e+01] [ 5.29627060e-01 -5.49990871e-03 8.48212785e-01 -1.45785697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:-53.76, Z:-14.56 [[ 8.47087576e-01 -5.65556857e-02 -5.28435514e-01 1.09705701e+02] [ 5.07118401e-02 9.98386184e-01 -2.55604424e-02 -5.37616448e+01] [ 5.29028305e-01 -5.14600410e-03 8.48588576e-01 -1.45639967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.73, Y:-53.76, Z:-14.55 [[ 8.47017992e-01 -5.73279896e-02 -5.28463832e-01 1.09729594e+02] [ 5.14364589e-02 9.98341438e-01 -2.58585367e-02 -5.37643285e+01] [ 5.29069760e-01 -5.27966238e-03 8.48561909e-01 -1.45489494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:-53.77, Z:-14.53 [[ 8.45557714e-01 -5.79288319e-02 -5.30731950e-01 1.09753319e+02] [ 5.18892747e-02 9.98306616e-01 -2.62945535e-02 -5.37696463e+01] [ 5.31356430e-01 -5.30573336e-03 8.47131745e-01 -1.45342232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:-53.77, Z:-14.52 [[ 8.45084906e-01 -5.74549413e-02 -5.31535917e-01 1.09776468e+02] [ 5.11080076e-02 9.98337323e-01 -2.66563482e-02 -5.37714671e+01] [ 5.32183684e-01 -4.63886417e-03 8.46616210e-01 -1.45189468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.80, Y:-53.77, Z:-14.50 [[ 8.45356597e-01 -5.70348353e-02 -5.31148991e-01 1.09800453e+02] [ 5.04337759e-02 9.98364106e-01 -2.69359584e-02 -5.37729509e+01] [ 5.31816376e-01 -4.01735904e-03 8.46850166e-01 -1.45039694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.82, Y:-53.77, Z:-14.49 [[ 8.45991791e-01 -5.61031881e-02 -5.30236100e-01 1.09822896e+02] [ 4.91553149e-02 9.98420343e-01 -2.72134836e-02 -5.37738869e+01] [ 5.30925272e-01 -3.04153876e-03 8.47413184e-01 -1.44880149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:-53.78, Z:-14.47 [[ 8.46210844e-01 -5.21367957e-02 -5.30291393e-01 1.09845971e+02] [ 4.42698084e-02 9.98639938e-01 -2.75401310e-02 -5.37761625e+01] [ 5.31006018e-01 -1.71140903e-04 8.47368031e-01 -1.44724759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-53.78, Z:-14.46 [[ 8.46637856e-01 -4.95317038e-02 -5.29859369e-01 1.09869855e+02] [ 4.10061094e-02 9.98770845e-01 -2.78441753e-02 -5.37763947e+01] [ 5.30587259e-01 1.84646166e-03 8.47628309e-01 -1.44576396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:-53.78, Z:-14.44 [[ 8.46859361e-01 -4.70988049e-02 -5.29727217e-01 1.09893366e+02] [ 3.79507703e-02 9.98883278e-01 -2.81413585e-02 -5.37758567e+01] [ 5.30461084e-01 3.72821700e-03 8.47701091e-01 -1.44427365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.92, Y:-53.77, Z:-14.43 [[ 8.47247630e-01 -4.22059517e-02 -5.29518754e-01 1.09916419e+02] [ 3.19831502e-02 9.99083160e-01 -2.84590624e-02 -5.37738044e+01] [ 5.30234412e-01 7.17619531e-03 8.47820718e-01 -1.44274027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:109.94, Y:-53.77, Z:-14.41 [[ 8.47477392e-01 -4.00236743e-02 -5.29320485e-01 1.09939747e+02] [ 2.92151937e-02 9.99158904e-01 -2.87742394e-02 -5.37708090e+01] [ 5.30026927e-01 8.92131680e-03 8.47933881e-01 -1.44120992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:-53.81, Z:-14.40 [[ 8.26818311e-01 -1.34670742e-02 -5.62307851e-01 1.09962999e+02] [ 2.75142490e-02 9.99484900e-01 1.65196832e-02 -5.38101973e+01] [ 5.61795734e-01 -2.91302548e-02 8.26762953e-01 -1.43979954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.98, Y:-53.76, Z:-14.38 [[ 8.30384178e-01 -4.10777262e-02 -5.55675029e-01 1.09980299e+02] [ 2.33866432e-02 9.98969415e-01 -3.88995231e-02 -5.37570268e+01] [ 5.56700262e-01 1.93061749e-02 8.30489067e-01 -1.43768917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:-53.72, Z:-14.36 [[ 8.49909439e-01 -5.56694851e-02 -5.23979822e-01 1.10000446e+02] [ 2.27453861e-02 9.97352579e-01 -6.90686639e-02 -5.37234757e+01] [ 5.26437644e-01 4.67839860e-02 8.48925595e-01 -1.43572453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:-53.75, Z:-14.35 [[ 8.49075200e-01 -3.41815933e-02 -5.27164987e-01 1.10030068e+02] [ 2.18768418e-02 9.99323554e-01 -2.95607408e-02 -5.37547964e+01] [ 5.27818822e-01 1.35665869e-02 8.49248632e-01 -1.43488688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:-53.75, Z:-14.34 [[ 8.48649168e-01 -3.45908566e-02 -5.27823893e-01 1.10054625e+02] [ 2.21181576e-02 9.99307332e-01 -2.99272935e-02 -5.37505179e+01] [ 5.28493497e-01 1.37232807e-02 8.48826423e-01 -1.43354793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:-53.75, Z:-14.32 [[ 8.48899895e-01 -3.50602032e-02 -5.27389562e-01 1.10078136e+02] [ 2.24899951e-02 9.99289889e-01 -3.02310726e-02 -5.37469471e+01] [ 5.28074964e-01 1.38021657e-02 8.49085586e-01 -1.43206882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:-53.74, Z:-14.30 [[ 8.50393957e-01 -3.59216340e-02 -5.24918808e-01 1.10099702e+02] [ 2.34369056e-02 9.99262598e-01 -3.04133557e-02 -5.37411114e+01] [ 5.25624229e-01 1.35608614e-02 8.50608766e-01 -1.43023404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.12, Y:-53.74, Z:-14.29 [[ 8.50615011e-01 -3.72525603e-02 -5.24467682e-01 1.10122171e+02] [ 2.48239638e-02 9.99219943e-01 -3.07127884e-02 -5.37370694e+01] [ 5.25202698e-01 1.31053920e-02 8.50876239e-01 -1.42858672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.15, Y:-53.80, Z:-14.28 [[ 8.30825333e-01 -2.03646105e-03 -5.56529530e-01 1.10150200e+02] [ 3.00046182e-02 9.98702833e-01 4.11384774e-02 -5.37981918e+01] [ 5.55723842e-01 -5.08773453e-02 8.29808717e-01 -1.42768682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.16, Y:-53.66, Z:-14.24 [[ 8.51593067e-01 -8.46378819e-02 -5.17325504e-01 1.10157110e+02] [ 3.36309213e-02 9.93667524e-01 -1.07209203e-01 -5.36609804e+01] [ 5.23123513e-01 7.39004809e-02 8.49046824e-01 -1.42432169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-53.73, Z:-14.24 [[ 8.50608717e-01 -4.62423018e-02 -5.23761836e-01 1.10193415e+02] [ 3.51816410e-02 9.98898305e-01 -3.10552340e-02 -5.37262761e+01] [ 5.24620876e-01 7.98905186e-03 8.51298486e-01 -1.42416192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:-53.72, Z:-14.23 [[ 8.50443664e-01 -4.89887666e-02 -5.23780179e-01 1.10216180e+02] [ 3.82063547e-02 9.98777020e-01 -3.13805348e-02 -5.37240342e+01] [ 5.24676900e-01 6.67564567e-03 8.51275271e-01 -1.42262157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:-53.72, Z:-14.21 [[ 8.50757585e-01 -5.23901698e-02 -5.22940534e-01 1.10238974e+02] [ 4.20379124e-02 9.98614438e-01 -3.16546644e-02 -5.37214381e+01] [ 5.23874361e-01 4.94711749e-03 8.51781181e-01 -1.42099180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.26, Y:-53.72, Z:-14.19 [[ 8.50545404e-01 -5.79622569e-02 -5.22697707e-01 1.10261891e+02] [ 4.83898476e-02 9.98316981e-01 -3.19629159e-02 -5.37180335e+01] [ 5.23670640e-01 1.89264877e-03 8.51918704e-01 -1.41935456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:-53.79, Z:-14.19 [[ 8.32652751e-01 -1.89156433e-02 -5.53472307e-01 1.10292686e+02] [ 5.12738252e-02 9.97756867e-01 4.30375255e-02 -5.37869130e+01] [ 5.51416713e-01 -6.42139563e-02 8.31754878e-01 -1.41868142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.30, Y:-53.65, Z:-14.15 [[ 8.50717192e-01 -1.05578681e-01 -5.14911062e-01 1.10298015e+02] [ 5.64007702e-02 9.92298959e-01 -1.10280231e-01 -5.36491683e+01] [ 5.22588952e-01 6.47759077e-02 8.50120502e-01 -1.41515391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:-53.73, Z:-14.15 [[ 8.50608303e-01 -7.02293914e-02 -5.21088617e-01 1.10335578e+02] [ 6.25294710e-02 9.97518084e-01 -3.23687759e-02 -5.37256195e+01] [ 5.22068559e-01 -5.05024601e-03 8.52888571e-01 -1.41500107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:-53.73, Z:-14.13 [[ 8.50776209e-01 -7.37431215e-02 -5.20328544e-01 1.10358725e+02] [ 6.64782984e-02 9.97253929e-01 -3.26379613e-02 -5.37267292e+01] [ 5.21306510e-01 -6.82295520e-03 8.53342235e-01 -1.41336716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:-53.73, Z:-14.12 [[ 8.50381057e-01 -7.61907862e-02 -5.20621764e-01 1.10381313e+02] [ 6.91496572e-02 9.97061433e-01 -3.29669965e-02 -5.37275428e+01] [ 5.21603664e-01 -7.96630718e-03 8.53150723e-01 -1.41177012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.41, Y:-53.81, Z:-14.11 [[ 8.32535752e-01 -2.97471594e-02 -5.53172060e-01 1.10410671e+02] [ 7.27770999e-02 9.95775797e-01 5.59826473e-02 -5.38134453e+01] [ 5.49170024e-01 -8.68658137e-02 8.31183864e-01 -1.41096722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.42, Y:-53.71, Z:-14.08 [[ 8.32337561e-01 -9.18830657e-02 -5.46600116e-01 1.10424601e+02] [ 6.95777004e-02 9.95683706e-01 -6.14239494e-02 -5.37088586e+01] [ 5.49884650e-01 1.30942810e-02 8.35137959e-01 -1.40809093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:-53.68, Z:-14.06 [[ 8.50491937e-01 -1.12819970e-01 -5.13746162e-01 1.10445217e+02] [ 7.50733866e-02 9.92763012e-01 -9.37314710e-02 -5.36798744e+01] [ 5.20602969e-01 4.11491962e-02 8.52806715e-01 -1.40622355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.48, Y:-53.79, Z:-14.06 [[ 8.33091843e-01 -4.76981626e-02 -5.51074284e-01 1.10482210e+02] [ 7.22072638e-02 9.97127784e-01 2.28537597e-02 -5.37932766e+01] [ 5.48401397e-01 -5.88308469e-02 8.34143177e-01 -1.40587650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:-53.77, Z:-14.04 [[ 8.35811814e-01 -6.40009601e-02 -5.45272858e-01 1.10501352e+02] [ 7.15042997e-02 9.97412346e-01 -7.46637076e-03 -5.37690108e+01] [ 5.44339735e-01 -3.27488729e-02 8.38225366e-01 -1.40417233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.51, Y:-53.67, Z:-14.01 [[ 8.52105671e-01 -1.24455702e-01 -5.08356867e-01 1.10512270e+02] [ 7.41522610e-02 9.90225270e-01 -1.18132797e-01 -5.36711367e+01] [ 5.18090116e-01 6.29658153e-02 8.53005239e-01 -1.40133546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.55, Y:-53.75, Z:-14.01 [[ 8.52178217e-01 -7.81900258e-02 -5.17376658e-01 1.10547666e+02] [ 7.07473392e-02 9.96910137e-01 -3.41319765e-02 -5.37521849e+01] [ 5.18446816e-01 -7.51649508e-03 8.55076840e-01 -1.40086583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:110.57, Y:-53.83, Z:-14.00 [[ 8.33294936e-01 -3.43532911e-02 -5.51760275e-01 1.10574513e+02] [ 6.95804811e-02 9.96647816e-01 4.30312422e-02 -5.38259127e+01] [ 5.48432408e-01 -7.42494616e-02 8.32891896e-01 -1.39966591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.58, Y:-53.69, Z:-13.97 [[ 8.52302574e-01 -1.18531369e-01 -5.09441495e-01 1.10582073e+02] [ 7.00336667e-02 9.91075152e-01 -1.13425430e-01 -5.36859991e+01] [ 5.18339279e-01 6.09947297e-02 8.52997090e-01 -1.39673741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:-53.76, Z:-13.96 [[ 8.53308858e-01 -7.46089633e-02 -5.16040207e-01 1.10616567e+02] [ 6.62651015e-02 9.97201932e-01 -3.46011882e-02 -5.37619777e+01] [ 5.17177850e-01 -4.66995627e-03 8.55865213e-01 -1.39610983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:-53.76, Z:-13.95 [[ 8.53471202e-01 -7.33478388e-02 -5.15952519e-01 1.10640335e+02] [ 6.46057349e-02 9.97300134e-01 -3.49076214e-02 -5.37621489e+01] [ 5.17119915e-01 -3.54084206e-03 8.55905635e-01 -1.39472156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.66, Y:-53.76, Z:-13.93 [[ 8.53682386e-01 -7.17175737e-02 -5.15832312e-01 1.10663977e+02] [ 6.25146661e-02 9.97422587e-01 -3.52150462e-02 -5.37615945e+01] [ 5.17028337e-01 -2.18462011e-03 8.55965494e-01 -1.39332219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.69, Y:-53.76, Z:-13.92 [[ 8.54397506e-01 -6.84505602e-02 -5.15091664e-01 1.10688304e+02] [ 5.85383361e-02 9.97654497e-01 -3.54791237e-02 -5.37633399e+01] [ 5.16312081e-01 1.60665848e-04 8.56400496e-01 -1.39192754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:-53.78, Z:-13.90 [[ 8.38436397e-01 -5.63098015e-02 -5.42082664e-01 1.10712873e+02] [ 5.50046216e-02 9.98312356e-01 -1.86261147e-02 -5.37808216e+01] [ 5.42216654e-01 -1.42002394e-02 8.40118714e-01 -1.39047182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.73, Y:-53.75, Z:-13.89 [[ 8.54440654e-01 -7.34082393e-02 -5.14336853e-01 1.10732496e+02] [ 5.46386357e-02 9.97174488e-01 -5.15525021e-02 -5.37491454e+01] [ 5.16667966e-01 1.59458897e-02 8.56037348e-01 -1.38864131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:-53.76, Z:-13.87 [[ 8.53941151e-01 -6.41149161e-02 -5.16404674e-01 1.10757990e+02] [ 5.29252554e-02 9.97935526e-01 -3.63813496e-02 -5.37617179e+01] [ 5.17671158e-01 3.73668224e-03 8.55571510e-01 -1.38725392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:-53.76, Z:-13.86 [[ 8.54659723e-01 -6.12387398e-02 -5.15564326e-01 1.10780551e+02] [ 4.94141465e-02 9.98106069e-01 -3.66403881e-02 -5.37583120e+01] [ 5.16831694e-01 5.83889280e-03 8.56067116e-01 -1.38564606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.80, Y:-53.75, Z:-13.84 [[ 8.55845423e-01 -6.00750902e-02 -5.13731053e-01 1.10804083e+02] [ 4.79592694e-02 9.98170147e-01 -3.68275196e-02 -5.37548006e+01] [ 5.15003417e-01 6.88049808e-03 8.57160509e-01 -1.38415264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.83, Y:-53.75, Z:-13.83 [[ 8.56600237e-01 -6.01728968e-02 -5.12460005e-01 1.10827540e+02] [ 4.79489069e-02 9.98162221e-01 -3.70551206e-02 -5.37517807e+01] [ 5.13747931e-01 7.16952796e-03 8.57911220e-01 -1.38271999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:110.85, Y:-53.75, Z:-13.81 [[ 8.57195309e-01 -5.97678327e-02 -5.11511493e-01 1.10851673e+02] [ 4.73383543e-02 9.98182127e-01 -3.73031054e-02 -5.37483376e+01] [ 5.12811156e-01 7.76193464e-03 8.58466348e-01 -1.38127246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:-53.74, Z:-13.80 [[ 8.55429617e-01 -6.01976365e-02 -5.14408801e-01 1.10875681e+02] [ 4.74894539e-02 9.98154928e-01 -3.78350489e-02 -5.37428225e+01] [ 5.15737261e-01 7.93622838e-03 8.56710041e-01 -1.37992008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.90, Y:-53.76, Z:-13.78 [[ 8.38509084e-01 -4.52734623e-02 -5.43003527e-01 1.10901584e+02] [ 4.58426225e-02 9.98870572e-01 -1.24913991e-02 -5.37637387e+01] [ 5.42955772e-01 -1.44185541e-02 8.39637502e-01 -1.37843943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.92, Y:-53.71, Z:-13.77 [[ 8.55614283e-01 -7.33093792e-02 -5.12396267e-01 1.10920596e+02] [ 4.87649428e-02 9.96933337e-01 -6.12037685e-02 -5.37144827e+01] [ 5.15311730e-01 2.73798439e-02 8.56565330e-01 -1.37668752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.95, Y:-53.73, Z:-13.75 [[ 8.56699145e-01 -6.30758029e-02 -5.11945327e-01 1.10946336e+02] [ 5.04867398e-02 9.97983381e-01 -3.84741400e-02 -5.37271038e+01] [ 5.13339716e-01 7.11431231e-03 8.58156001e-01 -1.37530151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.97, Y:-53.72, Z:-13.74 [[ 8.56909094e-01 -6.52603134e-02 -5.11319759e-01 1.10969834e+02] [ 5.28742292e-02 9.97849223e-01 -3.87459018e-02 -5.37219200e+01] [ 5.12748594e-01 6.16607752e-03 8.58516662e-01 -1.37380596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.99, Y:-53.72, Z:-13.72 [[ 8.56720586e-01 -6.81361257e-02 -5.11260507e-01 1.10993334e+02] [ 5.60363592e-02 9.97664421e-01 -3.90593163e-02 -5.37182896e+01] [ 5.12727768e-01 4.81374298e-03 8.58537748e-01 -1.37234660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.03, Y:-53.81, Z:-13.71 [[ 8.37128804e-01 -1.84543016e-02 -5.46694433e-01 1.11025256e+02] [ 6.27684903e-02 9.96069766e-01 6.24911054e-02 -5.38121619e+01] [ 5.43392567e-01 -8.66282886e-02 8.34997041e-01 -1.37135044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.02, Y:-53.63, Z:-13.68 [[ 8.56544409e-01 -1.32613289e-01 -4.98743814e-01 1.11024906e+02] [ 7.03017440e-02 9.87394846e-01 -1.41806496e-01 -5.36252978e+01] [ 5.11262497e-01 8.64010014e-02 8.55070480e-01 -1.36794045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:-53.72, Z:-13.68 [[ 8.57315731e-01 -8.27705314e-02 -5.08093275e-01 1.11062891e+02] [ 7.28544830e-02 9.96563413e-01 -3.94155756e-02 -5.37150176e+01] [ 5.09609616e-01 -3.22527980e-03 8.60399696e-01 -1.36770190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:111.09, Y:-53.71, Z:-13.66 [[ 8.57084059e-01 -8.72446136e-02 -5.07735456e-01 1.11086179e+02] [ 7.78850901e-02 9.96171627e-01 -3.96989007e-02 -5.37134135e+01] [ 5.09255170e-01 -5.51972685e-03 8.60597876e-01 -1.36617242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.11, Y:-53.72, Z:-13.65 [[ 8.54419108e-01 -9.40283659e-02 -5.11005533e-01 1.11111502e+02] [ 8.54743356e-02 9.95526335e-01 -4.02672917e-02 -5.37177278e+01] [ 5.12505733e-01 -9.27271494e-03 8.58633735e-01 -1.36480236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:-53.72, Z:-13.63 [[ 8.53744423e-01 -9.70350523e-02 -5.11570776e-01 1.11136073e+02] [ 8.87778047e-02 9.95223011e-01 -4.06160051e-02 -5.37194084e+01] [ 5.13068184e-01 -1.07404427e-02 8.58280654e-01 -1.36348985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:-53.72, Z:-13.62 [[ 8.53710720e-01 -9.74598155e-02 -5.11546275e-01 1.11160121e+02] [ 8.90893439e-02 9.95182613e-01 -4.09225653e-02 -5.37173574e+01] [ 5.13070264e-01 -1.06372894e-02 8.58280695e-01 -1.36198135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.18, Y:-53.72, Z:-13.61 [[ 8.52336565e-01 -1.00106402e-01 -5.13323571e-01 1.11184374e+02] [ 9.20080773e-02 9.94903507e-01 -4.12495422e-02 -5.37180413e+01] [ 5.14836764e-01 -1.20714217e-02 8.57203236e-01 -1.36050945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.21, Y:-53.72, Z:-13.59 [[ 8.52627690e-01 -1.02480088e-01 -5.12370817e-01 1.11208028e+02] [ 9.46280076e-02 9.94648474e-01 -4.14723136e-02 -5.37178637e+01] [ 5.13878937e-01 -1.31241865e-02 8.57762318e-01 -1.35900101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:-53.72, Z:-13.57 [[ 8.55166999e-01 -1.05489745e-01 -5.07504992e-01 1.11230877e+02] [ 9.81027942e-02 9.94315997e-01 -4.13707642e-02 -5.37234738e+01] [ 5.08984523e-01 -1.44087455e-02 8.60655066e-01 -1.35721394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.25, Y:-53.73, Z:-13.56 [[ 8.56214385e-01 -1.07111058e-01 -5.05395043e-01 1.11254991e+02] [ 9.98732599e-02 9.94134668e-01 -4.14920856e-02 -5.37269544e+01] [ 5.06874994e-01 -1.49493299e-02 8.61889934e-01 -1.35568648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:-53.73, Z:-13.54 [[ 8.55554718e-01 -1.08785677e-01 -5.06153929e-01 1.11279631e+02] [ 1.01625317e-01 9.93942244e-01 -4.18462841e-02 -5.37298624e+01] [ 5.07640049e-01 -1.56362676e-02 8.61427355e-01 -1.35424604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:-53.73, Z:-13.53 [[ 8.53459698e-01 -1.08959239e-01 -5.09641470e-01 1.11306442e+02] [ 1.01554438e-01 9.93924693e-01 -4.24311202e-02 -5.37337672e+01] [ 5.11168504e-01 -1.55431020e-02 8.59339963e-01 -1.35312049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:-53.81, Z:-13.52 [[ 8.38120812e-01 -6.13748103e-02 -5.42020882e-01 1.11335240e+02] [ 9.98647861e-02 9.94120421e-01 4.18522685e-02 -5.38134501e+01] [ 5.36265353e-01 -8.92060567e-02 8.39322197e-01 -1.35183145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:-53.66, Z:-13.49 [[ 8.52961646e-01 -1.53362714e-01 -4.98935174e-01 1.11342658e+02] [ 1.00826889e-01 9.86269749e-01 -1.30789608e-01 -5.36561194e+01] [ 5.12142918e-01 6.12524384e-02 8.56713354e-01 -1.34922570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.38, Y:-53.83, Z:-13.48 [[ 8.39781117e-01 -5.02701431e-02 -5.40592811e-01 1.11381950e+02] [ 9.59587500e-02 9.93771667e-01 5.66550309e-02 -5.38337348e+01] [ 5.34377763e-01 -9.94524356e-02 8.39374541e-01 -1.34832455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:-53.65, Z:-13.46 [[ 8.54830407e-01 -1.57097880e-01 -4.94555590e-01 1.11388075e+02] [ 9.75928848e-02 9.84736252e-01 -1.44118505e-01 -5.36528755e+01] [ 5.09647530e-01 7.49317732e-02 8.57114126e-01 -1.34594866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:-53.75, Z:-13.45 [[ 8.56762860e-01 -1.02753963e-01 -5.05370187e-01 1.11426147e+02] [ 9.40499219e-02 9.94647430e-01 -4.27913761e-02 -5.37467333e+01] [ 5.07062141e-01 -1.08679649e-02 8.61840979e-01 -1.34544945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.45, Y:-53.75, Z:-13.44 [[ 8.57041910e-01 -9.93672318e-02 -5.05574246e-01 1.11450554e+02] [ 8.99357277e-02 9.95014303e-01 -4.31056947e-02 -5.37502993e+01] [ 5.07336900e-01 -8.52580075e-03 8.61705623e-01 -1.34397487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:-53.75, Z:-13.43 [[ 8.57083058e-01 -9.77036517e-02 -5.05828654e-01 1.11473769e+02] [ 8.78162545e-02 9.95189527e-01 -4.34293840e-02 -5.37492251e+01] [ 5.07638589e-01 -7.19738857e-03 8.61540052e-01 -1.34250520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:-53.79, Z:-13.41 [[ 8.38106361e-01 -7.41832345e-02 -5.40439243e-01 1.11497824e+02] [ 8.49676129e-02 9.96371169e-01 -4.99989445e-03 -5.37862768e+01] [ 5.38848988e-01 -4.17293890e-02 8.41368187e-01 -1.34092215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.52, Y:-53.71, Z:-13.39 [[ 8.58157166e-01 -1.12195761e-01 -5.00977434e-01 1.11516247e+02] [ 7.91759383e-02 9.93076450e-01 -8.67775003e-02 -5.37131334e+01] [ 5.07244960e-01 3.48033753e-02 8.61098877e-01 -1.33909978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.54, Y:-53.75, Z:-13.38 [[ 8.57852694e-01 -8.79089292e-02 -5.06320823e-01 1.11544331e+02] [ 7.61959486e-02 9.96128053e-01 -4.38529282e-02 -5.37530127e+01] [ 5.08215440e-01 -9.60242833e-04 8.61229438e-01 -1.33780633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.57, Y:-53.75, Z:-13.36 [[ 8.58401560e-01 -8.64951890e-02 -5.05633606e-01 1.11568600e+02] [ 7.44032592e-02 9.96252239e-01 -4.41093148e-02 -5.37525472e+01] [ 5.07553855e-01 2.42716388e-04 8.61620000e-01 -1.33636666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.59, Y:-53.75, Z:-13.35 [[ 8.57696621e-01 -8.57508031e-02 -5.06954935e-01 1.11592855e+02] [ 7.32829843e-02 9.96316061e-01 -4.45411078e-02 -5.37537659e+01] [ 5.08906780e-01 1.05158703e-03 8.60820994e-01 -1.33492131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:-53.76, Z:-13.34 [[ 8.58409482e-01 -8.60302658e-02 -5.05699470e-01 1.11617004e+02] [ 7.35016625e-02 9.96291775e-01 -4.47236423e-02 -5.37557915e+01] [ 5.07671810e-01 1.22144677e-03 8.61549674e-01 -1.33352347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.64, Y:-53.76, Z:-13.32 [[ 8.57804972e-01 -8.59915877e-02 -5.06730774e-01 1.11641581e+02] [ 7.32120157e-02 9.96294549e-01 -4.51350504e-02 -5.37577110e+01] [ 5.08734342e-01 1.61828926e-03 8.60922035e-01 -1.33205793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.67, Y:-53.84, Z:-13.31 [[ 8.38196728e-01 -4.06956211e-02 -5.43847508e-01 1.11667399e+02] [ 7.29618676e-02 9.96615276e-01 3.78755457e-02 -5.38366565e+01] [ 5.40465365e-01 -7.14272883e-02 8.38328892e-01 -1.33051211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.68, Y:-53.76, Z:-13.29 [[ 8.38383894e-01 -8.43439752e-02 -5.38515125e-01 1.11682509e+02] [ 7.01598523e-02 9.96435591e-01 -4.68370292e-02 -5.37592539e+01] [ 5.40546058e-01 1.48526932e-03 8.41313112e-01 -1.32921929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.70, Y:-53.67, Z:-13.27 [[ 8.61556179e-01 -1.30423101e-01 -4.90622833e-01 1.11699428e+02] [ 7.09627672e-02 9.87887081e-01 -1.37997830e-01 -5.36711635e+01] [ 5.02678063e-01 8.40769290e-02 8.60375403e-01 -1.32725326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:-53.75, Z:-13.26 [[ 8.60729638e-01 -8.10364844e-02 -5.02570968e-01 1.11733484e+02] [ 6.74103683e-02 9.96698195e-01 -4.52609030e-02 -5.37545428e+01] [ 5.04579361e-01 5.07890669e-03 8.63350377e-01 -1.32616207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.76, Y:-53.81, Z:-13.24 [[ 8.37588920e-01 -4.87510285e-02 -5.44121437e-01 1.11757990e+02] [ 6.45163464e-02 9.97867463e-01 9.90792021e-03 -5.38086552e+01] [ 5.42478056e-01 -4.34034913e-02 8.38947969e-01 -1.32441488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.78, Y:-53.70, Z:-13.23 [[ 8.61701590e-01 -1.07067201e-01 -4.95990912e-01 1.11775263e+02] [ 6.41401371e-02 9.92627708e-01 -1.02841022e-01 -5.37024539e+01] [ 5.03345223e-01 5.68053466e-02 8.62216179e-01 -1.32315720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.81, Y:-53.75, Z:-13.22 [[ 8.60697944e-01 -7.78531685e-02 -5.03128148e-01 1.11805617e+02] [ 6.33314017e-02 9.96935390e-01 -4.59234327e-02 -5.37533158e+01] [ 5.05161542e-01 7.66239322e-03 8.62990791e-01 -1.32190008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.83, Y:-53.75, Z:-13.20 [[ 8.61136886e-01 -7.84762053e-02 -5.02279552e-01 1.11829769e+02] [ 6.39232444e-02 9.96886691e-01 -4.61599937e-02 -5.37521866e+01] [ 5.04338261e-01 7.64273468e-03 8.63472354e-01 -1.32042945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:-53.80, Z:-13.19 [[ 8.38654505e-01 -5.60986706e-02 -5.41767072e-01 1.11853425e+02] [ 6.55506074e-02 9.97847527e-01 -1.85247061e-03 -5.37953468e+01] [ 5.40704854e-01 -3.39595778e-02 8.40526625e-01 -1.31866169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.87, Y:-53.74, Z:-13.17 [[ 8.41425421e-01 -8.75058918e-02 -5.33241014e-01 1.11872804e+02] [ 6.54311099e-02 9.96039206e-01 -6.02052336e-02 -5.37406167e+01] [ 5.36397269e-01 1.57676626e-02 8.43818316e-01 -1.31723817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:111.90, Y:-53.74, Z:-13.16 [[ 8.43693009e-01 -8.61322748e-02 -5.29871058e-01 1.11897143e+02] [ 6.65375967e-02 9.96211633e-01 -5.59922429e-02 -5.37421233e+01] [ 5.32686451e-01 1.19839172e-02 8.46227824e-01 -1.31583425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.92, Y:-53.73, Z:-13.15 [[ 8.61759531e-01 -9.50415653e-02 -4.98334839e-01 1.11920511e+02] [ 7.00648608e-02 9.95178310e-01 -6.86370690e-02 -5.37262941e+01] [ 5.02455397e-01 2.42328873e-02 8.64263468e-01 -1.31458189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.95, Y:-53.78, Z:-13.13 [[ 8.42648194e-01 -6.54001790e-02 -5.34478098e-01 1.11947431e+02] [ 6.97739071e-02 9.97490034e-01 -1.20513262e-02 -5.37780318e+01] [ 5.33924735e-01 -2.71375968e-02 8.45096402e-01 -1.31281057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.97, Y:-53.74, Z:-13.11 [[ 8.45395428e-01 -8.94534622e-02 -5.26597236e-01 1.11967586e+02] [ 7.01590616e-02 9.95931807e-01 -5.65468184e-02 -5.37350048e+01] [ 5.29513245e-01 1.08588539e-02 8.48232167e-01 -1.31127699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:-53.71, Z:-13.10 [[ 8.62884596e-01 -1.02183751e-01 -4.94963286e-01 1.11991807e+02] [ 7.48313491e-02 9.94384450e-01 -7.48320436e-02 -5.37142094e+01] [ 4.99830414e-01 2.75326472e-02 8.65685572e-01 -1.31009672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.02, Y:-53.76, Z:-13.08 [[ 8.42800653e-01 -7.58704209e-02 -5.32851517e-01 1.12018474e+02] [ 7.58203234e-02 9.96878377e-01 -2.20176985e-02 -5.37642523e+01] [ 5.32858647e-01 -2.18444437e-02 8.45922267e-01 -1.30839727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.04, Y:-53.77, Z:-13.07 [[ 8.49586218e-01 -7.27662310e-02 -5.22406293e-01 1.12039596e+02] [ 7.91025823e-02 9.96814269e-01 -1.02026980e-02 -5.37741618e+01] [ 5.21484458e-01 -3.26556152e-02 8.52635661e-01 -1.30732857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:-53.67, Z:-13.06 [[ 8.64615046e-01 -1.31154025e-01 -4.85014890e-01 1.12055953e+02] [ 8.12158844e-02 9.89116435e-01 -1.22689276e-01 -5.36681676e+01] [ 4.95827391e-01 6.66880809e-02 8.65856742e-01 -1.30556664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:-53.73, Z:-13.04 [[ 8.64436492e-01 -9.61738789e-02 -4.93457329e-01 1.12086542e+02] [ 8.36654558e-02 9.95364508e-01 -4.74298204e-02 -5.37349780e+01] [ 4.95731422e-01 -2.85264824e-04 8.68475835e-01 -1.30420172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.11, Y:-53.73, Z:-13.03 [[ 8.64623041e-01 -9.73734809e-02 -4.92894919e-01 1.12110619e+02] [ 8.49005305e-02 9.95247720e-01 -4.76851739e-02 -5.37335114e+01] [ 4.95195816e-01 -6.17340008e-04 8.68781171e-01 -1.30280354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:112.13, Y:-53.74, Z:-13.01 [[ 8.46562135e-01 -9.30947273e-02 -5.24085797e-01 1.12132155e+02] [ 8.53991317e-02 9.95587056e-01 -3.89024743e-02 -5.37435058e+01] [ 5.25394651e-01 -1.18231103e-02 8.50776513e-01 -1.30119075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.15, Y:-53.73, Z:-13.00 [[ 8.46839719e-01 -1.01789477e-01 -5.22016659e-01 1.12154866e+02] [ 8.49991265e-02 9.94801045e-01 -5.60894784e-02 -5.37255410e+01] [ 5.25012036e-01 3.12783813e-03 8.51089054e-01 -1.29985570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:112.18, Y:-53.73, Z:-12.98 [[ 8.48170408e-01 -9.89227109e-02 -5.20404896e-01 1.12179950e+02] [ 8.38975343e-02 9.95094800e-01 -5.24170112e-02 -5.37268667e+01] [ 5.23037439e-01 7.97870124e-04 8.52309334e-01 -1.29849975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:112.20, Y:-53.73, Z:-12.97 [[ 8.47421089e-01 -9.44058617e-02 -5.22460555e-01 1.12204801e+02] [ 8.34337764e-02 9.95516707e-01 -4.45566094e-02 -5.37332619e+01] [ 5.24324616e-01 -5.83264665e-03 8.51498489e-01 -1.29709411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.23, Y:-53.71, Z:-12.96 [[ 8.65584771e-01 -1.05936307e-01 -4.89428752e-01 1.12228877e+02] [ 8.23341524e-02 9.94173249e-01 -6.95746914e-02 -5.37054856e+01] [ 4.93947459e-01 1.99260918e-02 8.69263400e-01 -1.29565606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.25, Y:-53.72, Z:-12.94 [[ 8.65513031e-01 -9.50492822e-02 -4.91785346e-01 1.12254499e+02] [ 8.16606233e-02 9.95470610e-01 -4.86806562e-02 -5.37201225e+01] [ 4.94184920e-01 1.97424443e-03 8.69354569e-01 -1.29419829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.28, Y:-53.72, Z:-12.93 [[ 8.65500538e-01 -9.46903916e-02 -4.91876558e-01 1.12278875e+02] [ 8.10675182e-02 9.95503550e-01 -4.89973350e-02 -5.37154234e+01] [ 4.94304436e-01 2.53200803e-03 8.69285174e-01 -1.29279088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.30, Y:-53.71, Z:-12.92 [[ 8.64943732e-01 -9.46844961e-02 -4.92856152e-01 1.12303826e+02] [ 8.08261779e-02 9.95503121e-01 -4.94030872e-02 -5.37138749e+01] [ 4.95317543e-01 2.89521165e-03 8.68707171e-01 -1.29159414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:-53.71, Z:-12.90 [[ 8.65380532e-01 -9.54824130e-02 -4.91934593e-01 1.12328151e+02] [ 8.16249175e-02 9.95427221e-01 -4.96187478e-02 -5.37122752e+01] [ 4.94422803e-01 2.78497771e-03 8.69217082e-01 -1.29014962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:112.35, Y:-53.74, Z:-12.89 [[ 8.46234081e-01 -7.89678076e-02 -5.26926907e-01 1.12351015e+02] [ 8.21370977e-02 9.96468697e-01 -1.74250676e-02 -5.37416090e+01] [ 5.26442188e-01 -2.85345608e-02 8.49731959e-01 -1.28855174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:-53.67, Z:-12.87 [[ 8.65824767e-01 -1.14265839e-01 -4.87125025e-01 1.12369726e+02] [ 8.21013124e-02 9.92822911e-01 -8.69600014e-02 -5.36668743e+01] [ 4.93565443e-01 3.52985191e-02 8.68992041e-01 -1.28714362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.40, Y:-53.70, Z:-12.86 [[ 8.66403783e-01 -9.59278880e-02 -4.90043187e-01 1.12397506e+02] [ 8.18876746e-02 9.95382969e-01 -5.00714948e-02 -5.36964035e+01] [ 4.92583895e-01 3.25363546e-03 8.70258881e-01 -1.28579324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:-53.69, Z:-12.84 [[ 8.66616917e-01 -9.71118690e-02 -4.89432737e-01 1.12421868e+02] [ 8.31122833e-02 9.95269171e-01 -5.03152665e-02 -5.36944423e+01] [ 4.92003524e-01 2.92618882e-03 8.70588289e-01 -1.28434581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:112.45, Y:-53.69, Z:-12.83 [[ 8.65971038e-01 -9.88651449e-02 -4.90224279e-01 1.12446065e+02] [ 8.49046492e-02 9.95098218e-01 -5.07024302e-02 -5.36933056e+01] [ 4.92834010e-01 2.28451569e-03 8.70120348e-01 -1.28288755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:112.47, Y:-53.69, Z:-12.82 [[ 8.66364965e-01 -1.00258983e-01 -4.89244196e-01 1.12469981e+02] [ 8.63931109e-02 9.94959680e-01 -5.09064415e-02 -5.36919746e+01] [ 4.91882077e-01 1.83622941e-03 8.70659894e-01 -1.28151519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.49, Y:-53.69, Z:-12.80 [[ 8.66409408e-01 -1.03123730e-01 -4.88569580e-01 1.12493406e+02] [ 8.95506033e-02 9.94668379e-01 -5.11420050e-02 -5.36912245e+01] [ 4.91238666e-01 5.58213631e-04 8.71024834e-01 -1.28001082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:112.52, Y:-53.69, Z:-12.79 [[ 8.65890827e-01 -1.04994441e-01 -4.89090220e-01 1.12517656e+02] [ 9.14928118e-02 9.94472798e-01 -5.15065078e-02 -5.36887644e+01] [ 4.91794816e-01 -1.49226839e-04 8.70711110e-01 -1.27859953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:112.54, Y:-53.69, Z:-12.77 [[ 8.66100874e-01 -1.07041983e-01 -4.88273786e-01 1.12541044e+02] [ 9.37191906e-02 9.94254038e-01 -5.17264115e-02 -5.36855845e+01] [ 4.91005081e-01 -9.60333824e-04 8.71156179e-01 -1.27717250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.56, Y:-53.74, Z:-12.76 [[ 8.52393091e-01 -7.86512774e-02 -5.16952604e-01 1.12563040e+02] [ 9.59950720e-02 9.95358263e-01 6.84654125e-03 -5.37407945e+01] [ 5.14014556e-01 -5.54608469e-02 8.55986642e-01 -1.27573177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:112.58, Y:-53.62, Z:-12.74 [[ 8.67676294e-01 -1.42828566e-01 -4.76169979e-01 1.12579164e+02] [ 9.70591087e-02 9.88076705e-01 -1.19515496e-01 -5.36243595e+01] [ 4.87562691e-01 5.74841291e-02 8.71193548e-01 -1.27410613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:112.61, Y:-53.69, Z:-12.73 [[ 8.67895644e-01 -1.10471345e-01 -4.84306962e-01 1.12611248e+02] [ 9.77084900e-02 9.93876088e-01 -5.16078798e-02 -5.36871558e+01] [ 4.87042301e-01 -2.53064792e-03 8.73374715e-01 -1.27286077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.64, Y:-53.69, Z:-12.72 [[ 8.67707689e-01 -1.11528457e-01 -4.84401455e-01 1.12636485e+02] [ 9.87475950e-02 9.93757336e-01 -5.19159778e-02 -5.36893665e+01] [ 4.87167609e-01 -2.78558562e-03 8.73304049e-01 -1.27162898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.66, Y:-53.69, Z:-12.70 [[ 8.67651030e-01 -1.12106280e-01 -4.84369562e-01 1.12660976e+02] [ 9.92440858e-02 9.93692364e-01 -5.22120356e-02 -5.36867316e+01] [ 4.87167633e-01 -2.76898798e-03 8.73304088e-01 -1.27019717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.69, Y:-53.71, Z:-12.69 [[ 8.51429444e-01 -9.86677305e-02 -5.15104437e-01 1.12686986e+02] [ 9.75736827e-02 9.94797777e-01 -2.92704382e-02 -5.37097351e+01] [ 5.15312797e-01 -2.53389240e-02 8.56627492e-01 -1.26865996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.71, Y:-53.66, Z:-12.67 [[ 8.68959722e-01 -1.24764891e-01 -4.78897403e-01 1.12708044e+02] [ 9.94282187e-02 9.91981024e-01 -7.80235736e-02 -5.36616738e+01] [ 4.84791739e-01 2.01834271e-02 8.74396706e-01 -1.26737125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.73, Y:-53.70, Z:-12.66 [[ 8.55597585e-01 -1.05411412e-01 -5.06795035e-01 1.12734777e+02] [ 9.78152786e-02 9.94331396e-01 -4.16802829e-02 -5.36970163e+01] [ 5.08315792e-01 -1.39107481e-02 8.61058388e-01 -1.26584072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.76, Y:-53.67, Z:-12.64 [[ 8.72054575e-01 -1.16123050e-01 -4.75432703e-01 1.12757264e+02] [ 9.64472478e-02 9.93169234e-01 -6.56719164e-02 -5.36716865e+01] [ 4.79811157e-01 1.14153194e-02 8.77297523e-01 -1.26437574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.79, Y:-53.71, Z:-12.63 [[ 8.55718980e-01 -9.36578704e-02 -5.08894125e-01 1.12785055e+02] [ 9.27626004e-02 9.95316738e-01 -2.71972647e-02 -5.37079692e+01] [ 5.09058079e-01 -2.39331268e-02 8.60399371e-01 -1.26281546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.81, Y:-53.70, Z:-12.61 [[ 8.54695375e-01 -9.90832236e-02 -5.09586431e-01 1.12807726e+02] [ 9.15424451e-02 9.95000356e-01 -3.99283362e-02 -5.36963457e+01] [ 5.10994908e-01 -1.25222236e-02 8.59492523e-01 -1.26149780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:-53.64, Z:-12.60 [[ 8.71352725e-01 -1.24351625e-01 -4.74637864e-01 1.12829675e+02] [ 9.00605112e-02 9.91450692e-01 -9.44173153e-02 -5.36449315e+01] [ 4.82320985e-01 3.95246563e-02 8.75102433e-01 -1.26047520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.86, Y:-53.68, Z:-12.59 [[ 8.71169840e-01 -1.02748341e-01 -4.80110288e-01 1.12857327e+02] [ 8.78823827e-02 9.94697930e-01 -5.34108131e-02 -5.36796477e+01] [ 4.83052582e-01 4.33665339e-03 8.75580605e-01 -1.25903402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.88, Y:-53.68, Z:-12.58 [[ 8.72035137e-01 -1.00891481e-01 -4.78931757e-01 1.12880635e+02] [ 8.56789614e-02 9.94881182e-01 -5.35775108e-02 -5.36754411e+01] [ 4.81885707e-01 5.68709648e-03 8.76215625e-01 -1.25758540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.90, Y:-53.67, Z:-12.56 [[ 8.73863944e-01 -9.72821226e-02 -4.76338110e-01 1.12904191e+02] [ 8.15869375e-02 9.95225031e-01 -5.35790017e-02 -5.36709656e+01] [ 4.79275890e-01 7.95779013e-03 8.77628221e-01 -1.25607113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:-53.67, Z:-12.55 [[ 8.73489615e-01 -9.55594088e-02 -4.77372278e-01 1.12928179e+02] [ 7.93883578e-02 9.95380643e-01 -5.39894771e-02 -5.36676189e+01] [ 4.80326327e-01 9.26144641e-03 8.77040960e-01 -1.25472536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.95, Y:-53.66, Z:-12.53 [[ 8.73802986e-01 -9.38424038e-02 -4.77139335e-01 1.12952351e+02] [ 7.72902508e-02 9.95531389e-01 -5.42537678e-02 -5.36635680e+01] [ 4.80098489e-01 1.05288854e-02 8.77151403e-01 -1.25345400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:-53.66, Z:-12.52 [[ 8.74237234e-01 -8.97341781e-02 -4.77134190e-01 1.12975679e+02] [ 7.24533176e-02 9.95879447e-01 -5.45402871e-02 -5.36553186e+01] [ 4.80062261e-01 1.31111948e-02 8.77136433e-01 -1.25212532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:-53.65, Z:-12.51 [[ 8.74726820e-01 -8.81206932e-02 -4.76537232e-01 1.12999985e+02] [ 7.05069849e-02 9.96007161e-01 -5.47585561e-02 -5.36496429e+01] [ 4.79459858e-01 1.42995742e-02 8.77447301e-01 -1.25073830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:-53.74, Z:-12.49 [[ 8.57184725e-01 -3.65117853e-02 -5.13713186e-01 1.13026154e+02] [ 6.99074246e-02 9.96500507e-01 4.58223859e-02 -5.37395082e+01] [ 5.10242393e-01 -7.51906151e-02 8.56737458e-01 -1.24871986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:113.03, Y:-53.54, Z:-12.47 [[ 8.77667782e-01 -1.39898644e-01 -4.58396808e-01 1.13032292e+02] [ 7.26852227e-02 9.84239158e-01 -1.61214572e-01 -5.35414869e+01] [ 4.73725788e-01 1.08174162e-01 8.74003563e-01 -1.24737446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.07, Y:-53.63, Z:-12.46 [[ 8.76860237e-01 -8.84867810e-02 -4.72531707e-01 1.13069033e+02] [ 7.10166795e-02 9.95972860e-01 -5.47237985e-02 -5.36342668e+01] [ 4.75471088e-01 1.44274901e-02 8.79613035e-01 -1.24633036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.09, Y:-53.63, Z:-12.45 [[ 8.76996643e-01 -9.02396526e-02 -4.71946706e-01 1.13092840e+02] [ 7.29042809e-02 9.95824876e-01 -5.49343409e-02 -5.36300810e+01] [ 4.74933526e-01 1.37702973e-02 8.79913930e-01 -1.24498707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.12, Y:-53.62, Z:-12.44 [[ 8.76548442e-01 -9.31054234e-02 -4.72222626e-01 1.13116775e+02] [ 7.59850311e-02 9.95577219e-01 -5.52474117e-02 -5.36242633e+01] [ 4.75277922e-01 1.25451817e-02 8.79746279e-01 -1.24362416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.14, Y:-53.62, Z:-12.42 [[ 8.76034362e-01 -9.46518715e-02 -4.72868713e-01 1.13140795e+02] [ 7.75376866e-02 9.95437531e-01 -5.56060207e-02 -5.36189498e+01] [ 4.75974478e-01 1.20476388e-02 8.79376569e-01 -1.24224121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:-53.61, Z:-12.41 [[ 8.76044817e-01 -9.59254529e-02 -4.72592622e-01 1.13164818e+02] [ 7.88535211e-02 9.95320143e-01 -5.58563883e-02 -5.36137056e+01] [ 4.75739005e-01 1.16671071e-02 8.79509112e-01 -1.24097034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:-53.61, Z:-12.40 [[ 8.75279392e-01 -9.75251387e-02 -4.73682207e-01 1.13189239e+02] [ 8.04315282e-02 9.95170568e-01 -5.62699806e-02 -5.36089505e+01] [ 4.76882328e-01 1.11529706e-02 8.78896386e-01 -1.23966586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:-53.61, Z:-12.38 [[ 8.74890625e-01 -1.01534940e-01 -4.73557863e-01 1.13214038e+02] [ 8.48461083e-02 9.94788631e-01 -5.65395294e-02 -5.36058519e+01] [ 4.76830716e-01 9.28636246e-03 8.78946091e-01 -1.23837805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:-53.60, Z:-12.37 [[ 8.74625967e-01 -1.04662313e-01 -4.73365840e-01 1.13238056e+02] [ 8.82603066e-02 9.94476412e-01 -5.68047866e-02 -5.36037762e+01] [ 4.76696482e-01 7.90352730e-03 8.79032421e-01 -1.23694290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:-53.60, Z:-12.36 [[ 8.73283682e-01 -1.08814276e-01 -4.74905321e-01 1.13262659e+02] [ 9.27103210e-02 9.94044018e-01 -5.72825119e-02 -5.36012760e+01] [ 4.78309949e-01 5.99525815e-03 8.78170627e-01 -1.23552919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:113.29, Y:-53.60, Z:-12.34 [[ 8.72476233e-01 -1.11294764e-01 -4.75813723e-01 1.13285971e+02] [ 9.53083051e-02 9.93774959e-01 -5.76858488e-02 -5.35984992e+01] [ 4.79271896e-01 4.98053259e-03 8.77652348e-01 -1.23407267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:-53.60, Z:-12.33 [[ 8.72662397e-01 -1.13517019e-01 -4.74946552e-01 1.13310118e+02] [ 9.77391621e-02 9.93527645e-01 -5.78781016e-02 -5.35961571e+01] [ 4.78442679e-01 4.08716482e-03 8.78109275e-01 -1.23271316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:-53.59, Z:-12.31 [[ 8.72402762e-01 -1.14609363e-01 -4.75161146e-01 1.13334797e+02] [ 9.88071407e-02 9.93403280e-01 -5.81985606e-02 -5.35941760e+01] [ 4.78696741e-01 3.82327079e-03 8.77971988e-01 -1.23138404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.36, Y:-53.62, Z:-12.30 [[ 8.54289831e-01 -9.72229511e-02 -5.10623718e-01 1.13362457e+02] [ 9.68784101e-02 9.94920305e-01 -2.73525241e-02 -5.36240184e+01] [ 5.10689199e-01 -2.61014308e-02 8.59369104e-01 -1.22980709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.38, Y:-53.56, Z:-12.29 [[ 8.72033910e-01 -1.30401907e-01 -4.71754388e-01 1.13379871e+02] [ 9.95392250e-02 9.90962020e-01 -8.99233977e-02 -5.35591108e+01] [ 4.79216864e-01 3.14581859e-02 8.77132590e-01 -1.22860876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.41, Y:-53.58, Z:-12.27 [[ 8.71097091e-01 -1.14947435e-01 -4.77469314e-01 1.13407857e+02] [ 9.86155134e-02 9.93361340e-01 -5.92303019e-02 -5.35834125e+01] [ 4.81107929e-01 4.50946220e-03 8.76649774e-01 -1.22724660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.43, Y:-53.58, Z:-12.26 [[ 8.71205289e-01 -1.15168107e-01 -4.77218662e-01 1.13431929e+02] [ 9.87221851e-02 9.93334791e-01 -5.94972504e-02 -5.35806582e+01] [ 4.80890086e-01 4.72225008e-03 8.76768171e-01 -1.22578722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.46, Y:-53.58, Z:-12.24 [[ 8.71191816e-01 -1.15761734e-01 -4.77099613e-01 1.13456208e+02] [ 9.92439246e-02 9.93265740e-01 -5.97813719e-02 -5.35809283e+01] [ 4.80807096e-01 4.73180392e-03 8.76813633e-01 -1.22426234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:-53.61, Z:-12.23 [[ 8.55655408e-01 -1.00423523e-01 -5.07709503e-01 1.13482988e+02] [ 9.81182653e-02 9.94679781e-01 -3.13837412e-02 -5.36065206e+01] [ 5.08160043e-01 -2.29619078e-02 8.60956516e-01 -1.22254114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:-53.55, Z:-12.21 [[ 8.71695142e-01 -1.31602595e-01 -4.72046964e-01 1.13500889e+02] [ 1.01634783e-01 9.90871662e-01 -8.85647795e-02 -5.35468891e+01] [ 4.79393315e-01 2.92250972e-02 8.77113415e-01 -1.22132319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.53, Y:-53.57, Z:-12.20 [[ 8.71690190e-01 -1.19130930e-01 -4.75356745e-01 1.13528685e+02] [ 1.02778580e-01 9.92871452e-01 -6.03559732e-02 -5.35677262e+01] [ 4.79158405e-01 3.75521839e-03 8.77720412e-01 -1.22013585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:-53.57, Z:-12.19 [[ 8.71722903e-01 -1.20280839e-01 -4.75007052e-01 1.13552891e+02] [ 1.03951361e-01 9.92733885e-01 -6.06097997e-02 -5.35658900e+01] [ 4.78845794e-01 3.45732087e-03 8.77892221e-01 -1.21876623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:113.58, Y:-53.56, Z:-12.17 [[ 8.71824570e-01 -1.21611448e-01 -4.74481374e-01 1.13577168e+02] [ 1.05344115e-01 9.92573077e-01 -6.08383452e-02 -5.35643169e+01] [ 4.78356077e-01 3.05654369e-03 8.78160646e-01 -1.21729745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.60, Y:-53.56, Z:-12.16 [[ 8.72330077e-01 -1.23104866e-01 -4.73165329e-01 1.13600531e+02] [ 1.06980238e-01 9.92390363e-01 -6.09638995e-02 -5.35626908e+01] [ 4.77069665e-01 2.56130381e-03 8.78861749e-01 -1.21583947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.62, Y:-53.56, Z:-12.14 [[ 8.72126957e-01 -1.24117886e-01 -4.73275101e-01 1.13624559e+02] [ 1.07963718e-01 9.92264714e-01 -6.12745716e-02 -5.35605635e+01] [ 4.77219453e-01 2.34266597e-03 8.78781034e-01 -1.21447032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.65, Y:-53.56, Z:-12.13 [[ 8.70152184e-01 -1.25511380e-01 -4.76531291e-01 1.13649753e+02] [ 1.09148807e-01 9.92090298e-01 -6.19949846e-02 -5.35592473e+01] [ 4.80543146e-01 1.93224950e-03 8.76968957e-01 -1.21323688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.67, Y:-53.56, Z:-12.12 [[ 8.69318777e-01 -1.26013269e-01 -4.77917901e-01 1.13674188e+02] [ 1.09454708e-01 9.92026541e-01 -6.24740661e-02 -5.35563531e+01] [ 4.81979804e-01 1.99951462e-03 8.76180045e-01 -1.21191775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:-53.55, Z:-12.10 [[ 8.69684098e-01 -1.25917063e-01 -4.77278183e-01 1.13698402e+02] [ 1.09228075e-01 9.92037897e-01 -6.26900182e-02 -5.35527101e+01] [ 4.81371788e-01 2.38833458e-03 8.76513262e-01 -1.21047397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:113.72, Y:-53.55, Z:-12.09 [[ 8.71439635e-01 -1.24984451e-01 -4.74311974e-01 1.13720723e+02] [ 1.08227828e-01 9.92153494e-01 -6.25953851e-02 -5.35474548e+01] [ 4.78413732e-01 3.21434484e-03 8.78128674e-01 -1.20885864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:-53.54, Z:-12.07 [[ 8.71821942e-01 -1.25325374e-01 -4.73518798e-01 1.13745047e+02] [ 1.08514797e-01 9.92110020e-01 -6.27873224e-02 -5.35441801e+01] [ 4.77651588e-01 3.35556895e-03 8.78542942e-01 -1.20744952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.77, Y:-53.54, Z:-12.06 [[ 8.71503042e-01 -1.25215715e-01 -4.74134446e-01 1.13769176e+02] [ 1.08181578e-01 9.92122431e-01 -6.31650904e-02 -5.35413505e+01] [ 4.78308681e-01 3.75595592e-03 8.78183750e-01 -1.20615897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:-53.54, Z:-12.05 [[ 8.71271831e-01 -1.25651588e-01 -4.74443965e-01 1.13794122e+02] [ 1.08490728e-01 9.92066931e-01 -6.35056432e-02 -5.35384383e+01] [ 4.78659753e-01 3.85790662e-03 8.77992003e-01 -1.20484549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:-53.53, Z:-12.03 [[ 8.70303694e-01 -1.27498983e-01 -4.75726276e-01 1.13818205e+02] [ 1.10333352e-01 9.91833576e-01 -6.39742855e-02 -5.35349682e+01] [ 4.79997949e-01 3.18858237e-03 8.77263815e-01 -1.20343477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.84, Y:-53.53, Z:-12.02 [[ 8.69925309e-01 -1.28795915e-01 -4.76068869e-01 1.13842154e+02] [ 1.11622676e-01 9.91667137e-01 -6.43169238e-02 -5.35321117e+01] [ 4.80385610e-01 2.81083879e-03 8.77052886e-01 -1.20198455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:113.87, Y:-53.53, Z:-12.01 [[ 8.70477935e-01 -1.29145160e-01 -4.74962832e-01 1.13865853e+02] [ 1.11943441e-01 9.91621320e-01 -6.44656720e-02 -5.35295144e+01] [ 4.79308700e-01 2.94697130e-03 8.77641433e-01 -1.20057391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.89, Y:-53.53, Z:-11.99 [[ 8.70641390e-01 -1.28744372e-01 -4.74772004e-01 1.13890009e+02] [ 1.11339516e-01 9.91671631e-01 -6.47370744e-02 -5.35265965e+01] [ 4.79152462e-01 3.50189122e-03 8.77724704e-01 -1.19915624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:-53.52, Z:-11.98 [[ 8.70855812e-01 -1.26309562e-01 -4.75032683e-01 1.13913821e+02] [ 1.08383326e-01 9.91977348e-01 -6.50691555e-02 -5.35222260e+01] [ 4.79440518e-01 5.18023031e-03 8.77559089e-01 -1.19777821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:-53.52, Z:-11.96 [[ 8.71728379e-01 -1.24940095e-01 -4.73792789e-01 1.13937612e+02] [ 1.06765163e-01 9.92144621e-01 -6.51939432e-02 -5.35172226e+01] [ 4.78216304e-01 6.24684590e-03 8.78219872e-01 -1.19641426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.96, Y:-53.51, Z:-11.95 [[ 8.71470126e-01 -1.23157627e-01 -4.74733629e-01 1.13961438e+02] [ 1.04495987e-01 9.92358196e-01 -6.56185859e-02 -5.35124403e+01] [ 4.79187237e-01 7.57687799e-03 8.77680000e-01 -1.19502799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.99, Y:-53.59, Z:-11.93 [[ 8.57023367e-01 -8.13919910e-02 -5.08808699e-01 1.13987271e+02] [ 1.04556913e-01 9.94372791e-01 1.70471461e-02 -5.35884571e+01] [ 5.04558025e-01 -6.78092693e-02 8.60710812e-01 -1.19334563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:113.99, Y:-53.42, Z:-11.92 [[ 8.75437045e-01 -1.66465343e-01 -4.53761248e-01 1.13991637e+02] [ 1.05172381e-01 9.81931348e-01 -1.57320047e-01 -5.34213774e+01] [ 4.71750729e-01 9.00006467e-02 8.77126634e-01 -1.19159945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.03, Y:-53.50, Z:-11.91 [[ 8.75301286e-01 -1.21166376e-01 -4.68152078e-01 1.14028980e+02] [ 1.02699180e-01 9.92593950e-01 -6.48855129e-02 -5.35000180e+01] [ 4.72546863e-01 8.71553851e-03 8.81262448e-01 -1.19054524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.05, Y:-53.49, Z:-11.89 [[ 8.74901964e-01 -1.20621894e-01 -4.69038284e-01 1.14052342e+02] [ 1.01850394e-01 9.92654427e-01 -6.52969034e-02 -5.34899884e+01] [ 4.73469165e-01 9.35665492e-03 8.80760695e-01 -1.18920899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:-53.48, Z:-11.88 [[ 8.75284956e-01 -1.20927127e-01 -4.68244461e-01 1.14076039e+02] [ 1.02111698e-01 9.92615982e-01 -6.54729934e-02 -5.34839223e+01] [ 4.72704397e-01 9.49428936e-03 8.81169911e-01 -1.18784546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:-53.48, Z:-11.86 [[ 8.74667436e-01 -1.21347899e-01 -4.69288360e-01 1.14099166e+02] [ 1.02342915e-01 9.92563434e-01 -6.59071807e-02 -5.34785669e+01] [ 4.73796164e-01 9.61852608e-03 8.80582012e-01 -1.18633219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.12, Y:-53.47, Z:-11.85 [[ 8.74476303e-01 -1.21865875e-01 -4.69510281e-01 1.14122565e+02] [ 1.02757041e-01 9.92499505e-01 -6.62247981e-02 -5.34734730e+01] [ 4.74059264e-01 9.66652932e-03 8.80439874e-01 -1.18487550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:-53.50, Z:-11.83 [[ 8.54567558e-01 -1.06778470e-01 -5.08244672e-01 1.14147263e+02] [ 1.04117757e-01 9.93991634e-01 -3.37657224e-02 -5.35022622e+01] [ 5.08796405e-01 -2.40622043e-02 8.60550538e-01 -1.18338919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.16, Y:-53.43, Z:-11.82 [[ 8.74866978e-01 -1.43761399e-01 -4.62536951e-01 1.14163725e+02] [ 1.06329498e-01 9.88647097e-01 -1.06164758e-01 -5.34253913e+01] [ 4.72548208e-01 4.36987188e-02 8.80220775e-01 -1.18205006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:-53.46, Z:-11.81 [[ 8.74566551e-01 -1.24804647e-01 -4.68569257e-01 1.14194293e+02] [ 1.05979406e-01 9.92145268e-01 -6.64539899e-02 -5.34580994e+01] [ 4.73182538e-01 8.45974542e-03 8.80923787e-01 -1.18080598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.22, Y:-53.45, Z:-11.80 [[ 8.74574763e-01 -1.26329784e-01 -4.68145031e-01 1.14218354e+02] [ 1.07600565e-01 9.91956595e-01 -6.66650748e-02 -5.34515760e+01] [ 4.72801336e-01 7.93092219e-03 8.81133360e-01 -1.17959644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.25, Y:-53.54, Z:-11.78 [[ 8.57889593e-01 -8.06265171e-02 -5.07469024e-01 1.14248390e+02] [ 1.10996319e-01 9.93373477e-01 2.98153044e-02 -5.35365632e+01] [ 5.01702365e-01 -8.19054331e-02 8.61154015e-01 -1.17817448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.25, Y:-53.37, Z:-11.76 [[ 8.59823792e-01 -1.66981839e-01 -4.82514365e-01 1.14251665e+02] [ 1.10488082e-01 9.83469259e-01 -1.43459405e-01 -5.33738248e+01] [ 4.98493161e-01 7.00377227e-02 8.64059770e-01 -1.17623412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.29, Y:-53.43, Z:-11.75 [[ 8.60295201e-01 -1.35089688e-01 -4.91571911e-01 1.14285583e+02] [ 1.13982201e-01 9.90811357e-01 -7.28073674e-02 -5.34327535e+01] [ 4.96890557e-01 6.60538036e-03 8.67788075e-01 -1.17522765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.31, Y:-53.40, Z:-11.74 [[ 8.74896328e-01 -1.50674505e-01 -4.60275580e-01 1.14307017e+02] [ 1.20208236e-01 9.88192879e-01 -9.49990209e-02 -5.34035909e+01] [ 4.69154981e-01 2.77853791e-02 8.82678637e-01 -1.17378369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.34, Y:-53.43, Z:-11.73 [[ 8.75709805e-01 -1.39352457e-01 -4.62291283e-01 1.14335984e+02] [ 1.22518330e-01 9.90241680e-01 -6.64129067e-02 -5.34274142e+01] [ 4.67034899e-01 1.51927743e-03 8.84237578e-01 -1.17261825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:-53.43, Z:-11.71 [[ 8.75075002e-01 -1.41592996e-01 -4.62812235e-01 1.14360016e+02] [ 1.24861142e-01 9.89924749e-01 -6.67734011e-02 -5.34260387e+01] [ 4.67603931e-01 6.44470142e-04 8.83937865e-01 -1.17126607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.38, Y:-53.42, Z:-11.70 [[ 8.74064351e-01 -1.46185732e-01 -4.63293905e-01 1.14383747e+02] [ 1.29870549e-01 9.89256033e-01 -6.71277992e-02 -5.34237471e+01] [ 4.68129417e-01 -1.49421758e-03 8.83658653e-01 -1.16987194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.41, Y:-53.42, Z:-11.69 [[ 8.73040133e-01 -1.48887179e-01 -4.64363579e-01 1.14408360e+02] [ 1.32697209e-01 9.88850697e-01 -6.75703328e-02 -5.34200407e+01] [ 4.69246605e-01 -2.62813836e-03 8.83063257e-01 -1.16850326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.43, Y:-53.42, Z:-11.67 [[ 8.72350239e-01 -1.51378834e-01 -4.64854289e-01 1.14433574e+02] [ 1.35332066e-01 9.88469070e-01 -6.79273838e-02 -5.34180042e+01] [ 4.69776855e-01 -3.65322176e-03 8.82777640e-01 -1.16727315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:-53.42, Z:-11.66 [[ 8.71517349e-01 -1.55399549e-01 -4.65089767e-01 1.14459932e+02] [ 1.39720955e-01 9.87836355e-01 -6.82450770e-02 -5.34223979e+01] [ 4.70037835e-01 -5.50601807e-03 8.82629094e-01 -1.16600447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:-53.42, Z:-11.65 [[ 8.71785335e-01 -1.57004192e-01 -4.64047426e-01 1.14484010e+02] [ 1.41464125e-01 9.87579463e-01 -6.83718174e-02 -5.34220745e+01] [ 4.69018370e-01 -6.04051520e-03 8.83167754e-01 -1.16460998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.51, Y:-53.42, Z:-11.63 [[ 8.72042550e-01 -1.57249540e-01 -4.63480714e-01 1.14508146e+02] [ 1.41634709e-01 9.87541558e-01 -6.85658800e-02 -5.34204836e+01] [ 4.68488420e-01 -5.85259114e-03 8.83450252e-01 -1.16316441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:-53.42, Z:-11.62 [[ 8.72867113e-01 -1.56846210e-01 -4.62063057e-01 1.14531656e+02] [ 1.41132867e-01 9.87608789e-01 -6.86323156e-02 -5.34177409e+01] [ 4.67102255e-01 -5.30539272e-03 8.84187388e-01 -1.16174894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.56, Y:-53.41, Z:-11.60 [[ 8.72372361e-01 -1.55691094e-01 -4.63386175e-01 1.14556905e+02] [ 1.39581055e-01 9.87796034e-01 -6.91095075e-02 -5.34148792e+01] [ 4.68490761e-01 -4.39070725e-03 8.83457485e-01 -1.16047886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:-53.41, Z:-11.59 [[ 8.72942320e-01 -1.54608596e-01 -4.62674710e-01 1.14581268e+02] [ 1.38259820e-01 9.87969640e-01 -6.92835598e-02 -5.34128175e+01] [ 4.67820401e-01 -3.48877091e-03 8.83816667e-01 -1.15914864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:-53.41, Z:-11.58 [[ 8.73004306e-01 -1.53568499e-01 -4.62904092e-01 1.14606169e+02] [ 1.36917063e-01 9.88134531e-01 -6.95978973e-02 -5.34108238e+01] [ 4.68099563e-01 -2.62020451e-03 8.83671847e-01 -1.15785776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.63, Y:-53.41, Z:-11.57 [[ 8.73705566e-01 -1.50376264e-01 -4.62628970e-01 1.14631046e+02] [ 1.33176334e-01 9.88628660e-01 -6.98386447e-02 -5.34101325e+01] [ 4.67870333e-01 -5.92817762e-04 8.83796922e-01 -1.15663647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:-53.41, Z:-11.55 [[ 8.73722625e-01 -1.49120627e-01 -4.63003039e-01 1.14655599e+02] [ 1.31574741e-01 9.88818932e-01 -7.01798217e-02 -5.34084262e+01] [ 4.68291429e-01 3.98193022e-04 8.83573980e-01 -1.15532442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:-53.47, Z:-11.54 [[ 8.62262748e-01 -1.12639751e-01 -4.93776509e-01 1.14683705e+02] [ 1.27241529e-01 9.91863429e-01 -4.06584570e-03 -5.34703751e+01] [ 4.90216837e-01 -5.93230508e-02 8.69579340e-01 -1.15374923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.69, Y:-53.34, Z:-11.52 [[ 8.75814809e-01 -1.77830232e-01 -4.48692354e-01 1.14690733e+02] [ 1.26930159e-01 9.81788106e-01 -1.41353632e-01 -5.33360414e+01] [ 4.65657766e-01 6.68470127e-02 8.82436583e-01 -1.15211281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.73, Y:-53.39, Z:-11.51 [[ 8.76758504e-01 -1.41752715e-01 -4.59565766e-01 1.14725822e+02] [ 1.23285615e-01 9.89890333e-01 -7.01269187e-02 -5.33949702e+01] [ 4.64860390e-01 4.82652415e-03 8.85370839e-01 -1.15098607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:-53.39, Z:-11.50 [[ 8.77232095e-01 -1.39455811e-01 -4.59364701e-01 1.14750050e+02] [ 1.20560747e-01 9.90207877e-01 -7.03808670e-02 -5.33897776e+01] [ 4.64681566e-01 6.35900375e-03 8.85455027e-01 -1.14959901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:-53.39, Z:-11.48 [[ 8.78118829e-01 -1.37110660e-01 -4.58375380e-01 1.14774097e+02] [ 1.17853875e-01 9.90524249e-01 -7.05136623e-02 -5.33858034e+01] [ 4.63700103e-01 7.89805993e-03 8.85957016e-01 -1.14821823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:-53.38, Z:-11.47 [[ 8.77966771e-01 -1.32244382e-01 -4.60093222e-01 1.14798403e+02] [ 1.12053284e-01 9.91157903e-01 -7.10638683e-02 -5.33790786e+01] [ 4.65422830e-01 1.08367585e-02 8.85022120e-01 -1.14689350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.82, Y:-53.37, Z:-11.46 [[ 8.77612806e-01 -1.30658340e-01 -4.61220295e-01 1.14822521e+02] [ 1.10004472e-01 9.91354438e-01 -7.15219883e-02 -5.33720949e+01] [ 4.66577731e-01 1.20323180e-02 8.84398352e-01 -1.14564126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.85, Y:-53.37, Z:-11.44 [[ 8.78362023e-01 -1.28898329e-01 -4.60288363e-01 1.14846153e+02] [ 1.07960787e-01 9.91569319e-01 -7.16571941e-02 -5.33658903e+01] [ 4.65644311e-01 1.32478640e-02 8.84872799e-01 -1.14430993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.87, Y:-53.36, Z:-11.43 [[ 8.79170397e-01 -1.27717174e-01 -4.59072692e-01 1.14869042e+02] [ 1.06604091e-01 9.91709896e-01 -7.17429401e-02 -5.33604206e+01] [ 4.64429737e-01 1.41352421e-02 8.85497156e-01 -1.14279216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:-53.36, Z:-11.41 [[ 8.79191671e-01 -1.28489857e-01 -4.58816262e-01 1.14892921e+02] [ 1.07356161e-01 9.91611616e-01 -7.19795604e-02 -5.33558770e+01] [ 4.64216178e-01 1.40270777e-02 8.85610852e-01 -1.14147671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:-53.35, Z:-11.40 [[ 8.78694927e-01 -1.29074675e-01 -4.59603038e-01 1.14916589e+02] [ 1.07792007e-01 9.91535226e-01 -7.23794103e-02 -5.33500312e+01] [ 4.65054951e-01 1.40578866e-02 8.85170192e-01 -1.14009386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.94, Y:-53.34, Z:-11.39 [[ 8.77659073e-01 -1.29836593e-01 -4.61364292e-01 1.14941098e+02] [ 1.08325801e-01 9.91436024e-01 -7.29392235e-02 -5.33433672e+01] [ 4.66883360e-01 1.40381146e-02 8.84207475e-01 -1.13878906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.96, Y:-53.34, Z:-11.37 [[ 8.77606441e-01 -1.31431187e-01 -4.61012774e-01 1.14963549e+02] [ 1.10016174e-01 9.91233539e-01 -7.31608751e-02 -5.33350253e+01] [ 4.66586944e-01 1.34875939e-02 8.84372494e-01 -1.13734429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.99, Y:-53.33, Z:-11.36 [[ 8.78193592e-01 -1.32206178e-01 -4.59671124e-01 1.14986698e+02] [ 1.10881422e-01 9.91132537e-01 -7.32229821e-02 -5.33299645e+01] [ 4.65275538e-01 1.33349658e-02 8.85065451e-01 -1.13582450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:-53.33, Z:-11.34 [[ 8.78694116e-01 -1.33221729e-01 -4.58419699e-01 1.15010355e+02] [ 1.12006893e-01 9.91000158e-01 -7.33017277e-02 -5.33250244e+01] [ 4.64059377e-01 1.30636305e-02 8.85707760e-01 -1.13436118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.03, Y:-53.32, Z:-11.33 [[ 8.78586966e-01 -1.34230293e-01 -4.58330853e-01 1.15033911e+02] [ 1.13009558e-01 9.90867044e-01 -7.35618153e-02 -5.33192522e+01] [ 4.64019162e-01 1.28346852e-02 8.85732177e-01 -1.13297686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:-53.31, Z:-11.32 [[ 8.77369948e-01 -1.35769258e-01 -4.60205045e-01 1.15059331e+02] [ 1.14410901e-01 9.90662906e-01 -7.41427818e-02 -5.33135440e+01] [ 4.65974378e-01 1.23981749e-02 8.84711345e-01 -1.13181259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:-53.31, Z:-11.31 [[ 8.76352229e-01 -1.36419389e-01 -4.61948613e-01 1.15083799e+02] [ 1.14821648e-01 9.90573254e-01 -7.47035280e-02 -5.33081728e+01] [ 4.67784950e-01 1.24249024e-02 8.83754979e-01 -1.13061703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:-53.30, Z:-11.29 [[ 8.76514306e-01 -1.36539958e-01 -4.61605363e-01 1.15107955e+02] [ 1.14844948e-01 9.90553641e-01 -7.49274499e-02 -5.33027262e+01] [ 4.67475464e-01 1.26619379e-02 8.83915361e-01 -1.12927691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:-53.30, Z:-11.28 [[ 8.77132019e-01 -1.37859159e-01 -4.60037252e-01 1.15130981e+02] [ 1.16345799e-01 9.90376437e-01 -7.49544473e-02 -5.32960435e+01] [ 4.65943212e-01 1.22215442e-02 8.84730217e-01 -1.12772337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:-53.29, Z:-11.26 [[ 8.77027664e-01 -1.39059190e-01 -4.59875002e-01 1.15153855e+02] [ 1.17568937e-01 9.90212644e-01 -7.52094764e-02 -5.32907486e+01] [ 4.65832611e-01 1.18937761e-02 8.84792923e-01 -1.12627269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:-53.36, Z:-11.25 [[ 8.59926125e-01 -9.85895604e-02 -5.00806508e-01 1.15187449e+02] [ 1.17040251e-01 9.93112151e-01 5.46214786e-03 -5.33640015e+01] [ 4.96818518e-01 -6.33115631e-02 8.65542031e-01 -1.12489069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.19, Y:-53.20, Z:-11.23 [[ 8.77110305e-01 -1.78588301e-01 -4.45851692e-01 1.15186755e+02] [ 1.17331522e-01 9.79846576e-01 -1.61660141e-01 -5.32024940e+01] [ 4.65736864e-01 8.94813182e-02 8.80387566e-01 -1.12314578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.23, Y:-53.27, Z:-11.22 [[ 8.76569490e-01 -1.37481127e-01 -4.61221064e-01 1.15227374e+02] [ 1.15395942e-01 9.90414869e-01 -7.59089130e-02 -5.32741196e+01] [ 4.67236242e-01 1.33163978e-02 8.84032221e-01 -1.12244237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.25, Y:-53.27, Z:-11.21 [[ 8.77491895e-01 -1.36538949e-01 -4.59744591e-01 1.15250407e+02] [ 1.14338490e-01 9.90534710e-01 -7.59453634e-02 -5.32663422e+01] [ 4.65762475e-01 1.40749385e-02 8.84797837e-01 -1.12098258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:-53.25, Z:-11.19 [[ 8.78892868e-01 -1.33477420e-01 -4.57964087e-01 1.15271658e+02] [ 1.10927800e-01 9.90923792e-01 -7.59280041e-02 -5.32527981e+01] [ 4.63942184e-01 1.59316329e-02 8.85722210e-01 -1.11939168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:-53.31, Z:-11.18 [[ 8.63990418e-01 -9.97579467e-02 -4.93527010e-01 1.15303981e+02] [ 1.09612861e-01 9.93933489e-01 -9.01329063e-03 -5.33106338e+01] [ 4.91432171e-01 -4.63095109e-02 8.69683765e-01 -1.11812896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.31, Y:-53.17, Z:-11.16 [[ 8.80983922e-01 -1.65961891e-01 -4.43084619e-01 1.15305613e+02] [ 1.10194161e-01 9.82681913e-01 -1.48974849e-01 -5.31736371e+01] [ 4.60135389e-01 8.24191092e-02 8.84014997e-01 -1.11591365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.34, Y:-53.23, Z:-11.15 [[ 8.79938419e-01 -1.31963915e-01 -4.56392270e-01 1.15344490e+02] [ 1.09145663e-01 9.91105573e-01 -7.61378119e-02 -5.32326860e+01] [ 4.62380366e-01 1.71833488e-02 8.86515160e-01 -1.11533181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.37, Y:-53.22, Z:-11.14 [[ 8.80582217e-01 -1.32585471e-01 -4.54968188e-01 1.15367084e+02] [ 1.09859035e-01 9.91024184e-01 -7.61712500e-02 -5.32217192e+01] [ 4.60983678e-01 1.70926820e-02 8.87243985e-01 -1.11395784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.052320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.39, Y:-53.21, Z:-11.13 [[ 8.80485809e-01 -1.33002858e-01 -4.55032944e-01 1.15390290e+02] [ 1.10179727e-01 9.90966701e-01 -7.64553831e-02 -5.32132598e+01] [ 4.61091280e-01 1.71824744e-02 8.87186336e-01 -1.11265566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.42, Y:-53.26, Z:-11.12 [[ 8.67850053e-01 -1.06006345e-01 -4.85385353e-01 1.15420866e+02] [ 1.10294195e-01 9.93701364e-01 -1.98189460e-02 -5.32595313e+01] [ 4.84429021e-01 -3.63353134e-02 8.74075665e-01 -1.11161793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:-53.20, Z:-11.10 [[ 8.65548688e-01 -1.28420722e-01 -4.84080146e-01 1.15436315e+02] [ 1.08252582e-01 9.91689306e-01 -6.95248015e-02 -5.31996687e+01] [ 4.88985529e-01 7.77417485e-03 8.72257253e-01 -1.10976955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.44, Y:-53.11, Z:-11.07 [[ 8.82626274e-01 -1.66426897e-01 -4.39628194e-01 1.15444138e+02] [ 1.11210510e-01 9.82608215e-01 -1.48705472e-01 -5.31141346e+01] [ 4.56730866e-01 8.23600807e-02 8.85784248e-01 -1.10745096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.172320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.48, Y:-53.17, Z:-11.07 [[ 8.82251493e-01 -1.34128860e-01 -4.51266831e-01 1.15483217e+02] [ 1.11549520e-01 9.90816757e-01 -7.64124220e-02 -5.31698849e+01] [ 4.57371849e-01 1.70763748e-02 8.89111573e-01 -1.10699732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.51, Y:-53.16, Z:-11.06 [[ 8.82278213e-01 -1.37613548e-01 -4.50164044e-01 1.15506834e+02] [ 1.15442291e-01 9.90364367e-01 -7.64950854e-02 -5.31594664e+01] [ 4.56353189e-01 1.55219788e-02 8.89663327e-01 -1.10568898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.53, Y:-53.15, Z:-11.04 [[ 8.81944155e-01 -1.40103407e-01 -4.50050601e-01 1.15531670e+02] [ 1.18109374e-01 9.90030219e-01 -7.67485581e-02 -5.31537727e+01] [ 4.56316429e-01 1.45327476e-02 8.89698891e-01 -1.10444668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.56, Y:-53.15, Z:-11.03 [[ 8.81720462e-01 -1.42636800e-01 -4.49692973e-01 1.15555224e+02] [ 1.20850613e-01 9.89682860e-01 -7.69608138e-02 -5.31472744e+01] [ 4.56030872e-01 1.35122527e-02 8.89861373e-01 -1.10307827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.58, Y:-53.13, Z:-11.02 [[ 8.81100448e-01 -1.47298125e-01 -4.49405454e-01 1.15577919e+02] [ 1.25971578e-01 9.89026477e-01 -7.71867180e-02 -5.31325568e+01] [ 4.55843352e-01 1.13969376e-02 8.89987049e-01 -1.10176011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:115.60, Y:-53.12, Z:-11.00 [[ 8.80786505e-01 -1.48766506e-01 -4.49537162e-01 1.15601257e+02] [ 1.27465207e-01 9.88811751e-01 -7.74851063e-02 -5.31234909e+01] [ 4.56034817e-01 1.09474884e-02 8.89894599e-01 -1.10048120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:-53.12, Z:-10.99 [[ 8.80341282e-01 -1.50089745e-01 -4.49969216e-01 1.15624902e+02] [ 1.28765799e-01 9.88615760e-01 -7.78347451e-02 -5.31160964e+01] [ 4.56528856e-01 1.05804937e-02 8.89645692e-01 -1.09921207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:115.65, Y:-53.11, Z:-10.98 [[ 8.80029205e-01 -1.51510594e-01 -4.50103476e-01 1.15647533e+02] [ 1.30208911e-01 9.88403540e-01 -7.81286185e-02 -5.31072959e+01] [ 4.56721183e-01 1.01479823e-02 8.89552011e-01 -1.09780524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.68, Y:-53.13, Z:-10.97 [[ 8.63563309e-01 -1.36272643e-01 -4.85477268e-01 1.15678294e+02] [ 1.28779287e-01 9.90464430e-01 -4.89500527e-02 -5.31309871e+01] [ 4.87518518e-01 -2.02479469e-02 8.72877835e-01 -1.09667470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.70, Y:-53.10, Z:-10.95 [[ 8.64355577e-01 -1.51997000e-01 -4.79360353e-01 1.15695652e+02] [ 1.28923288e-01 9.88347404e-01 -8.09209128e-02 -5.30979727e+01] [ 4.86074297e-01 8.14372923e-03 8.73879544e-01 -1.09490714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.71, Y:-53.06, Z:-10.93 [[ 8.80333630e-01 -1.68555830e-01 -4.43397826e-01 1.15712385e+02] [ 1.33858574e-01 9.85022470e-01 -1.08685862e-01 -5.30611711e+01] [ 4.55076457e-01 3.63272190e-02 8.89711050e-01 -1.09328525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:115.74, Y:-53.08, Z:-10.92 [[ 8.79490432e-01 -1.55583627e-01 -4.49766957e-01 1.15743428e+02] [ 1.34381948e-01 9.87782017e-01 -7.89188085e-02 -5.30805896e+01] [ 4.56550186e-01 8.96777734e-03 8.89652464e-01 -1.09237751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:115.77, Y:-53.07, Z:-10.91 [[ 8.79614870e-01 -1.57535723e-01 -4.48843153e-01 1.15766564e+02] [ 1.36528971e-01 9.87478974e-01 -7.90260486e-02 -5.30726424e+01] [ 4.55672601e-01 8.23239363e-03 8.90109380e-01 -1.09096088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:115.79, Y:-53.06, Z:-10.90 [[ 8.79610523e-01 -1.60851968e-01 -4.47673958e-01 1.15789308e+02] [ 1.40238588e-01 9.86955316e-01 -7.90717594e-02 -5.30601252e+01] [ 4.54553041e-01 6.77118796e-03 8.90693934e-01 -1.08969178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.82, Y:-53.08, Z:-10.88 [[ 8.63560848e-01 -1.51068657e-01 -4.81083073e-01 1.15816405e+02] [ 1.39979270e-01 9.88388848e-01 -5.91040505e-02 -5.30766880e+01] [ 4.84425914e-01 -1.63017135e-02 8.74680392e-01 -1.08849141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:115.83, Y:-53.03, Z:-10.87 [[ 8.78875629e-01 -1.78306167e-01 -4.42475469e-01 1.15830482e+02] [ 1.46665473e-01 9.83592769e-01 -1.05045250e-01 -5.30251830e+01] [ 4.53945887e-01 2.74258359e-02 8.90607071e-01 -1.08657271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:115.86, Y:-53.04, Z:-10.86 [[ 8.78129145e-01 -1.68549354e-01 -4.47750287e-01 1.15860686e+02] [ 1.48569105e-01 9.85687205e-01 -7.96740550e-02 -5.30430135e+01] [ 4.54770740e-01 3.44225047e-03 8.90601889e-01 -1.08559844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.88, Y:-53.04, Z:-10.84 [[ 8.77580164e-01 -1.71015078e-01 -4.47891615e-01 1.15884281e+02] [ 1.51187471e-01 9.85265338e-01 -7.99660060e-02 -5.30364135e+01] [ 4.54967476e-01 2.46098027e-03 8.90504654e-01 -1.08423040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71232058799998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:115.92, Y:-53.11, Z:-10.84 [[ 8.61490428e-01 -1.30699619e-01 -4.90664705e-01 1.15923921e+02] [ 1.52666014e-01 9.88266192e-01 4.79817464e-03 -5.31125773e+01] [ 4.84280220e-01 -7.90414064e-02 8.71335254e-01 -1.08396035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:115.91, Y:-52.94, Z:-10.80 [[ 8.76663788e-01 -2.20748816e-01 -4.27469955e-01 1.15907335e+02] [ 1.60736197e-01 9.71853909e-01 -1.72231978e-01 -5.29433093e+01] [ 4.53458352e-01 8.22796436e-02 8.87471455e-01 -1.07977472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:-53.02, Z:-10.80 [[ 8.76586491e-01 -1.79889442e-01 -4.46358503e-01 1.15956774e+02] [ 1.61113797e-01 9.83685266e-01 -8.00352511e-02 -5.30218024e+01] [ 4.53473779e-01 -1.75669356e-03 8.91267886e-01 -1.08030871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-53.02, Z:-10.79 [[ 8.76261621e-01 -1.82118955e-01 -4.46092207e-01 1.15980908e+02] [ 1.63504605e-01 9.83273025e-01 -8.02521213e-02 -5.30176972e+01] [ 4.53245867e-01 -2.61627608e-03 8.91381703e-01 -1.07896465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:-53.01, Z:-10.78 [[ 8.75246350e-01 -1.84052244e-01 -4.47290285e-01 1.16005038e+02] [ 1.65433188e-01 9.82910810e-01 -8.07353689e-02 -5.30139929e+01] [ 4.54505982e-01 -3.33332090e-03 8.90737448e-01 -1.07758488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.03, Y:-53.01, Z:-10.76 [[ 8.75457434e-01 -1.84814316e-01 -4.46562370e-01 1.16029477e+02] [ 1.66219704e-01 9.82767459e-01 -8.08648971e-02 -5.30101857e+01] [ 4.53811956e-01 -3.43368965e-03 8.91090859e-01 -1.07623031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.05, Y:-53.01, Z:-10.75 [[ 8.75735625e-01 -1.86213239e-01 -4.45434334e-01 1.16053357e+02] [ 1.67756660e-01 9.82501769e-01 -8.09195675e-02 -5.30064986e+01] [ 4.52708316e-01 -3.86042796e-03 8.91650312e-01 -1.07486886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.08, Y:-53.00, Z:-10.74 [[ 8.75912878e-01 -1.86834027e-01 -4.44825445e-01 1.16077724e+02] [ 1.68373855e-01 9.82383804e-01 -8.10697653e-02 -5.30022661e+01] [ 4.52135904e-01 -3.88692341e-03 8.91940590e-01 -1.07356442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.10, Y:-53.00, Z:-10.72 [[ 8.76284383e-01 -1.87034436e-01 -4.44008784e-01 1.16102334e+02] [ 1.68538668e-01 9.82346407e-01 -8.11803835e-02 -5.29981251e+01] [ 4.51353961e-01 -3.69554691e-03 8.92337349e-01 -1.07222978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.13, Y:-52.99, Z:-10.71 [[ 8.75691019e-01 -1.87750024e-01 -4.44876576e-01 1.16126759e+02] [ 1.69134184e-01 9.82209531e-01 -8.15969615e-02 -5.29939907e+01] [ 4.52281845e-01 -3.79011060e-03 8.91867012e-01 -1.07100595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:-52.99, Z:-10.70 [[ 8.74209771e-01 -1.88214599e-01 -4.47585232e-01 1.16151797e+02] [ 1.69282074e-01 9.82120685e-01 -8.23561750e-02 -5.29895703e+01] [ 4.55083350e-01 -3.77158372e-03 8.90440857e-01 -1.06976618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:-53.05, Z:-10.69 [[ 8.59017848e-01 -1.57192123e-01 -4.87215530e-01 1.16189120e+02] [ 1.69037544e-01 9.85408835e-01 -1.98931244e-02 -5.30465238e+01] [ 4.83233530e-01 -6.52691679e-02 8.73055148e-01 -1.06929213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.18, Y:-52.92, Z:-10.66 [[ 8.73468995e-01 -2.21308234e-01 -4.33675662e-01 1.16182605e+02] [ 1.70605197e-01 9.73372189e-01 -1.53102736e-01 -5.29167243e+01] [ 4.56010725e-01 5.97431718e-02 8.87966763e-01 -1.06565653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.22, Y:-52.97, Z:-10.66 [[ 8.75921541e-01 -1.87394443e-01 -4.44572577e-01 1.16224634e+02] [ 1.68450398e-01 9.82280389e-01 -8.21565616e-02 -5.29741886e+01] [ 4.52090607e-01 -2.92572566e-03 8.91967221e-01 -1.06558713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.25, Y:-52.97, Z:-10.64 [[ 8.76181732e-01 -1.87465468e-01 -4.44029584e-01 1.16248623e+02] [ 1.68447174e-01 9.82267561e-01 -8.23163891e-02 -5.29675816e+01] [ 4.51587337e-01 -2.67141208e-03 8.92222921e-01 -1.06422031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.27, Y:-52.96, Z:-10.63 [[ 8.76677970e-01 -1.87499096e-01 -4.43034790e-01 1.16272456e+02] [ 1.68442520e-01 9.82261861e-01 -8.23938997e-02 -5.29617069e+01] [ 4.50624959e-01 -2.39297974e-03 8.92710155e-01 -1.06294109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.30, Y:-53.00, Z:-10.62 [[ 8.57769669e-01 -1.71867665e-01 -4.84450928e-01 1.16303580e+02] [ 1.69407324e-01 9.84314764e-01 -4.92504299e-02 -5.29962283e+01] [ 4.85316757e-01 -3.98240102e-02 8.73430990e-01 -1.06247245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.32, Y:-52.97, Z:-10.61 [[ 8.54464216e-01 -1.86055870e-01 -4.85050634e-01 1.16319508e+02] [ 1.68611597e-01 9.82445299e-01 -7.98208175e-02 -5.29661934e+01] [ 4.91386847e-01 -1.35811300e-02 8.70835530e-01 -1.06076447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.33, Y:-52.89, Z:-10.58 [[ 8.77284020e-01 -2.17949039e-01 -4.27634149e-01 1.16328832e+02] [ 1.69863691e-01 9.74278423e-01 -1.48080655e-01 -5.28900876e+01] [ 4.48908761e-01 5.72692779e-02 8.91740520e-01 -1.05789812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:-53.00, Z:-10.59 [[ 8.55757757e-01 -1.57330759e-01 -4.92874927e-01 1.16380322e+02] [ 1.69305594e-01 9.85348806e-01 -2.05754025e-02 -5.30047249e+01] [ 4.88890864e-01 -6.58389219e-02 8.69856861e-01 -1.05863001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.37, Y:-52.87, Z:-10.55 [[ 8.77607170e-01 -2.21711742e-01 -4.25028892e-01 1.16371134e+02] [ 1.69878892e-01 9.72919555e-01 -1.56744063e-01 -5.28652743e+01] [ 4.48270920e-01 6.53562762e-02 8.91505322e-01 -1.05479227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:-52.93, Z:-10.55 [[ 8.78435018e-01 -1.87246392e-01 -4.39648391e-01 1.16415967e+02] [ 1.68390866e-01 9.82310785e-01 -8.19148156e-02 -5.29287664e+01] [ 4.47209610e-01 -2.07593074e-03 8.94426775e-01 -1.05502181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-52.92, Z:-10.54 [[ 8.78364099e-01 -1.87164345e-01 -4.39824984e-01 1.16440286e+02] [ 1.68154669e-01 9.82327051e-01 -8.22044595e-02 -5.29248440e+01] [ 4.47437724e-01 -1.75317860e-03 8.94313373e-01 -1.05380564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.46, Y:-52.92, Z:-10.52 [[ 8.79010461e-01 -1.87012402e-01 -4.38596594e-01 1.16464307e+02] [ 1.67969048e-01 9.82356571e-01 -8.22311711e-02 -5.29199585e+01] [ 4.46236495e-01 -1.38859269e-03 8.94913997e-01 -1.05242558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:-52.91, Z:-10.51 [[ 8.78149939e-01 -1.88154553e-01 -4.39830136e-01 1.16487378e+02] [ 1.69003977e-01 9.82137974e-01 -8.27203420e-02 -5.29115584e+01] [ 4.47538087e-01 -1.69217884e-03 8.94263270e-01 -1.05101881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.51, Y:-52.91, Z:-10.50 [[ 8.77491914e-01 -1.88891716e-01 -4.40826338e-01 1.16511249e+02] [ 1.69607131e-01 9.81996293e-01 -8.31667153e-02 -5.29051539e+01] [ 4.48599333e-01 -1.78917023e-03 8.93731188e-01 -1.04966119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.54, Y:-52.90, Z:-10.48 [[ 8.77205968e-01 -1.91078165e-01 -4.40452977e-01 1.16536382e+02] [ 1.71958429e-01 9.81571327e-01 -8.33548410e-02 -5.28988303e+01] [ 4.48263303e-01 -2.62023790e-03 8.93897727e-01 -1.04848586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:-52.89, Z:-10.47 [[ 8.76892586e-01 -1.92576652e-01 -4.40424371e-01 1.16560515e+02] [ 1.73508272e-01 9.81277030e-01 -8.36078348e-02 -5.28941432e+01] [ 4.48279235e-01 -3.10218110e-03 8.93888194e-01 -1.04721692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.59, Y:-52.89, Z:-10.46 [[ 8.76829947e-01 -1.93940833e-01 -4.39950221e-01 1.16585089e+02] [ 1.74948619e-01 9.81006943e-01 -8.37756487e-02 -5.28895935e+01] [ 4.47841740e-01 -3.51168595e-03 8.94105947e-01 -1.04587082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:-52.89, Z:-10.44 [[ 8.76951247e-01 -1.94873890e-01 -4.39295661e-01 1.16608458e+02] [ 1.75923256e-01 9.80821331e-01 -8.39078375e-02 -5.28851988e+01] [ 4.47222001e-01 -3.69924036e-03 8.94415338e-01 -1.04449165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.63, Y:-52.88, Z:-10.43 [[ 8.75906227e-01 -1.97678842e-01 -4.40126524e-01 1.16632241e+02] [ 1.78858140e-01 9.80254784e-01 -8.43227335e-02 -5.28793047e+01] [ 4.48104951e-01 -4.86140413e-03 8.93967740e-01 -1.04304850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.66, Y:-52.87, Z:-10.42 [[ 8.75711914e-01 -1.98283819e-01 -4.40241037e-01 1.16656054e+02] [ 1.79396076e-01 9.80132443e-01 -8.46016625e-02 -5.28733243e+01] [ 4.48269664e-01 -4.89083047e-03 8.93884997e-01 -1.04182351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:-52.87, Z:-10.41 [[ 8.75144290e-01 -2.00644792e-01 -4.40300055e-01 1.16681388e+02] [ 1.81904606e-01 9.79646776e-01 -8.48699549e-02 -5.28669213e+01] [ 4.48367244e-01 -5.81915182e-03 8.93830494e-01 -1.04072958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.71, Y:-52.86, Z:-10.40 [[ 8.75360581e-01 -2.02280537e-01 -4.39120071e-01 1.16705739e+02] [ 1.83712211e-01 9.79306995e-01 -8.48977763e-02 -5.28637676e+01] [ 4.47206525e-01 -6.35555217e-03 8.94408145e-01 -1.03950507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:-52.86, Z:-10.38 [[ 8.75025504e-01 -2.04924279e-01 -4.38561749e-01 1.16729448e+02] [ 1.86593712e-01 9.78749699e-01 -8.50400666e-02 -5.28622862e+01] [ 4.46668954e-01 -7.42063748e-03 8.94668530e-01 -1.03807558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.75, Y:-52.86, Z:-10.37 [[ 8.74431777e-01 -2.08105704e-01 -4.38247742e-01 1.16753717e+02] [ 1.90053783e-01 9.78067096e-01 -8.52309573e-02 -5.28607794e+01] [ 4.46372744e-01 -8.76198381e-03 8.94804225e-01 -1.03670577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:-52.86, Z:-10.35 [[ 8.71610660e-01 -2.13917854e-01 -4.41060098e-01 1.16778747e+02] [ 1.96193833e-01 9.76783441e-01 -8.60353990e-02 -5.28612638e+01] [ 4.49224708e-01 -1.15439003e-02 8.93344223e-01 -1.03542097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.80, Y:-52.86, Z:-10.34 [[ 8.70626855e-01 -2.15928669e-01 -4.42022272e-01 1.16803501e+02] [ 1.98240950e-01 9.76331170e-01 -8.64752691e-02 -5.28588295e+01] [ 4.50232612e-01 -1.23392234e-02 8.92826041e-01 -1.03414640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.83, Y:-52.86, Z:-10.33 [[ 8.71104293e-01 -2.16412217e-01 -4.40843580e-01 1.16828114e+02] [ 1.98755092e-01 9.76224922e-01 -8.64945930e-02 -5.28566640e+01] [ 4.49080977e-01 -1.22740951e-02 8.93406751e-01 -1.03284238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.86, Y:-52.89, Z:-10.32 [[ 8.57151709e-01 -1.98400388e-01 -4.75319087e-01 1.16860031e+02] [ 1.94542158e-01 9.79184137e-01 -5.78945180e-02 -5.28880926e+01] [ 4.76911204e-01 -4.28452158e-02 8.77906596e-01 -1.03189081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-52.82, Z:-10.30 [[ 8.71414178e-01 -2.31051758e-01 -4.32726721e-01 1.16868493e+02] [ 1.98092652e-01 9.72750648e-01 -1.20480199e-01 -5.28228025e+01] [ 4.48772360e-01 1.92681701e-02 8.93438362e-01 -1.02956903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.91, Y:-52.89, Z:-10.29 [[ 8.57525842e-01 -1.93805194e-01 -4.76538536e-01 1.16909856e+02] [ 1.92632150e-01 9.79898673e-01 -5.18791317e-02 -5.28880258e+01] [ 4.77013925e-01 -4.73089469e-02 8.77621547e-01 -1.02913597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:116.93, Y:-52.89, Z:-10.28 [[ 8.58243035e-01 -1.94812604e-01 -4.74833595e-01 1.16931647e+02] [ 1.93373813e-01 9.79722687e-01 -5.24406873e-02 -5.28884710e+01] [ 4.75421352e-01 -4.68135281e-02 8.78511828e-01 -1.02794365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:116.93, Y:-52.77, Z:-10.24 [[ 8.73984954e-01 -2.49765744e-01 -4.16854139e-01 1.16926966e+02] [ 1.92390547e-01 9.65558941e-01 -1.75162237e-01 -5.27677312e+01] [ 4.46246768e-01 7.28903641e-02 8.91936554e-01 -1.02423287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:116.98, Y:-52.84, Z:-10.25 [[ 8.75427964e-01 -2.08317743e-01 -4.36153182e-01 1.16976504e+02] [ 1.89828820e-01 9.78033170e-01 -8.61170038e-02 -5.28428667e+01] [ 4.44511979e-01 -7.40521063e-03 8.95742297e-01 -1.02466222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.00, Y:-52.84, Z:-10.23 [[ 8.75605295e-01 -2.06460500e-01 -4.36680009e-01 1.17000919e+02] [ 1.87579408e-01 9.78435340e-01 -8.64768846e-02 -5.28381126e+01] [ 4.45117214e-01 -6.19255929e-03 8.95450902e-01 -1.02340145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.02, Y:-52.83, Z:-10.22 [[ 8.75645841e-01 -2.06116239e-01 -4.36761327e-01 1.17024658e+02] [ 1.87061679e-01 9.78510662e-01 -8.67456754e-02 -5.28342893e+01] [ 4.45255308e-01 -5.74281712e-03 8.95385242e-01 -1.02204521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.05, Y:-52.83, Z:-10.21 [[ 8.75410387e-01 -2.06495009e-01 -4.37054305e-01 1.17048953e+02] [ 1.87331580e-01 9.78431269e-01 -8.70582048e-02 -5.28307013e+01] [ 4.45604683e-01 -5.66241648e-03 8.95211932e-01 -1.02070648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:117.07, Y:-52.83, Z:-10.20 [[ 8.75094005e-01 -2.06499043e-01 -4.37685536e-01 1.17074490e+02] [ 1.87151523e-01 9.78431914e-01 -8.74373852e-02 -5.28290031e+01] [ 4.46301233e-01 -5.39758294e-03 8.94866513e-01 -1.01954626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:117.10, Y:-52.83, Z:-10.18 [[ 8.75009566e-01 -2.07762640e-01 -4.37256154e-01 1.17099782e+02] [ 1.88478121e-01 9.78162319e-01 -8.76040882e-02 -5.28267717e+01] [ 4.45908350e-01 -5.75880317e-03 8.95060098e-01 -1.01830862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.12, Y:-52.82, Z:-10.17 [[ 8.74569380e-01 -2.08273399e-01 -4.37893355e-01 1.17124011e+02] [ 1.88863336e-01 9.78053733e-01 -8.79859997e-02 -5.28244383e+01] [ 4.46608373e-01 -5.75213876e-03 8.94711056e-01 -1.01699362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:117.15, Y:-52.82, Z:-10.16 [[ 8.74480407e-01 -2.09282221e-01 -4.37589956e-01 1.17147958e+02] [ 1.89892779e-01 9.77836971e-01 -8.81793058e-02 -5.28223530e+01] [ 4.46345998e-01 -5.98409732e-03 8.94840455e-01 -1.01562743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.17, Y:-52.82, Z:-10.14 [[ 8.74619500e-01 -2.10814184e-01 -4.36575435e-01 1.17172028e+02] [ 1.91572631e-01 9.77504748e-01 -8.82292138e-02 -5.28231547e+01] [ 4.45354530e-01 -6.46891390e-03 8.95330942e-01 -1.01416230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:117.20, Y:-52.82, Z:-10.13 [[ 8.73758964e-01 -2.12119655e-01 -4.37664855e-01 1.17196929e+02] [ 1.92804020e-01 9.77219508e-01 -8.87053727e-02 -5.28226824e+01] [ 4.46510788e-01 -6.87642895e-03 8.94751827e-01 -1.01284471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:117.22, Y:-52.83, Z:-10.12 [[ 8.73320611e-01 -2.13450264e-01 -4.37892789e-01 1.17223531e+02] [ 1.94145004e-01 9.76926768e-01 -8.90045321e-02 -5.28254440e+01] [ 4.46787228e-01 -7.28520499e-03 8.94610585e-01 -1.01169987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:117.25, Y:-52.82, Z:-10.10 [[ 8.73218237e-01 -2.13971384e-01 -4.37842617e-01 1.17248211e+02] [ 1.94604534e-01 9.76812870e-01 -8.92507311e-02 -5.28204663e+01] [ 4.46787405e-01 -7.27079235e-03 8.94610614e-01 -1.01038096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:117.27, Y:-52.82, Z:-10.09 [[ 8.72863659e-01 -2.14138978e-01 -4.38467253e-01 1.17273724e+02] [ 1.94614026e-01 9.76777345e-01 -8.96180743e-02 -5.28174283e+01] [ 4.47475602e-01 -7.10751731e-03 8.94267896e-01 -1.00916341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:117.30, Y:-52.81, Z:-10.08 [[ 8.72156268e-01 -2.14165709e-01 -4.39859629e-01 1.17298787e+02] [ 1.94383877e-01 9.76773204e-01 -9.01610586e-02 -5.28139347e+01] [ 4.48952507e-01 -6.86708755e-03 8.93529233e-01 -1.00788619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.32, Y:-52.82, Z:-10.07 [[ 8.73686452e-01 -2.13583130e-01 -4.37097505e-01 1.17324348e+02] [ 1.93865850e-01 9.76904970e-01 -8.98482705e-02 -5.28154542e+01] [ 4.46192800e-01 -6.23906268e-03 8.94915113e-01 -1.00651133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:117.35, Y:-52.85, Z:-10.05 [[ 8.58601922e-01 -1.97370997e-01 -4.73125173e-01 1.17354129e+02] [ 1.91156738e-01 9.79614651e-01 -6.17595068e-02 -5.28466962e+01] [ 4.75669887e-01 -3.74142335e-02 8.78827818e-01 -1.00544403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.512320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:117.36, Y:-52.78, Z:-10.03 [[ 8.74612456e-01 -2.29867941e-01 -4.26865062e-01 1.17363592e+02] [ 1.94286823e-01 9.72844643e-01 -1.25801161e-01 -5.27804508e+01] [ 4.44191043e-01 2.70930056e-02 8.95522354e-01 -1.00319657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:117.40, Y:-52.81, Z:-10.03 [[ 8.74465186e-01 -2.11388563e-01 -4.36606818e-01 1.17398726e+02] [ 1.91201692e-01 9.77391530e-01 -9.02646645e-02 -5.28115133e+01] [ 4.45816724e-01 -4.54665560e-03 8.95112717e-01 -1.00251223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.42, Y:-52.81, Z:-10.01 [[ 8.74521326e-01 -2.10534088e-01 -4.36907139e-01 1.17423560e+02] [ 1.90088379e-01 9.77579005e-01 -9.05852989e-02 -5.28087079e+01] [ 4.46182540e-01 -3.83219402e-03 8.94933771e-01 -1.00126568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:117.45, Y:-52.81, Z:-10.00 [[ 8.74673375e-01 -2.09861252e-01 -4.36926472e-01 1.17448307e+02] [ 1.89203585e-01 9.77725932e-01 -9.08515558e-02 -5.28061432e+01] [ 4.46260564e-01 -3.20261788e-03 8.94897342e-01 -9.99933036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632320588 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:117.47, Y:-52.80, Z:-9.98 [[ 8.76164285e-01 -2.07729459e-01 -4.34953580e-01 1.17471360e+02] [ 1.86890779e-01 9.78184625e-01 -9.07010293e-02 -5.28023865e+01] [ 4.44306180e-01 -1.81981087e-03 8.95873153e-01 -9.98351953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:117.49, Y:-52.80, Z:-9.97 [[ 8.77751792e-01 -2.06021388e-01 -4.32558643e-01 1.17494534e+02] [ 1.85100570e-01 9.78547262e-01 -9.04601244e-02 -5.27964156e+01] [ 4.41915796e-01 -6.65314996e-04 8.97056290e-01 -9.96998193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:117.52, Y:-52.79, Z:-9.96 [[ 8.77511674e-01 -2.04555418e-01 -4.33739947e-01 1.17518744e+02] [ 1.83214051e-01 9.78854918e-01 -9.09706585e-02 -5.27919656e+01] [ 4.43177022e-01 3.60561963e-04 8.96434045e-01 -9.95767430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:117.54, Y:-52.79, Z:-9.95 [[ 8.77471923e-01 -2.03022487e-01 -4.34539865e-01 1.17543797e+02] [ 1.81288943e-01 9.79173037e-01 -9.14028628e-02 -5.27885663e+01] [ 4.44046555e-01 1.42617316e-03 8.96002580e-01 -9.94611410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.58, Y:-52.82, Z:-9.94 [[ 8.63033536e-01 -1.83418789e-01 -4.70670440e-01 1.17575246e+02] [ 1.76358892e-01 9.82525322e-01 -5.95107834e-02 -5.28216227e+01] [ 4.73361021e-01 -3.16471153e-02 8.80299837e-01 -9.93516187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:117.59, Y:-52.79, Z:-9.92 [[ 8.62581809e-01 -1.98766569e-01 -4.65235933e-01 1.17591187e+02] [ 1.76054320e-01 9.80044174e-01 -9.22945996e-02 -5.27878552e+01] [ 4.74296847e-01 -2.29515308e-03 8.80361990e-01 -9.91941522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:117.61, Y:-52.74, Z:-9.90 [[ 8.79082802e-01 -2.20282790e-01 -4.22716121e-01 1.17605223e+02] [ 1.80190623e-01 9.74579385e-01 -1.33140386e-01 -5.27408346e+01] [ 4.41298953e-01 4.08719426e-02 8.96428870e-01 -9.90139483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:117.64, Y:-52.78, Z:-9.89 [[ 8.79397233e-01 -2.02999427e-01 -4.30641080e-01 1.17640764e+02] [ 1.81331777e-01 9.79176421e-01 -9.12815590e-02 -5.27773371e+01] [ 4.40203696e-01 2.18383795e-03 8.97895282e-01 -9.89289424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872320588 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:117.67, Y:-52.80, Z:-9.88 [[ 8.64393963e-01 -1.87304336e-01 -4.66626362e-01 1.17672457e+02] [ 1.77740628e-01 9.81935136e-01 -6.48972819e-02 -5.28028442e+01] [ 4.70352363e-01 -2.68416441e-02 8.82070395e-01 -9.88123715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:117.68, Y:-52.74, Z:-9.86 [[ 8.79538782e-01 -2.17360913e-01 -4.23279771e-01 1.17681761e+02] [ 1.82889449e-01 9.75660384e-01 -1.20988698e-01 -5.27416942e+01] [ 4.39275518e-01 2.90008475e-02 8.97884163e-01 -9.86275119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93232058799998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:117.71, Y:-52.76, Z:-9.85 [[ 8.79328939e-01 -2.04236516e-01 -4.30195378e-01 1.17713666e+02] [ 1.82429788e-01 9.78918895e-01 -9.18540610e-02 -5.27628389e+01] [ 4.39886338e-01 2.28948223e-03 8.98050538e-01 -9.85309489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.74, Y:-52.78, Z:-9.84 [[ 8.62518858e-01 -1.94266013e-01 -4.67249329e-01 1.17743945e+02] [ 1.81429118e-01 9.80703216e-01 -7.28332089e-02 -5.27832198e+01] [ 4.72381937e-01 -2.19526177e-02 8.81120530e-01 -9.84094696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99232058799998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:117.76, Y:-52.73, Z:-9.82 [[ 8.79873384e-01 -2.15934093e-01 -4.23314654e-01 1.17757257e+02] [ 1.83646896e-01 9.76100587e-01 -1.16195786e-01 -5.27332791e+01] [ 4.38288314e-01 2.44971575e-02 8.98500553e-01 -9.82422613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:117.79, Y:-52.75, Z:-9.81 [[ 8.80619779e-01 -2.04592511e-01 -4.27376542e-01 1.17787351e+02] [ 1.82850259e-01 9.78843469e-01 -9.18218125e-02 -5.27506967e+01] [ 4.37120793e-01 2.71419271e-03 8.99398713e-01 -9.81363413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:117.81, Y:-52.75, Z:-9.80 [[ 8.80141472e-01 -2.05682157e-01 -4.27838568e-01 1.17811816e+02] [ 1.83885559e-01 9.78615759e-01 -9.21807818e-02 -5.27450046e+01] [ 4.37649507e-01 2.45879471e-03 8.99142293e-01 -9.80071243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:117.84, Y:-52.74, Z:-9.79 [[ 8.79940434e-01 -2.05768639e-01 -4.28210346e-01 1.17836901e+02] [ 1.83813124e-01 9.78596928e-01 -9.25245226e-02 -5.27395186e+01] [ 4.38083974e-01 2.70538721e-03 8.98929982e-01 -9.78857440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.112320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.87, Y:-52.74, Z:-9.77 [[ 8.69301562e-01 -1.99677782e-01 -4.52154375e-01 1.17866348e+02] [ 1.78915809e-01 9.79854411e-01 -8.87381952e-02 -5.27437353e+01] [ 4.60764504e-01 -3.75731425e-03 8.87514481e-01 -9.77486588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.89, Y:-52.73, Z:-9.76 [[ 8.81277020e-01 -2.07307205e-01 -4.24705235e-01 1.17886701e+02] [ 1.84654167e-01 9.78264494e-01 -9.43473285e-02 -5.27299738e+01] [ 4.35032933e-01 4.72254115e-03 9.00402157e-01 -9.76258758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.172320588 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:117.91, Y:-52.73, Z:-9.75 [[ 8.81256541e-01 -2.07154764e-01 -4.24822094e-01 1.17911615e+02] [ 1.85352350e-01 9.78304124e-01 -9.25502445e-02 -5.27264428e+01] [ 4.34777431e-01 2.81873472e-03 9.00533531e-01 -9.74924921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.94, Y:-52.72, Z:-9.74 [[ 8.80852622e-01 -2.06952641e-01 -4.25757281e-01 1.17935454e+02] [ 1.84898791e-01 9.78345688e-01 -9.30169397e-02 -5.27204698e+01] [ 4.35787902e-01 3.21220858e-03 9.00043658e-01 -9.73684842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.96, Y:-52.71, Z:-9.72 [[ 8.69808766e-01 -2.05678239e-01 -4.48474272e-01 1.17962040e+02] [ 1.80014457e-01 9.78601517e-01 -9.96687808e-02 -5.27134502e+01] [ 4.59377302e-01 5.96092661e-03 8.88221235e-01 -9.72332959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.99, Y:-52.72, Z:-9.71 [[ 8.80161893e-01 -2.03726240e-01 -4.28731455e-01 1.17987322e+02] [ 1.85146939e-01 9.79017729e-01 -8.51169641e-02 -5.27175100e+01] [ 4.37076255e-01 -4.46160855e-03 8.99413388e-01 -9.71314710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:118.01, Y:-52.70, Z:-9.70 [[ 8.80918014e-01 -2.08112730e-01 -4.25055930e-01 1.18009001e+02] [ 1.85935439e-01 9.78099039e-01 -9.35429463e-02 -5.27037721e+01] [ 4.35214275e-01 3.37070559e-03 9.00320595e-01 -9.69940480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.03, Y:-52.70, Z:-9.69 [[ 8.80905670e-01 -2.08764418e-01 -4.24761837e-01 1.18032530e+02] [ 1.86565555e-01 9.77960293e-01 -9.37387783e-02 -5.26972989e+01] [ 4.34969532e-01 3.32909328e-03 9.00439017e-01 -9.68621355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:118.06, Y:-52.69, Z:-9.67 [[ 8.80372960e-01 -2.09500974e-01 -4.25502987e-01 1.18057154e+02] [ 1.87173972e-01 9.77803011e-01 -9.41656834e-02 -5.26925235e+01] [ 4.35785905e-01 3.25783714e-03 9.00044461e-01 -9.67294772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.08, Y:-52.69, Z:-9.66 [[ 8.78892368e-01 -2.12934030e-01 -4.26857476e-01 1.18082399e+02] [ 1.90711656e-01 9.77064829e-01 -9.47279472e-02 -5.26885077e+01] [ 4.37238230e-01 1.84897380e-03 8.99343823e-01 -9.66186083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.11, Y:-52.68, Z:-9.65 [[ 8.78440969e-01 -2.14666770e-01 -4.26918776e-01 1.18106680e+02] [ 1.92503412e-01 9.76686520e-01 -9.50046209e-02 -5.26845147e+01] [ 4.37360149e-01 1.27263021e-03 8.99285539e-01 -9.64927750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:118.13, Y:-52.68, Z:-9.64 [[ 8.79010946e-01 -2.15872819e-01 -4.25133722e-01 1.18130501e+02] [ 1.93911364e-01 9.76421024e-01 -9.48702621e-02 -5.26807465e+01] [ 4.35589416e-01 9.53739005e-04 9.00144961e-01 -9.63565301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.15, Y:-52.68, Z:-9.62 [[ 8.79379810e-01 -2.16743355e-01 -4.23926252e-01 1.18154621e+02] [ 1.94883516e-01 9.76228289e-01 -9.48617010e-02 -5.26766225e+01] [ 4.34409443e-01 8.03226151e-04 9.00715155e-01 -9.62141784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.18, Y:-52.67, Z:-9.61 [[ 8.78343812e-01 -2.17153777e-01 -4.25859584e-01 1.18179115e+02] [ 1.95000460e-01 9.76137001e-01 -9.55582327e-02 -5.26707688e+01] [ 4.36448128e-01 8.90167573e-04 8.99728981e-01 -9.60944456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:-52.67, Z:-9.60 [[ 8.78075530e-01 -2.16965325e-01 -4.26508396e-01 1.18203600e+02] [ 1.94591331e-01 9.76178482e-01 -9.59676201e-02 -5.26653789e+01] [ 4.37169964e-01 1.27198228e-03 8.99378010e-01 -9.59761926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:-52.66, Z:-9.58 [[ 8.79393811e-01 -2.14148793e-01 -4.25213851e-01 1.18227918e+02] [ 1.91480440e-01 9.76796612e-01 -9.59354952e-02 -5.26615029e+01] [ 4.35891920e-01 2.94494535e-03 8.99994201e-01 -9.58426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:-52.78, Z:-9.57 [[ 8.61171087e-01 -1.50138164e-01 -4.85636584e-01 1.18276221e+02] [ 1.88378003e-01 9.81620634e-01 3.05721832e-02 -5.27795358e+01] [ 4.72120840e-01 -1.17811130e-01 8.73626036e-01 -9.57377436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:-52.56, Z:-9.54 [[ 8.67182283e-01 -2.54091317e-01 -4.28290194e-01 1.18249502e+02] [ 1.84100115e-01 9.62681568e-01 -1.98371737e-01 -5.25631126e+01] [ 4.62711611e-01 9.31761819e-02 8.81598641e-01 -9.54444397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:-52.62, Z:-9.54 [[ 8.82065986e-01 -2.24671063e-01 -4.14104467e-01 1.18291775e+02] [ 1.88908378e-01 9.73878994e-01 -1.25989402e-01 -5.26154170e+01] [ 4.31593814e-01 3.29031630e-02 9.01467782e-01 -9.54232470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.33, Y:-52.64, Z:-9.54 [[ 8.81450101e-01 -2.09797057e-01 -4.23120449e-01 1.18325144e+02] [ 1.86414893e-01 9.77725694e-01 -9.64466442e-02 -5.26363024e+01] [ 4.33929956e-01 6.13695136e-03 9.00925708e-01 -9.53501689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.35, Y:-52.63, Z:-9.52 [[ 8.81347337e-01 -2.09202658e-01 -4.23628517e-01 1.18348564e+02] [ 1.85570688e-01 9.77849213e-01 -9.68216748e-02 -5.26300124e+01] [ 4.34500163e-01 6.72048974e-03 9.00646681e-01 -9.52210788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:-52.62, Z:-9.51 [[ 8.81601859e-01 -2.08780437e-01 -4.23307088e-01 1.18372606e+02] [ 1.85014517e-01 9.77935993e-01 -9.70093892e-02 -5.26227487e+01] [ 4.34220900e-01 7.20570144e-03 9.00777602e-01 -9.50927189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.39, Y:-52.61, Z:-9.49 [[ 8.83183162e-01 -2.05373169e-01 -4.21674476e-01 1.18394522e+02] [ 1.81308825e-01 9.78641228e-01 -9.68940525e-02 -5.26119460e+01] [ 4.32567465e-01 9.12189196e-03 9.01555422e-01 -9.49400296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:-52.60, Z:-9.48 [[ 8.83453242e-01 -2.03752881e-01 -4.21894694e-01 1.18418395e+02] [ 1.79362460e-01 9.78969191e-01 -9.72030396e-02 -5.26041101e+01] [ 4.32827306e-01 1.02022703e-02 9.01419124e-01 -9.48177595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.44, Y:-52.60, Z:-9.47 [[ 8.83843902e-01 -2.02986028e-01 -4.21445880e-01 1.18441731e+02] [ 1.78443749e-01 9.79121566e-01 -9.73590671e-02 -5.25967378e+01] [ 4.32409281e-01 1.08458347e-02 9.01612213e-01 -9.46880663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:-52.59, Z:-9.46 [[ 8.83398996e-01 -2.01086617e-01 -4.23285231e-01 1.18465172e+02] [ 1.75980559e-01 9.79498396e-01 -9.80496521e-02 -5.25854032e+01] [ 4.34323678e-01 1.21269927e-02 9.00675235e-01 -9.45737139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.51, Y:-52.68, Z:-9.45 [[ 8.64375451e-01 -1.52939859e-01 -4.79024508e-01 1.18508918e+02] [ 1.75350172e-01 9.84503922e-01 2.08443115e-03 -5.26768820e+01] [ 4.71282715e-01 -8.57987611e-02 8.77799052e-01 -9.45095548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.48, Y:-52.47, Z:-9.41 [[ 8.85847212e-01 -2.50272616e-01 -3.90689563e-01 1.18479119e+02] [ 1.79185078e-01 9.61253108e-01 -2.09487878e-01 -5.24682534e+01] [ 4.27980636e-01 1.15568513e-01 8.96368504e-01 -9.41419753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:-52.56, Z:-9.42 [[ 8.84405266e-01 -2.04637265e-01 -4.19465034e-01 1.18534415e+02] [ 1.80287030e-01 9.78781547e-01 -9.73820862e-02 -5.25595454e+01] [ 4.30492638e-01 1.05011248e-02 9.02532999e-01 -9.41772570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.56, Y:-52.55, Z:-9.40 [[ 8.83354027e-01 -2.07736506e-01 -4.20156169e-01 1.18558418e+02] [ 1.83508818e-01 9.78140689e-01 -9.78023857e-02 -5.25523694e+01] [ 4.31288971e-01 9.29176911e-03 9.02165997e-01 -9.40458438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.58, Y:-52.55, Z:-9.39 [[ 8.82038660e-01 -2.10446307e-01 -4.21568684e-01 1.18582724e+02] [ 1.86212736e-01 9.77570313e-01 -9.83925787e-02 -5.25458762e+01] [ 4.32819385e-01 8.28460026e-03 9.01442591e-01 -9.39163438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.61, Y:-52.54, Z:-9.38 [[ 8.81290935e-01 -2.13964178e-01 -4.21361624e-01 1.18607041e+02] [ 1.90013702e-01 9.76817619e-01 -9.86008762e-02 -5.25393895e+01] [ 4.32690514e-01 6.83157606e-03 9.01516638e-01 -9.37998430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.63, Y:-52.53, Z:-9.37 [[ 8.80884746e-01 -2.16022043e-01 -4.21160944e-01 1.18630625e+02] [ 1.92193085e-01 9.76369424e-01 -9.88158136e-02 -5.25327712e+01] [ 4.32555063e-01 6.10112174e-03 9.01586875e-01 -9.36718838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.66, Y:-52.53, Z:-9.35 [[ 8.80625486e-01 -2.18247868e-01 -4.20555136e-01 1.18655006e+02] [ 1.94609163e-01 9.75879102e-01 -9.89305363e-02 -5.25258560e+01] [ 4.32002347e-01 5.27686851e-03 9.01857043e-01 -9.35428656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:118.68, Y:-52.52, Z:-9.34 [[ 8.79669318e-01 -2.21769463e-01 -4.20713913e-01 1.18678183e+02] [ 1.98369992e-01 9.75091610e-01 -9.92254974e-02 -5.25201185e+01] [ 4.32239792e-01 3.82861017e-03 9.01750578e-01 -9.34071890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:-52.52, Z:-9.33 [[ 8.78877474e-01 -2.24136971e-01 -4.21114003e-01 1.18702962e+02] [ 2.00823790e-01 9.74553195e-01 -9.95784882e-02 -5.25157797e+01] [ 4.32717218e-01 2.94758019e-03 9.01524887e-01 -9.32890926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.74, Y:-52.56, Z:-9.32 [[ 8.67143970e-01 -2.01676889e-01 -4.55398472e-01 1.18739878e+02] [ 2.00606299e-01 9.78329037e-01 -5.12777607e-02 -5.25599585e+01] [ 4.55871088e-01 -4.68906013e-02 8.88809779e-01 -9.32132395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:-52.46, Z:-9.30 [[ 8.77963347e-01 -2.52055112e-01 -4.06999487e-01 1.18736868e+02] [ 2.06657605e-01 9.66422058e-01 -1.52712277e-01 -5.24575871e+01] [ 4.31825192e-01 4.99662426e-02 9.00572250e-01 -9.29627517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:-52.50, Z:-9.29 [[ 8.78076873e-01 -2.28864202e-01 -4.20240624e-01 1.18776618e+02] [ 2.05915187e-01 9.73457641e-01 -9.98957263e-02 -5.24994240e+01] [ 4.31949002e-01 1.18220041e-03 9.01897257e-01 -9.29060008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:-52.50, Z:-9.28 [[ 8.77263288e-01 -2.33777203e-01 -4.19234234e-01 1.18800752e+02] [ 2.11402160e-01 9.72289607e-01 -9.98100526e-02 -5.24955236e+01] [ 4.30950404e-01 -1.06732798e-03 9.02374983e-01 -9.27729942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:118.83, Y:-52.49, Z:-9.26 [[ 8.77198927e-01 -2.36206286e-01 -4.18005541e-01 1.18825274e+02] [ 2.14110163e-01 9.71700915e-01 -9.97705876e-02 -5.24923679e+01] [ 4.29742807e-01 -1.98058229e-03 9.02949167e-01 -9.26364661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.85, Y:-52.49, Z:-9.25 [[ 8.76716321e-01 -2.37707759e-01 -4.18166850e-01 1.18849732e+02] [ 2.15635022e-01 9.71333641e-01 -1.00062452e-01 -5.24894792e+01] [ 4.29965151e-01 -2.44503318e-03 9.02842174e-01 -9.25099287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:-52.56, Z:-9.25 [[ 8.62369034e-01 -2.08239137e-01 -4.61471680e-01 1.18888716e+02] [ 2.17418933e-01 9.75489825e-01 -3.38911451e-02 -5.25553296e+01] [ 4.57218391e-01 -7.11060063e-02 8.86507348e-01 -9.24521357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-52.49, Z:-9.23 [[ 8.61215359e-01 -2.37874096e-01 -4.49136972e-01 1.18898126e+02] [ 2.16774064e-01 9.71217569e-01 -9.87189894e-02 -5.24919414e+01] [ 4.59692409e-01 -1.23429367e-02 8.87992422e-01 -9.22691925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-52.40, Z:-9.20 [[ 8.75028834e-01 -2.80259857e-01 -3.94688425e-01 1.18900331e+02] [ 2.23600992e-01 9.57167353e-01 -1.83938180e-01 -5.24042040e+01] [ 4.29333363e-01 7.26984878e-02 9.00215415e-01 -9.20248169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.96, Y:-52.54, Z:-9.21 [[ 8.65421069e-01 -2.18736300e-01 -4.50777999e-01 1.18961885e+02] [ 2.24009680e-01 9.73664162e-01 -4.24000290e-02 -5.25382351e+01] [ 4.48180809e-01 -6.42847568e-02 8.91628528e-01 -9.20568633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49232058799998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:118.97, Y:-52.47, Z:-9.19 [[ 8.65749435e-01 -2.50657106e-01 -4.33184639e-01 1.18969670e+02] [ 2.24112127e-01 9.68075929e-01 -1.12261976e-01 -5.24714957e+01] [ 4.47494884e-01 1.08810995e-04 8.94286485e-01 -9.18733315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.98, Y:-52.42, Z:-9.17 [[ 8.75718197e-01 -2.72907150e-01 -3.98295528e-01 1.18984077e+02] [ 2.28950194e-01 9.61005063e-01 -1.55084095e-01 -5.24241590e+01] [ 4.25087577e-01 4.46201258e-02 9.04051766e-01 -9.16884872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.02, Y:-52.47, Z:-9.16 [[ 8.75738139e-01 -2.50142128e-01 -4.12930536e-01 1.19024850e+02] [ 2.29564750e-01 9.68179794e-01 -9.96389065e-02 -5.24727423e+01] [ 4.24714890e-01 -7.53670492e-03 9.05295786e-01 -9.16320581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.05, Y:-52.48, Z:-9.15 [[ 8.74752417e-01 -2.50763451e-01 -4.14639483e-01 1.19050585e+02] [ 2.29958063e-01 9.68018447e-01 -1.00297431e-01 -5.24763860e+01] [ 4.26529598e-01 -7.61427258e-03 9.04441554e-01 -9.14979014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:119.08, Y:-52.47, Z:-9.14 [[ 8.74929735e-01 -2.50954148e-01 -4.14149701e-01 1.19075576e+02] [ 2.30105577e-01 9.67970418e-01 -1.00422576e-01 -5.24742536e+01] [ 4.26086121e-01 -7.43545860e-03 9.04652050e-01 -9.13715489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.10, Y:-52.47, Z:-9.12 [[ 8.75008443e-01 -2.50758328e-01 -4.14102023e-01 1.19099848e+02] [ 2.29777917e-01 9.68023863e-01 -1.00657387e-01 -5.24711451e+01] [ 4.26101318e-01 -7.07543633e-03 9.04647780e-01 -9.12421135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.13, Y:-52.47, Z:-9.11 [[ 8.75303619e-01 -2.50028007e-01 -4.13919763e-01 1.19126526e+02] [ 2.28873461e-01 9.68217102e-01 -1.00859216e-01 -5.24714025e+01] [ 4.25981822e-01 -6.45281171e-03 9.04708709e-01 -9.11239479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.16, Y:-52.54, Z:-9.10 [[ 8.61963119e-01 -2.19673007e-01 -4.56906283e-01 1.19162994e+02] [ 2.29748980e-01 9.72648586e-01 -3.42072177e-02 -5.25376416e+01] [ 4.51923652e-01 -7.54883924e-02 8.88856859e-01 -9.10284794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:-52.45, Z:-9.08 [[ 8.64697240e-01 -2.58728892e-01 -4.30532280e-01 1.19168020e+02] [ 2.25030184e-01 9.65845565e-01 -1.28466961e-01 -5.24509222e+01] [ 4.49065808e-01 1.42022682e-02 8.93385804e-01 -9.08352249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-52.41, Z:-9.07 [[ 8.77909179e-01 -2.72138861e-01 -3.93974509e-01 1.19185955e+02] [ 2.26493568e-01 9.60936580e-01 -1.59064616e-01 -5.24144415e+01] [ 4.21872181e-01 5.04115948e-02 9.05252746e-01 -9.06684774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.23, Y:-52.47, Z:-9.06 [[ 8.78470372e-01 -2.46236336e-01 -4.09459978e-01 1.19226563e+02] [ 2.25111872e-01 9.69199691e-01 -9.98829491e-02 -5.24664510e+01] [ 4.21443295e-01 -4.43009086e-03 9.06843935e-01 -9.05974921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:-52.47, Z:-9.05 [[ 8.79600738e-01 -2.42944021e-01 -4.08999687e-01 1.19252587e+02] [ 2.21423931e-01 9.70036819e-01 -1.00000059e-01 -5.24669925e+01] [ 4.21039172e-01 -2.60219223e-03 9.07038723e-01 -9.04842117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.28, Y:-52.46, Z:-9.04 [[ 8.80181219e-01 -2.41004689e-01 -4.08898228e-01 1.19277679e+02] [ 2.19180247e-01 9.70522934e-01 -1.00226016e-01 -5.24617997e+01] [ 4.21000048e-01 -1.40535787e-03 9.07059527e-01 -9.03600280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:119.30, Y:-52.47, Z:-9.02 [[ 8.68745791e-01 -2.32088785e-01 -4.37510625e-01 1.19304375e+02] [ 2.14800403e-01 9.72557806e-01 -8.93985449e-02 -5.24718386e+01] [ 4.46252773e-01 -1.63128492e-02 8.94758265e-01 -9.02328017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:-52.49, Z:-9.01 [[ 8.71955147e-01 -2.15799317e-01 -4.39459755e-01 1.19333805e+02] [ 2.10752966e-01 9.75638798e-01 -6.09272005e-02 -5.24909272e+01] [ 4.41902036e-01 -3.94916610e-02 8.96193617e-01 -9.01245937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.34, Y:-52.39, Z:-8.99 [[ 8.85596840e-01 -2.55723143e-01 -3.87716276e-01 1.19335377e+02] [ 2.05890643e-01 9.64424259e-01 -1.65815840e-01 -5.23850940e+01] [ 4.16325930e-01 6.70188309e-02 9.06742078e-01 -8.99396229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:-52.47, Z:-8.99 [[ 8.73390046e-01 -2.12756702e-01 -4.38091786e-01 1.19381599e+02] [ 1.99232089e-01 9.76904034e-01 -7.72339449e-02 -5.24673934e+01] [ 4.44405672e-01 -1.98265830e-02 8.95606222e-01 -8.98551353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.39, Y:-52.41, Z:-8.97 [[ 8.87540199e-01 -2.33930221e-01 -3.96924485e-01 1.19394312e+02] [ 1.98312385e-01 9.71589057e-01 -1.29177792e-01 -5.24074750e+01] [ 4.15866075e-01 3.59354415e-02 9.08715605e-01 -8.97163471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:-52.43, Z:-8.96 [[ 8.88021123e-01 -2.17947855e-01 -4.04866914e-01 1.19425566e+02] [ 1.93932919e-01 9.75906370e-01 -9.99838971e-02 -5.24255819e+01] [ 4.16903476e-01 1.02707900e-02 9.08892734e-01 -8.96170580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.42, Z:-8.95 [[ 8.88550584e-01 -2.16355840e-01 -4.04559031e-01 1.19449055e+02] [ 1.92107672e-01 9.76249449e-01 -1.00158152e-01 -5.24174691e+01] [ 4.16620333e-01 1.12766907e-02 9.09010635e-01 -8.94953579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:-52.41, Z:-8.94 [[ 8.89127103e-01 -2.14685237e-01 -4.04182190e-01 1.19472856e+02] [ 1.90207358e-01 9.76605689e-01 -1.00311957e-01 -5.24096653e+01] [ 4.16262123e-01 1.23116530e-02 9.09161299e-01 -8.93691972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.50, Y:-52.40, Z:-8.92 [[ 8.90099345e-01 -2.12887261e-01 -4.02991527e-01 1.19495664e+02] [ 1.88274494e-01 9.76985289e-01 -1.00261956e-01 -5.23992913e+01] [ 4.15061287e-01 1.33700759e-02 9.09695207e-01 -8.92370597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.53, Y:-52.44, Z:-8.91 [[ 8.79461333e-01 -1.93871663e-01 -4.34697069e-01 1.19525011e+02] [ 1.88280485e-01 9.80496094e-01 -5.63725967e-02 -5.24362639e+01] [ 4.37147827e-01 -3.22674557e-02 8.98810652e-01 -8.91228478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.53, Y:-52.33, Z:-8.89 [[ 8.91179394e-01 -2.35619337e-01 -3.87663276e-01 1.19527716e+02] [ 1.88875310e-01 9.69665524e-01 -1.55160850e-01 -5.23318347e+01] [ 4.12462611e-01 6.50561311e-02 9.08648609e-01 -8.89433727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.57, Y:-52.37, Z:-8.89 [[ 8.90807907e-01 -2.13886233e-01 -4.00891447e-01 1.19565977e+02] [ 1.89578534e-01 9.76772451e-01 -9.98777166e-02 -5.23728418e+01] [ 4.12942190e-01 1.29714468e-02 9.10664861e-01 -8.88629681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:-52.37, Z:-8.87 [[ 8.90278586e-01 -2.15609971e-01 -4.01143839e-01 1.19589927e+02] [ 1.91326603e-01 9.76400308e-01 -1.00182679e-01 -5.23652757e+01] [ 4.13277353e-01 1.24410059e-02 9.10520209e-01 -8.87341237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:-52.36, Z:-8.86 [[ 8.90168803e-01 -2.17129214e-01 -4.00567606e-01 1.19613931e+02] [ 1.92956331e-01 9.76069412e-01 -1.00281395e-01 -5.23565069e+01] [ 4.12755808e-01 1.19753138e-02 9.10762996e-01 -8.86133622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:-52.34, Z:-8.85 [[ 8.89089405e-01 -2.20317503e-01 -4.01223414e-01 1.19637874e+02] [ 1.96258924e-01 9.75368660e-01 -1.00689682e-01 -5.23443234e+01] [ 4.13524442e-01 1.07784538e-02 9.10429218e-01 -8.85079801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:119.68, Y:-52.44, Z:-8.84 [[ 8.70369714e-01 -1.73474649e-01 -4.60828718e-01 1.19682220e+02] [ 1.97896077e-01 9.80211371e-01 4.77602326e-03 -5.24423110e+01] [ 4.50881031e-01 -9.53531015e-02 8.87476243e-01 -8.83922403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.65, Y:-52.22, Z:-8.81 [[ 8.90883396e-01 -2.71175748e-01 -3.64404294e-01 1.19649913e+02] [ 2.02064608e-01 9.55088413e-01 -2.16739517e-01 -5.22240718e+01] [ 4.06812819e-01 1.19456426e-01 9.05667429e-01 -8.80984311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.72, Y:-52.42, Z:-8.81 [[ 8.74028902e-01 -1.76717842e-01 -4.52597264e-01 1.19724981e+02] [ 1.99743534e-01 9.79843149e-01 3.15038452e-03 -5.24214565e+01] [ 4.42917599e-01 -9.31569042e-02 8.91709477e-01 -8.81290724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:-52.20, Z:-8.78 [[ 8.92838861e-01 -2.70994688e-01 -3.59723016e-01 1.19694095e+02] [ 2.03094108e-01 9.55155838e-01 -2.15476470e-01 -5.22048847e+01] [ 4.01984517e-01 1.19328141e-01 9.07837674e-01 -8.78291345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:-52.30, Z:-8.79 [[ 8.91697778e-01 -2.24351363e-01 -3.93117717e-01 1.19752366e+02] [ 2.01672481e-01 9.74469384e-01 -9.86794268e-02 -5.23034410e+01] [ 4.05220043e-01 8.71120015e-03 9.14177680e-01 -8.78666267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:-52.30, Z:-8.78 [[ 8.90801873e-01 -2.25718783e-01 -3.94364112e-01 1.19777333e+02] [ 2.02907029e-01 9.74156449e-01 -9.92368365e-02 -5.22967139e+01] [ 4.06571962e-01 8.38110939e-03 9.13580318e-01 -8.77638434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:-52.37, Z:-8.77 [[ 8.72474573e-01 -1.93438049e-01 -4.48742510e-01 1.19814247e+02] [ 2.05793155e-01 9.78356645e-01 -2.16206504e-02 -5.23667719e+01] [ 4.43212473e-01 -7.34846694e-02 8.93399523e-01 -8.76692453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:119.79, Y:-52.19, Z:-8.74 [[ 8.92393630e-01 -2.66282387e-01 -3.64317582e-01 1.19794503e+02] [ 2.08676353e-01 9.59343097e-01 -1.90039473e-01 -5.21940985e+01] [ 4.00109722e-01 9.35655512e-02 9.11678506e-01 -8.73916649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.85, Y:-52.27, Z:-8.74 [[ 8.92362685e-01 -2.29296540e-01 -3.88731187e-01 1.19845307e+02] [ 2.07471606e-01 9.73333705e-01 -9.78623094e-02 -5.22691646e+01] [ 4.00804655e-01 6.67798969e-03 9.16139200e-01 -8.73850468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:-52.26, Z:-8.73 [[ 8.91980783e-01 -2.30371345e-01 -3.88972141e-01 1.19869921e+02] [ 2.08511146e-01 9.73081394e-01 -9.81616184e-02 -5.22629711e+01] [ 4.01115178e-01 6.45325040e-03 9.16004896e-01 -8.72699437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:-52.26, Z:-8.72 [[ 8.90822184e-01 -2.32847737e-01 -3.90150956e-01 1.19894589e+02] [ 2.10976402e-01 9.72497101e-01 -9.86830587e-02 -5.22561312e+01] [ 4.02398800e-01 5.59641296e-03 9.15447369e-01 -8.71578925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.92, Y:-52.25, Z:-8.70 [[ 8.90233572e-01 -2.34804114e-01 -3.90321939e-01 1.19918976e+02] [ 2.12985084e-01 9.72029984e-01 -9.89700136e-02 -5.22488564e+01] [ 4.02643194e-01 4.97367792e-03 9.15343499e-01 -8.70418421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:-52.24, Z:-8.69 [[ 8.90208744e-01 -2.36668365e-01 -3.89251175e-01 1.19943183e+02] [ 2.15040275e-01 9.71580662e-01 -9.89378497e-02 -5.22423594e+01] [ 4.01604374e-01 4.37065928e-03 9.15802830e-01 -8.69299776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:-52.31, Z:-8.68 [[ 8.77391699e-01 -2.08580437e-01 -4.32062504e-01 1.19984966e+02] [ 2.16727067e-01 9.75741954e-01 -3.09356956e-02 -5.23069012e+01] [ 4.28034093e-01 -6.64969164e-02 9.01312918e-01 -8.68325716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.97, Y:-52.17, Z:-8.66 [[ 8.89145239e-01 -2.71387661e-01 -3.68469105e-01 1.19971607e+02] [ 2.21667099e-01 9.59826310e-01 -1.72038226e-01 -5.21656926e+01] [ 4.00355394e-01 7.12894922e-02 9.13582710e-01 -8.65717375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:-52.22, Z:-8.65 [[ 8.89018255e-01 -2.43215064e-01 -3.87934241e-01 1.20015954e+02] [ 2.22162459e-01 9.69970666e-01 -9.89987276e-02 -5.22219108e+01] [ 4.00362816e-01 1.82725135e-03 9.16354886e-01 -8.65389599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:-52.22, Z:-8.64 [[ 8.88588455e-01 -2.44370044e-01 -3.88193044e-01 1.20041538e+02] [ 2.23289007e-01 9.69680796e-01 -9.93034413e-02 -5.22154645e+01] [ 4.00690127e-01 1.56065221e-03 9.16212304e-01 -8.64329325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-52.21, Z:-8.63 [[ 8.87612330e-01 -2.45740555e-01 -3.89558635e-01 1.20067197e+02] [ 2.24524210e-01 9.69334894e-01 -9.98936588e-02 -5.22106636e+01] [ 4.02160702e-01 1.20149840e-03 9.15568308e-01 -8.63209304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:-52.21, Z:-8.62 [[ 8.87000961e-01 -2.48366818e-01 -3.89285524e-01 1.20091586e+02] [ 2.27320127e-01 9.68666019e-01 -1.00058501e-01 -5.22068613e+01] [ 4.01938870e-01 2.59552272e-04 9.15666466e-01 -8.61952883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-52.20, Z:-8.61 [[ 8.86533806e-01 -2.49547969e-01 -3.89594176e-01 1.20115165e+02] [ 2.28471215e-01 9.68362438e-01 -1.00374764e-01 -5.21993485e+01] [ 4.02316684e-01 -2.54328896e-05 9.15500565e-01 -8.60749856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:-52.19, Z:-8.60 [[ 8.86802940e-01 -2.49593973e-01 -3.88951659e-01 1.20138813e+02] [ 2.28489349e-01 9.68350559e-01 -1.00448053e-01 -5.21912983e+01] [ 4.01712786e-01 2.06317364e-04 9.15765688e-01 -8.59559497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.18, Y:-52.25, Z:-8.59 [[ 8.71365519e-01 -2.21610868e-01 -4.37733659e-01 1.20178854e+02] [ 2.27795680e-01 9.72923435e-01 -3.91039291e-02 -5.22487939e+01] [ 4.34547191e-01 -6.56400212e-02 8.98253932e-01 -8.58900813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:-52.12, Z:-8.56 [[ 8.86655605e-01 -2.79666138e-01 -3.68278007e-01 1.20167520e+02] [ 2.31680672e-01 9.57889468e-01 -1.69622622e-01 -5.21153595e+01] [ 4.00207327e-01 6.50739522e-02 9.14111304e-01 -8.56364039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-52.17, Z:-8.56 [[ 8.86771028e-01 -2.51527551e-01 -3.87777044e-01 1.20211849e+02] [ 2.30518012e-01 9.67850127e-01 -1.00635862e-01 -5.21703212e+01] [ 4.00622753e-01 -1.48626410e-04 9.16243083e-01 -8.56036527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:-52.16, Z:-8.55 [[ 8.86266235e-01 -2.52418216e-01 -3.88351908e-01 1.20235954e+02] [ 2.31320658e-01 9.67618186e-01 -1.01023753e-01 -5.21627237e+01] [ 4.01276604e-01 -2.99877875e-04 9.15956875e-01 -8.54955645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:-52.16, Z:-8.54 [[ 8.85863650e-01 -2.53616040e-01 -3.88490022e-01 1.20260998e+02] [ 2.32508769e-01 9.67304789e-01 -1.01297178e-01 -5.21574497e+01] [ 4.01478848e-01 -5.91848398e-04 9.15868104e-01 -8.53769950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.29, Y:-52.15, Z:-8.53 [[ 8.85810952e-01 -2.54941604e-01 -3.87741843e-01 1.20285332e+02] [ 2.33937542e-01 9.66955993e-01 -1.01337723e-01 -5.21520691e+01] [ 4.00764500e-01 -9.41308984e-04 9.16180621e-01 -8.52599073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:-52.15, Z:-8.51 [[ 8.85199886e-01 -2.56631213e-01 -3.88022657e-01 1.20309440e+02] [ 2.35646815e-01 9.66508301e-01 -1.01647837e-01 -5.21460042e+01] [ 4.01113127e-01 -1.45765006e-03 9.16027366e-01 -8.51411778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:-52.14, Z:-8.50 [[ 8.85073426e-01 -2.57148167e-01 -3.87968878e-01 1.20334442e+02] [ 2.36121445e-01 9.66370885e-01 -1.01852719e-01 -5.21395300e+01] [ 4.01113068e-01 -1.46063718e-03 9.16027387e-01 -8.50221101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:-52.13, Z:-8.49 [[ 8.84377553e-01 -2.59034552e-01 -3.88300715e-01 1.20359471e+02] [ 2.38046529e-01 9.65865808e-01 -1.02162082e-01 -5.21326941e+01] [ 4.01509893e-01 -2.08378512e-03 9.15852316e-01 -8.49058328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:120.40, Y:-52.18, Z:-8.48 [[ 8.70629396e-01 -2.36014935e-01 -4.31626464e-01 1.20397040e+02] [ 2.36128711e-01 9.70207906e-01 -5.42203987e-02 -5.21791301e+01] [ 4.31564232e-01 -5.47135275e-02 9.00421426e-01 -8.48092673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:-52.07, Z:-8.46 [[ 8.83519649e-01 -2.83653859e-01 -3.72737868e-01 1.20392802e+02] [ 2.40957030e-01 9.57651022e-01 -1.57620525e-01 -5.20737291e+01] [ 4.01662470e-01 4.94470211e-02 9.14451886e-01 -8.45864455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.43, Y:-52.12, Z:-8.45 [[ 8.83648787e-01 -2.62424574e-01 -3.87683073e-01 1.20434816e+02] [ 2.41639444e-01 9.64947243e-01 -1.02407018e-01 -5.21227367e+01] [ 4.00967830e-01 -3.18768550e-03 9.16086589e-01 -8.45275873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.47, Y:-52.18, Z:-8.44 [[ 8.63757386e-01 -2.33875263e-01 -4.46346883e-01 1.20474793e+02] [ 2.40505777e-01 9.69708707e-01 -4.26848232e-02 -5.21842699e+01] [ 4.42809383e-01 -7.04796729e-02 8.93841410e-01 -8.44391574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:-52.11, Z:-8.43 [[ 8.71582765e-01 -2.67967262e-01 -4.10532618e-01 1.20479325e+02] [ 2.41011943e-01 9.63422757e-01 -1.17174374e-01 -5.21115003e+01] [ 4.26915363e-01 3.18390120e-03 9.04285981e-01 -8.43038948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.49, Y:-52.05, Z:-8.41 [[ 8.84628663e-01 -2.90816515e-01 -3.64496753e-01 1.20489847e+02] [ 2.45423740e-01 9.55037627e-01 -1.66343976e-01 -5.20548026e+01] [ 3.96483689e-01 5.76964924e-02 9.16226936e-01 -8.41171944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:-52.18, Z:-8.41 [[ 8.73260585e-01 -2.31083698e-01 -4.28971182e-01 1.20550221e+02] [ 2.40965406e-01 9.70006024e-01 -3.19997898e-02 -5.21790600e+01] [ 4.23499260e-01 -7.54230598e-02 9.02751205e-01 -8.40691877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:-52.03, Z:-8.38 [[ 8.86581100e-01 -2.93523338e-01 -3.57516439e-01 1.20535507e+02] [ 2.44232314e-01 9.53407893e-01 -1.77098747e-01 -5.20341432e+01] [ 3.92841610e-01 6.96953344e-02 9.16961302e-01 -8.38296604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.58, Y:-52.10, Z:-8.38 [[ 8.88028923e-01 -2.59313117e-01 -3.79685842e-01 1.20582300e+02] [ 2.38870465e-01 9.65792708e-01 -1.00922478e-01 -5.20995064e+01] [ 3.92868340e-01 -1.07365412e-03 9.19594103e-01 -8.37908257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.61, Y:-52.09, Z:-8.37 [[ 8.88807246e-01 -2.57198706e-01 -3.79302657e-01 1.20607406e+02] [ 2.36516014e-01 9.66358533e-01 -1.01051276e-01 -5.20930373e+01] [ 3.92532617e-01 1.03953918e-04 9.19738079e-01 -8.36908000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.65, Y:-52.17, Z:-8.36 [[ 8.77417995e-01 -2.19425164e-01 -4.26603164e-01 1.20651271e+02] [ 2.32462366e-01 9.72356147e-01 -2.20175195e-02 -5.21657184e+01] [ 4.19641407e-01 -7.98506131e-02 9.04170874e-01 -8.36117876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.63, Y:-52.00, Z:-8.34 [[ 8.90845672e-01 -2.85677454e-01 -3.53245496e-01 1.20632215e+02] [ 2.31710770e-01 9.54524807e-01 -1.87596673e-01 -5.20012059e+01] [ 3.90773729e-01 8.52688979e-02 9.16528836e-01 -8.33735872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:120.68, Y:-52.07, Z:-8.33 [[ 8.91826851e-01 -2.49786838e-01 -3.77162303e-01 1.20681781e+02] [ 2.28563177e-01 9.68293723e-01 -1.00827281e-01 -5.20734119e+01] [ 3.90389218e-01 3.71506283e-03 9.20642415e-01 -8.33347171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.71, Y:-52.07, Z:-8.32 [[ 8.92348849e-01 -2.48685481e-01 -3.76655098e-01 1.20706392e+02] [ 2.27329050e-01 9.68574140e-01 -1.00923921e-01 -5.20665486e+01] [ 3.89916702e-01 4.43469927e-03 9.20839453e-01 -8.32151361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.73, Y:-52.06, Z:-8.31 [[ 8.93057466e-01 -2.48332355e-01 -3.75205814e-01 1.20730369e+02] [ 2.27020276e-01 9.68662942e-01 -1.00766556e-01 -5.20593470e+01] [ 3.88471564e-01 4.81099781e-03 9.21448153e-01 -8.30909707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:120.75, Y:-52.05, Z:-8.30 [[ 8.93394705e-01 -2.46811415e-01 -3.75406483e-01 1.20754236e+02] [ 2.25249097e-01 9.69046654e-01 -1.01051599e-01 -5.20502452e+01] [ 3.88727084e-01 5.71899230e-03 9.21335198e-01 -8.29763757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:120.78, Y:-52.04, Z:-8.29 [[ 8.93565408e-01 -2.46801616e-01 -3.75006433e-01 1.20778812e+02] [ 2.25189757e-01 9.69047712e-01 -1.01173636e-01 -5.20429009e+01] [ 3.88368943e-01 5.95765414e-03 9.21484710e-01 -8.28627881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.80, Y:-52.04, Z:-8.28 [[ 8.93388987e-01 -2.46838000e-01 -3.75402611e-01 1.20803763e+02] [ 2.25083632e-01 9.69036971e-01 -1.01512107e-01 -5.20366704e+01] [ 3.88836054e-01 6.19281510e-03 9.21286151e-01 -8.27588768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77232058799999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:120.83, Y:-52.03, Z:-8.26 [[ 8.93808257e-01 -2.46966956e-01 -3.74318210e-01 1.20828988e+02] [ 2.25258591e-01 9.69003054e-01 -1.01447765e-01 -5.20310160e+01] [ 3.87769734e-01 6.35645714e-03 9.21734359e-01 -8.26421951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:120.85, Y:-52.02, Z:-8.25 [[ 8.94254380e-01 -2.47038858e-01 -3.73203572e-01 1.20852792e+02] [ 2.25375473e-01 9.68983475e-01 -1.01375148e-01 -5.20239485e+01] [ 3.86671695e-01 6.54423814e-03 9.22194217e-01 -8.25122662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.88, Y:-52.02, Z:-8.24 [[ 8.94524367e-01 -2.48073371e-01 -3.71867933e-01 1.20877129e+02] [ 2.26562501e-01 9.68720690e-01 -1.01240590e-01 -5.20155607e+01] [ 3.85351255e-01 6.31084596e-03 9.22748386e-01 -8.23898637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.92, Y:-52.08, Z:-8.23 [[ 8.71543759e-01 -2.16516973e-01 -4.39922579e-01 1.20919268e+02] [ 2.25689149e-01 9.73670619e-01 -3.20925712e-02 -5.20817873e+01] [ 4.35288277e-01 -7.13156723e-02 8.97462083e-01 -8.23117383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.90, Y:-51.92, Z:-8.21 [[ 8.93806299e-01 -2.81964308e-01 -3.48721134e-01 1.20900272e+02] [ 2.29762507e-01 9.55721854e-01 -1.83861168e-01 -5.19249896e+01] [ 3.85122696e-01 8.42132284e-02 9.19015039e-01 -8.20801011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:-51.99, Z:-8.21 [[ 8.93533821e-01 -2.51004882e-01 -3.72281962e-01 1.20949735e+02] [ 2.29544281e-01 9.67970680e-01 -1.01696540e-01 -5.19923855e+01] [ 3.85884352e-01 5.41410278e-03 9.22531276e-01 -8.20567414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.97, Y:-51.99, Z:-8.19 [[ 8.93671175e-01 -2.52022955e-01 -3.71263063e-01 1.20974449e+02] [ 2.30673475e-01 9.67707288e-01 -1.01648182e-01 -5.19852186e+01] [ 3.84891647e-01 5.19950955e-03 9.22947120e-01 -8.19391746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.02, Y:-52.07, Z:-8.18 [[ 8.78454213e-01 -2.12739841e-01 -4.27855064e-01 1.21020659e+02] [ 2.29469341e-01 9.73232016e-01 -1.27774936e-02 -5.20682455e+01] [ 4.19120529e-01 -8.69551764e-02 9.03757036e-01 -8.18430462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:-51.88, Z:-8.16 [[ 8.94318877e-01 -2.91668284e-01 -3.39298332e-01 1.20992771e+02] [ 2.35053740e-01 9.51519428e-01 -1.98394853e-01 -5.18833966e+01] [ 3.80714441e-01 9.76749200e-02 9.19519507e-01 -8.15649890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:-51.96, Z:-8.16 [[ 8.93367546e-01 -2.56119466e-01 -3.69184571e-01 1.21046185e+02] [ 2.35226787e-01 9.66637922e-01 -1.01387797e-01 -5.19620591e+01] [ 3.82835195e-01 3.73446686e-03 9.23809108e-01 -8.15667247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.08, Y:-51.99, Z:-8.15 [[ 8.76630892e-01 -2.43321082e-01 -4.15106166e-01 1.21078665e+02] [ 2.33725572e-01 9.69431856e-01 -7.46607850e-02 -5.19882696e+01] [ 4.20583684e-01 -3.15709753e-02 9.06704273e-01 -8.14791641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:-51.91, Z:-8.13 [[ 8.92074527e-01 -2.73644596e-01 -3.59613228e-01 1.21084260e+02] [ 2.39259166e-01 9.61121944e-01 -1.37839253e-01 -5.19149496e+01] [ 3.83351131e-01 3.69221254e-02 9.22864382e-01 -8.13096857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.14, Y:-52.00, Z:-8.13 [[ 8.82879966e-01 -2.36638702e-01 -4.05616925e-01 1.21135967e+02] [ 2.41150072e-01 9.69630212e-01 -4.07908709e-02 -5.20029069e+01] [ 4.02951124e-01 -6.18011081e-02 9.13132529e-01 -8.12708423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.13, Y:-51.88, Z:-8.10 [[ 8.91114483e-01 -2.91689901e-01 -3.47608947e-01 1.21125507e+02] [ 2.46645759e-01 9.54339750e-01 -1.68527477e-01 -5.18751874e+01] [ 3.80894798e-01 6.44410029e-02 9.22370050e-01 -8.10282145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-51.99, Z:-8.10 [[ 8.80637984e-01 -2.43474077e-01 -4.06444479e-01 1.21184401e+02] [ 2.46963634e-01 9.67990163e-01 -4.47661517e-02 -5.19884028e+01] [ 4.04333655e-01 -6.09542319e-02 9.12578149e-01 -8.10287016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-51.86, Z:-8.08 [[ 8.90299336e-01 -2.94936432e-01 -3.46957625e-01 1.21176107e+02] [ 2.50728606e-01 9.53513483e-01 -1.67174171e-01 -5.18646483e+01] [ 3.80134527e-01 6.18428514e-02 9.22861421e-01 -8.07803585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:-51.92, Z:-8.07 [[ 8.89639368e-01 -2.74071760e-01 -3.65275876e-01 1.21220748e+02] [ 2.54820212e-01 9.61703709e-01 -1.00958587e-01 -5.19201749e+01] [ 3.78957062e-01 -3.26294303e-03 9.25408503e-01 -8.07350552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:-51.91, Z:-8.06 [[ 8.88701690e-01 -2.76368803e-01 -3.65827269e-01 1.21245458e+02] [ 2.57152491e-01 9.61043255e-01 -1.01333399e-01 -5.19148493e+01] [ 3.79581219e-01 -4.01823001e-03 9.25149691e-01 -8.06248225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:-51.91, Z:-8.05 [[ 8.88183358e-01 -2.78389602e-01 -3.65553761e-01 1.21270992e+02] [ 2.59277589e-01 9.60456979e-01 -1.01476718e-01 -5.19094874e+01] [ 3.79348724e-01 -4.64996517e-03 9.25242089e-01 -8.05286580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-51.97, Z:-8.05 [[ 8.73720235e-01 -2.50473250e-01 -4.16984535e-01 1.21312333e+02] [ 2.59655121e-01 9.65044365e-01 -3.56173047e-02 -5.19738044e+01] [ 4.11329758e-01 -7.71526101e-02 9.08215451e-01 -8.04572239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-51.89, Z:-8.03 [[ 8.78602140e-01 -2.88278925e-01 -3.80727646e-01 1.21314806e+02] [ 2.59754357e-01 9.57478470e-01 -1.25549405e-01 -5.18852643e+01] [ 4.00731772e-01 1.14123109e-02 9.16124340e-01 -8.02948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.34, Y:-51.90, Z:-8.02 [[ 8.79597452e-01 -2.80354950e-01 -3.84329839e-01 1.21344263e+02] [ 2.61620328e-01 9.59829245e-01 -1.01403279e-01 -5.19027121e+01] [ 3.97319931e-01 -1.13544330e-02 9.17609911e-01 -8.01997091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.35, Y:-51.84, Z:-8.00 [[ 8.88544218e-01 -3.08667607e-01 -3.39431112e-01 1.21352463e+02] [ 2.68253063e-01 9.49726284e-01 -1.61431965e-01 -5.18399486e+01] [ 3.72195467e-01 5.23860035e-02 9.26674830e-01 -8.00190687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.40, Y:-51.89, Z:-8.00 [[ 8.88156564e-01 -2.86125575e-01 -3.59597098e-01 1.21396512e+02] [ 2.67997402e-01 9.58165602e-01 -1.00479209e-01 -5.18919104e+01] [ 3.73303241e-01 -7.12981896e-03 9.27681980e-01 -7.99739312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:-51.89, Z:-7.99 [[ 8.87565446e-01 -2.87439968e-01 -3.60008116e-01 1.21422575e+02] [ 2.69287662e-01 9.57769492e-01 -1.00805528e-01 -5.18885468e+01] [ 3.73780328e-01 -7.47424013e-03 9.27487144e-01 -7.98766004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-51.89, Z:-7.98 [[ 8.86899696e-01 -2.88171184e-01 -3.61062734e-01 1.21448525e+02] [ 2.69880434e-01 9.57548850e-01 -1.01315109e-01 -5.18852467e+01] [ 3.74931301e-01 -7.58742806e-03 9.27021548e-01 -7.97713752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.48, Y:-51.88, Z:-7.97 [[ 8.86556734e-01 -2.88485019e-01 -3.61653909e-01 1.21475123e+02] [ 2.70070752e-01 9.57454926e-01 -1.01694902e-01 -5.18820886e+01] [ 3.75604773e-01 -7.51384348e-03 9.26749479e-01 -7.96736461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:-51.88, Z:-7.96 [[ 8.87202209e-01 -2.88446695e-01 -3.60098242e-01 1.21500968e+02] [ 2.70106690e-01 9.57468583e-01 -1.01470632e-01 -5.18823719e+01] [ 3.74051622e-01 -7.23997542e-03 9.27379624e-01 -7.95543324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-51.88, Z:-7.94 [[ 8.87701163e-01 -2.87453924e-01 -3.59662184e-01 1.21525744e+02] [ 2.68995521e-01 9.57771784e-01 -1.01560916e-01 -5.18771931e+01] [ 3.73668375e-01 -6.59177309e-03 9.27538945e-01 -7.94384205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-51.92, Z:-7.93 [[ 8.76104919e-01 -2.62470439e-01 -4.04412462e-01 1.21563792e+02] [ 2.62502625e-01 9.63275409e-01 -5.65053780e-02 -5.19199778e+01] [ 4.04391571e-01 -5.66546931e-02 9.12829504e-01 -7.93101561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.56, Y:-51.82, Z:-7.92 [[ 8.88697364e-01 -2.99947710e-01 -3.46768462e-01 1.21563083e+02] [ 2.62220841e-01 9.52923418e-01 -1.52240567e-01 -5.18216006e+01] [ 3.76107998e-01 4.43658724e-02 9.25513070e-01 -7.91841520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:-51.86, Z:-7.91 [[ 8.90099562e-01 -2.78704489e-01 -3.60619714e-01 1.21602882e+02] [ 2.59267573e-01 9.60373780e-01 -1.02286506e-01 -5.18640352e+01] [ 3.74837426e-01 -2.45182418e-03 9.27087317e-01 -7.91046834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.64, Y:-51.92, Z:-7.90 [[ 8.82918220e-01 -2.48721454e-01 -3.98237435e-01 1.21644122e+02] [ 2.52953949e-01 9.66529544e-01 -4.28362128e-02 -5.19204389e+01] [ 3.95562531e-01 -6.29148589e-02 9.16281619e-01 -7.89745763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.64, Y:-51.80, Z:-7.88 [[ 8.92683727e-01 -2.98142413e-01 -3.37974653e-01 1.21636278e+02] [ 2.56721098e-01 9.52745665e-01 -1.62388346e-01 -5.17995268e+01] [ 3.70418739e-01 5.81962102e-02 9.27039999e-01 -7.88207482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:121.68, Y:-51.85, Z:-7.88 [[ 8.94115853e-01 -2.71040450e-01 -3.56502337e-01 1.21678350e+02] [ 2.51276603e-01 9.62567120e-01 -1.01610082e-01 -5.18476238e+01] [ 3.70697871e-01 1.27048895e-03 9.28752644e-01 -7.87514002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:-51.84, Z:-7.87 [[ 8.94201044e-01 -2.70052314e-01 -3.57038151e-01 1.21704271e+02] [ 2.50061974e-01 9.62843750e-01 -1.01984912e-01 -5.18415152e+01] [ 3.71313214e-01 1.91335023e-03 9.28505701e-01 -7.86572345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:-51.86, Z:-7.85 [[ 8.80643473e-01 -2.55231094e-01 -3.99154308e-01 1.21737341e+02] [ 2.43091510e-01 9.66555089e-01 -8.17176723e-02 -5.18641277e+01] [ 4.06661519e-01 -2.50668889e-02 9.13234942e-01 -7.85451384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:-51.81, Z:-7.84 [[ 8.94841241e-01 -2.76024013e-01 -3.50813195e-01 1.21747316e+02] [ 2.45742904e-01 9.60704645e-01 -1.29062039e-01 -5.18077536e+01] [ 3.72652088e-01 2.92801817e-02 9.27509079e-01 -7.84250902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-51.82, Z:-7.83 [[ 8.96287875e-01 -2.61380294e-01 -3.58257433e-01 1.21777928e+02] [ 2.40366796e-01 9.65216750e-01 -1.02861209e-01 -5.18243630e+01] [ 3.72681968e-01 6.08006349e-03 9.27939213e-01 -7.82883087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:121.80, Y:-51.82, Z:-7.82 [[ 8.96692698e-01 -2.60071807e-01 -3.58196677e-01 1.21802393e+02] [ 2.38875429e-01 9.65564943e-01 -1.03067307e-01 -5.18153704e+01] [ 3.72667055e-01 6.85531709e-03 9.27939799e-01 -7.81824078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.83, Y:-51.81, Z:-7.81 [[ 8.97700908e-01 -2.58851581e-01 -3.56551452e-01 1.21827301e+02] [ 2.37677189e-01 9.65887584e-01 -1.02814051e-01 -5.18070942e+01] [ 3.71002200e-01 7.55212040e-03 9.28601278e-01 -7.80970170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.85, Y:-51.80, Z:-7.80 [[ 8.98116388e-01 -2.58747161e-01 -3.55579611e-01 1.21852755e+02] [ 2.37597498e-01 9.65913591e-01 -1.02753900e-01 -5.17998708e+01] [ 3.70046459e-01 7.80013573e-03 9.28980504e-01 -7.79984845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.89, Y:-51.86, Z:-7.79 [[ 8.87287413e-01 -2.31486718e-01 -3.98917218e-01 1.21892852e+02] [ 2.35638013e-01 9.71043157e-01 -3.93689460e-02 -5.18578606e+01] [ 3.96479223e-01 -5.90684905e-02 9.16141441e-01 -7.78700873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.88, Y:-51.72, Z:-7.77 [[ 8.99532488e-01 -2.84238469e-01 -3.31737540e-01 1.21881152e+02] [ 2.38292998e-01 9.55711413e-01 -1.72719839e-01 -5.17206165e+01] [ 3.66138976e-01 7.63163731e-02 9.27425502e-01 -7.77134129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.93, Y:-51.78, Z:-7.76 [[ 8.99220325e-01 -2.58154377e-01 -3.53212576e-01 1.21926773e+02] [ 2.37116825e-01 9.66067670e-01 -1.02415177e-01 -5.17776884e+01] [ 3.67666177e-01 8.34116454e-03 9.29920431e-01 -7.76430178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.95, Y:-51.77, Z:-7.75 [[ 8.99110266e-01 -2.57470848e-01 -3.53990807e-01 1.21950566e+02] [ 2.36204535e-01 9.66245496e-01 -1.02844831e-01 -5.17692785e+01] [ 3.68521569e-01 8.85460973e-03 9.29577027e-01 -7.75127813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:-51.82, Z:-7.74 [[ 8.81993538e-01 -2.33836333e-01 -4.09155188e-01 1.21988012e+02] [ 2.34190758e-01 9.70901593e-01 -5.00478377e-02 -5.18199762e+01] [ 4.08952426e-01 -5.16784942e-02 9.11091239e-01 -7.73815305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:-51.73, Z:-7.73 [[ 8.88163813e-01 -2.69597125e-01 -3.72132278e-01 1.21988914e+02] [ 2.33303227e-01 9.62232054e-01 -1.40282139e-01 -5.17259388e+01] [ 3.95897268e-01 3.77738583e-02 9.17517569e-01 -7.72743621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-51.80, Z:-7.72 [[ 8.88626773e-01 -2.30640042e-01 -3.96418503e-01 1.22036861e+02] [ 2.33317632e-01 9.71484233e-01 -4.22050684e-02 -5.18044480e+01] [ 3.94848504e-01 -5.49868724e-02 9.17099287e-01 -7.71920819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.04, Y:-51.72, Z:-7.71 [[ 8.92305511e-01 -2.61110921e-01 -3.68255294e-01 1.22039600e+02] [ 2.33100021e-01 9.65085345e-01 -1.19476598e-01 -5.17235896e+01] [ 3.86594432e-01 2.07693105e-02 9.22015933e-01 -7.70819288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.07, Y:-51.74, Z:-7.70 [[ 8.89217995e-01 -2.53157084e-01 -3.81054916e-01 1.22068973e+02] [ 2.32704703e-01 9.67425186e-01 -9.96846597e-02 -5.17356305e+01] [ 3.93878000e-01 -3.18777016e-05 9.19162728e-01 -7.69658824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.06, Y:-51.63, Z:-7.68 [[ 9.03282543e-01 -2.90641416e-01 -3.15607691e-01 1.22062262e+02] [ 2.37272189e-01 9.51271484e-01 -1.96937736e-01 -5.16276648e+01] [ 3.57466859e-01 1.03005491e-01 9.28228050e-01 -7.67700093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-51.70, Z:-7.67 [[ 9.02858305e-01 -2.55821929e-01 -3.45545975e-01 1.22114583e+02] [ 2.35161956e-01 9.66670825e-01 -1.01224360e-01 -5.17046979e+01] [ 3.59924623e-01 1.01319863e-02 9.32926368e-01 -7.67384394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:-51.78, Z:-7.66 [[ 8.85885060e-01 -2.20541917e-01 -4.08128563e-01 1.22159879e+02] [ 2.32957189e-01 9.72286615e-01 -1.97404968e-02 -5.17795407e+01] [ 4.01171546e-01 -7.75886717e-02 9.12711010e-01 -7.66035679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.17, Y:-51.71, Z:-7.65 [[ 8.88724272e-01 -2.45346408e-01 -3.87265165e-01 1.22165696e+02] [ 2.29942825e-01 9.69358290e-01 -8.64338118e-02 -5.17053723e+01] [ 3.96604923e-01 -1.22330195e-02 9.17907887e-01 -7.65321902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.18, Y:-51.66, Z:-7.64 [[ 8.92122653e-01 -2.58687484e-01 -3.70402426e-01 1.22178498e+02] [ 2.29561610e-01 9.65678046e-01 -1.21521102e-01 -5.16618249e+01] [ 3.89125479e-01 2.33815504e-02 9.20887976e-01 -7.64168336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.20, Y:-51.66, Z:-7.63 [[ 8.94706497e-01 -2.55348466e-01 -3.66466158e-01 1.22201023e+02] [ 2.28504456e-01 9.66647399e-01 -1.15665549e-01 -5.16560812e+01] [ 3.83778579e-01 1.97475677e-02 9.23213971e-01 -7.63248947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-51.65, Z:-7.62 [[ 8.90172367e-01 -2.55518711e-01 -3.77231155e-01 1.22224821e+02] [ 2.28618740e-01 9.66665243e-01 -1.15289979e-01 -5.16498742e+01] [ 3.94114993e-01 1.63858425e-02 9.18915054e-01 -7.61976533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:-51.56, Z:-7.60 [[ 9.08161602e-01 -2.86213549e-01 -3.05490277e-01 1.22223834e+02] [ 2.36941568e-01 9.53054516e-01 -1.88535891e-01 -5.15611516e+01] [ 3.45110415e-01 9.88377115e-02 9.33343403e-01 -7.60083782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:-51.63, Z:-7.60 [[ 9.07232583e-01 -2.55693360e-01 -3.33990936e-01 1.22275732e+02] [ 2.36146687e-01 9.66699800e-01 -9.86216919e-02 -5.16344999e+01] [ 3.48085883e-01 1.06019592e-02 9.37402697e-01 -7.59944655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:-51.62, Z:-7.59 [[ 9.06511378e-01 -2.58781669e-01 -3.33570337e-01 1.22298627e+02] [ 2.39413154e-01 9.65888020e-01 -9.86999217e-02 -5.16212777e+01] [ 3.47733323e-01 9.61147540e-03 9.37544215e-01 -7.58893092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:-51.61, Z:-7.58 [[ 9.05521724e-01 -2.60069086e-01 -3.35252857e-01 1.22322734e+02] [ 2.40505877e-01 9.65544443e-01 -9.94024754e-02 -5.16102305e+01] [ 3.49553044e-01 9.38081826e-03 9.36869612e-01 -7.58011559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.37, Y:-51.71, Z:-7.57 [[ 8.90489612e-01 -2.18858185e-01 -3.98910198e-01 1.22374425e+02] [ 2.40535646e-01 9.70630231e-01 4.42235644e-03 -5.17050398e+01] [ 3.86226429e-01 -9.98901846e-02 9.16979333e-01 -7.57174172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.37, Y:-51.59, Z:-7.56 [[ 8.92953085e-01 -2.61593561e-01 -3.66338090e-01 1.22366377e+02] [ 2.38305986e-01 9.65132242e-01 -1.08305185e-01 -5.15921214e+01] [ 3.81896641e-01 9.41088961e-03 9.24157124e-01 -7.55760094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.36, Y:-51.48, Z:-7.53 [[ 9.08680418e-01 -2.97885885e-01 -2.92513071e-01 1.22355919e+02] [ 2.43162761e-01 9.47161232e-01 -2.09182866e-01 -5.14784616e+01] [ 3.39369664e-01 1.18952088e-01 9.33101619e-01 -7.53148652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-51.64, Z:-7.54 [[ 8.92115970e-01 -2.35395391e-01 -3.85639866e-01 1.22433862e+02] [ 2.40506459e-01 9.69990393e-01 -3.57110767e-02 -5.16364630e+01] [ 3.82473188e-01 -6.08904570e-02 9.21958032e-01 -7.53673824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:-51.50, Z:-7.52 [[ 9.09114036e-01 -2.86183283e-01 -3.02672759e-01 1.22417474e+02] [ 2.44464719e-01 9.54889952e-01 -1.68588790e-01 -5.14952393e+01] [ 3.37266470e-01 7.92736239e-02 9.38065574e-01 -7.51500821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-51.60, Z:-7.51 [[ 8.93174335e-01 -2.42308723e-01 -3.78848374e-01 1.22478052e+02] [ 2.40892465e-01 9.69161032e-01 -5.19395255e-02 -5.16010875e+01] [ 3.79750481e-01 -4.48706676e-02 9.24000106e-01 -7.51355241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:-51.57, Z:-7.50 [[ 8.97901261e-01 -2.52226069e-01 -3.60770475e-01 1.22492647e+02] [ 2.45124209e-01 9.67232488e-01 -6.61470767e-02 -5.15726533e+01] [ 3.65632941e-01 -2.90400336e-02 9.30305987e-01 -7.50486977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-51.44, Z:-7.48 [[ 9.08963521e-01 -2.97845018e-01 -2.91673897e-01 1.22478530e+02] [ 2.50406806e-01 9.49473101e-01 -1.89201642e-01 -5.14429859e+01] [ 3.33289286e-01 9.89402621e-02 9.37618833e-01 -7.47818584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.55, Y:-51.58, Z:-7.49 [[ 8.93752879e-01 -2.46150024e-01 -3.74987943e-01 1.22549717e+02] [ 2.48620774e-01 9.67662467e-01 -4.26269898e-02 -5.15765113e+01] [ 3.73354393e-01 -5.51317979e-02 9.26049125e-01 -7.48560640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.54, Y:-51.45, Z:-7.46 [[ 9.07500077e-01 -2.92280991e-01 -3.01687640e-01 1.22537964e+02] [ 2.54754651e-01 9.54018735e-01 -1.57950376e-01 -5.14533106e+01] [ 3.33981553e-01 6.64836490e-02 9.40232018e-01 -7.46482268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.59, Y:-51.55, Z:-7.47 [[ 8.91567600e-01 -2.56674354e-01 -3.73129322e-01 1.22594628e+02] [ 2.54229650e-01 9.65481197e-01 -5.66863619e-02 -5.15470558e+01] [ 3.74799279e-01 -4.43208132e-02 9.26045985e-01 -7.46574078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.59, Y:-51.45, Z:-7.45 [[ 9.07142732e-01 -2.91813744e-01 -3.03210821e-01 1.22589926e+02] [ 2.58339932e-01 9.54935920e-01 -1.46143313e-01 -5.14450233e+01] [ 3.32193531e-01 5.42413814e-02 9.41650323e-01 -7.44555830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.65, Y:-51.56, Z:-7.45 [[ 8.94216440e-01 -2.45463034e-01 -3.74332550e-01 1.22653450e+02] [ 2.59126923e-01 9.65738025e-01 -1.42585280e-02 -5.15644380e+01] [ 3.65007119e-01 -8.42494318e-02 9.27184899e-01 -7.44625180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:-51.39, Z:-7.42 [[ 9.07062117e-01 -3.07274548e-01 -2.87785801e-01 1.22624670e+02] [ 2.62450333e-01 9.47211345e-01 -1.84148013e-01 -5.13904896e+01] [ 3.29177973e-01 9.15042072e-02 9.39823836e-01 -7.41603892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:-51.46, Z:-7.42 [[ 9.07020714e-01 -2.78768356e-01 -3.15597257e-01 1.22678420e+02] [ 2.62261832e-01 9.60353722e-01 -9.45487148e-02 -5.14617297e+01] [ 3.29442191e-01 2.98852810e-03 9.44171018e-01 -7.42048985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.72, Y:-51.51, Z:-7.41 [[ 8.96351149e-01 -2.59018533e-01 -3.59811085e-01 1.22719553e+02] [ 2.61938556e-01 9.64189250e-01 -4.15605852e-02 -5.15078448e+01] [ 3.57690942e-01 -5.69955177e-02 9.32099083e-01 -7.41465642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.71, Y:-51.38, Z:-7.39 [[ 9.06384328e-01 -3.02880003e-01 -2.94501536e-01 1.22707328e+02] [ 2.67763776e-01 9.51088927e-01 -1.54053278e-01 -5.13848821e+01] [ 3.26756807e-01 6.07746340e-02 9.43152391e-01 -7.39116570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.78, Y:-51.51, Z:-7.40 [[ 8.95587304e-01 -2.54156537e-01 -3.65140845e-01 1.22775714e+02] [ 2.67722795e-01 9.63395369e-01 -1.39236527e-02 -5.15108569e+01] [ 3.55313786e-01 -8.52866808e-02 9.30848159e-01 -7.39654343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.75, Y:-51.34, Z:-7.37 [[ 9.05729109e-01 -3.15089962e-01 -2.83501494e-01 1.22748923e+02] [ 2.72547696e-01 9.45196904e-01 -1.79779213e-01 -5.13448068e+01] [ 3.24611360e-01 8.55635872e-02 9.41969393e-01 -7.36557580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:-51.42, Z:-7.37 [[ 9.03881668e-01 -2.91709695e-01 -3.12895163e-01 1.22802850e+02] [ 2.76102434e-01 9.56506028e-01 -9.41470394e-02 -5.14152591e+01] [ 3.26749714e-01 -1.29333305e-03 9.45110021e-01 -7.37133728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.83, Y:-51.41, Z:-7.36 [[ 9.02708602e-01 -2.93782098e-01 -3.14339401e-01 1.22827289e+02] [ 2.78082155e-01 9.55870606e-01 -9.47718261e-02 -5.14055148e+01] [ 3.28310059e-01 -1.86083530e-03 9.44568178e-01 -7.36206841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:-51.40, Z:-7.35 [[ 9.01746676e-01 -2.95358324e-01 -3.15620648e-01 1.22851811e+02] [ 2.79554415e-01 9.55383890e-01 -9.53464844e-02 -5.13954022e+01] [ 3.29700260e-01 -2.25477048e-03 9.44082970e-01 -7.35265219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:-51.39, Z:-7.34 [[ 9.01414410e-01 -2.98104315e-01 -3.13983881e-01 1.22875276e+02] [ 2.82565422e-01 9.54528419e-01 -9.50383117e-02 -5.13869685e+01] [ 3.28037869e-01 -3.05208402e-03 9.44659643e-01 -7.34050161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:-51.38, Z:-7.33 [[ 9.01646628e-01 -2.99322680e-01 -3.12152673e-01 1.22900502e+02] [ 2.83976973e-01 9.54146281e-01 -9.46675917e-02 -5.13813125e+01] [ 3.26175469e-01 -3.28745628e-03 9.45303526e-01 -7.32952165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:-51.38, Z:-7.32 [[ 9.01606398e-01 -3.00593911e-01 -3.11045342e-01 1.22926097e+02] [ 2.85370590e-01 9.53745620e-01 -9.45141188e-02 -5.13754711e+01] [ 3.25068501e-01 -3.54865857e-03 9.45683814e-01 -7.32090188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.95, Y:-51.37, Z:-7.31 [[ 9.00926527e-01 -3.02234688e-01 -3.11425090e-01 1.22951429e+02] [ 2.87004739e-01 9.53225322e-01 -9.48143732e-02 -5.13680035e+01] [ 3.25514474e-01 -3.95969281e-03 9.45528766e-01 -7.31160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:-51.36, Z:-7.30 [[ 8.99663123e-01 -3.05243864e-01 -3.12141711e-01 1.22977867e+02] [ 2.90054551e-01 9.52261731e-01 -9.52153004e-02 -5.13604793e+01] [ 3.26304493e-01 -4.87642952e-03 9.45252135e-01 -7.30494073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.00, Y:-51.36, Z:-7.30 [[ 8.98541158e-01 -3.06877773e-01 -3.13767142e-01 1.23004561e+02] [ 2.91558915e-01 9.51734081e-01 -9.58938851e-02 -5.13558209e+01] [ 3.28050584e-01 -5.31700494e-03 9.44645195e-01 -7.29614736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:-51.35, Z:-7.29 [[ 8.97728073e-01 -3.09081121e-01 -3.13931789e-01 1.23031381e+02] [ 2.93812512e-01 9.51017127e-01 -9.61282066e-02 -5.13537199e+01] [ 3.28265922e-01 -5.94009791e-03 9.44566673e-01 -7.28688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:-51.36, Z:-7.28 [[ 8.97822898e-01 -3.11488273e-01 -3.11270139e-01 1.23058529e+02] [ 2.96562422e-01 9.50227247e-01 -9.54929750e-02 -5.13555348e+01] [ 3.25522309e-01 -6.57524661e-03 9.45511498e-01 -7.27522573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:-51.35, Z:-7.27 [[ 8.97607510e-01 -3.12026212e-01 -3.11352534e-01 1.23084188e+02] [ 2.97060178e-01 9.50050659e-01 -9.57026478e-02 -5.13490214e+01] [ 3.25662414e-01 -6.58702350e-03 9.45463169e-01 -7.26562570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-51.34, Z:-7.26 [[ 8.97484135e-01 -3.10252906e-01 -3.13473062e-01 1.23109476e+02] [ 2.94933583e-01 9.50635887e-01 -9.64654972e-02 -5.13418917e+01] [ 3.27927443e-01 -5.87748014e-03 9.44684628e-01 -7.25688107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-51.34, Z:-7.25 [[ 8.99695735e-01 -3.03935385e-01 -3.13322304e-01 1.23136336e+02] [ 2.88194451e-01 9.52686636e-01 -9.66029584e-02 -5.13375097e+01] [ 3.27859030e-01 -3.38447975e-03 9.44720595e-01 -7.24990065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:-51.33, Z:-7.24 [[ 9.00730775e-01 -3.00438083e-01 -3.13721259e-01 1.23162987e+02] [ 2.84389607e-01 9.53799348e-01 -9.68986815e-02 -5.13327398e+01] [ 3.28339187e-01 -1.93944123e-03 9.44557895e-01 -7.24079192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:-51.33, Z:-7.23 [[ 9.02420728e-01 -2.97573069e-01 -3.11588025e-01 1.23188056e+02] [ 2.81517963e-01 9.54698788e-01 -9.64254107e-02 -5.13276204e+01] [ 3.26166316e-01 -7.01336927e-04 9.45312140e-01 -7.23004346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:-51.32, Z:-7.22 [[ 9.03035362e-01 -2.95403103e-01 -3.11871995e-01 1.23213544e+02] [ 2.79126941e-01 9.55372667e-01 -9.67016975e-02 -5.13208332e+01] [ 3.26519961e-01 2.73176423e-04 9.45190267e-01 -7.22086460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.24, Y:-51.31, Z:-7.21 [[ 9.03617252e-01 -2.90876461e-01 -3.14430828e-01 1.23238809e+02] [ 2.73989942e-01 9.56758266e-01 -9.76889566e-02 -5.13140246e+01] [ 3.29249712e-01 2.12254218e-03 9.44240500e-01 -7.21242756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.26, Y:-51.31, Z:-7.20 [[ 9.03902299e-01 -2.89460618e-01 -3.14917743e-01 1.23264368e+02] [ 2.72374131e-01 9.57185757e-01 -9.80191761e-02 -5.13073024e+01] [ 3.29807469e-01 2.82431216e-03 9.44043991e-01 -7.20375904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:-51.30, Z:-7.19 [[ 9.03906627e-01 -2.88342401e-01 -3.15929533e-01 1.23289928e+02] [ 2.71007867e-01 9.57521183e-01 -9.85287760e-02 -5.12998698e+01] [ 3.30919244e-01 3.44142486e-03 9.43652802e-01 -7.19390689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:-51.29, Z:-7.18 [[ 9.04650420e-01 -2.85415719e-01 -3.16457714e-01 1.23313482e+02] [ 2.67778832e-01 9.58392196e-01 -9.88882975e-02 -5.12878693e+01] [ 3.31514878e-01 4.71866273e-03 9.43438191e-01 -7.18372231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:-51.28, Z:-7.17 [[ 9.05126130e-01 -2.84558065e-01 -3.15869271e-01 1.23337513e+02] [ 2.66870780e-01 9.58644609e-01 -9.88964138e-02 -5.12772615e+01] [ 3.30948145e-01 5.21744957e-03 9.43634518e-01 -7.17410523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.36, Y:-51.27, Z:-7.16 [[ 9.05844465e-01 -2.83069551e-01 -3.15146688e-01 1.23362215e+02] [ 2.65310817e-01 9.59080975e-01 -9.88628068e-02 -5.12674094e+01] [ 3.30236243e-01 5.94250102e-03 9.43879606e-01 -7.16443280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:-51.31, Z:-7.16 [[ 8.98744046e-01 -2.62056140e-01 -3.51547607e-01 1.23400629e+02] [ 2.62648485e-01 9.63749012e-01 -4.69426724e-02 -5.13130489e+01] [ 3.51105274e-01 -5.01439989e-02 9.34992335e-01 -7.15805203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.40, Y:-51.22, Z:-7.14 [[ 9.00397773e-01 -2.90068343e-01 -3.24259473e-01 1.23400205e+02] [ 2.58942264e-01 9.56218334e-01 -1.36364960e-01 -5.12210821e+01] [ 3.49618011e-01 3.88182246e-02 9.36087812e-01 -7.13593576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:-51.22, Z:-7.13 [[ 9.09653473e-01 -2.87598433e-01 -2.99696012e-01 1.23427179e+02] [ 2.62969565e-01 9.57257473e-01 -1.20437278e-01 -5.12168907e+01] [ 3.21523820e-01 3.07452580e-02 9.46402220e-01 -7.12856994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:-51.23, Z:-7.12 [[ 9.09444607e-01 -2.80202751e-01 -3.07240826e-01 1.23460549e+02] [ 2.63034516e-01 9.59913378e-01 -9.68460096e-02 -5.12303253e+01] [ 3.22061098e-01 7.26113912e-03 9.46691040e-01 -7.12184632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.48, Y:-51.22, Z:-7.11 [[ 9.09412694e-01 -2.80858064e-01 -3.06736533e-01 1.23484853e+02] [ 2.63724638e-01 9.59722353e-01 -9.68623751e-02 -5.12190836e+01] [ 3.21586486e-01 7.19389240e-03 9.46852882e-01 -7.11232915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.52, Y:-51.23, Z:-7.10 [[ 8.99732013e-01 -2.72962778e-01 -3.40549009e-01 1.23516605e+02] [ 2.61717136e-01 9.61863807e-01 -7.95119968e-02 -5.12296872e+01] [ 3.49265582e-01 -1.75880222e-02 9.36858695e-01 -7.10427516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.54, Y:-51.23, Z:-7.10 [[ 9.01280367e-01 -2.72432242e-01 -3.36859576e-01 1.23539170e+02] [ 2.63582510e-01 9.61893567e-01 -7.26981835e-02 -5.12252939e+01] [ 3.43828388e-01 -2.32688469e-02 9.38744161e-01 -7.09607889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-51.14, Z:-7.07 [[ 9.10387944e-01 -3.00741169e-01 -2.84162877e-01 1.23536932e+02] [ 2.66938327e-01 9.51655732e-01 -1.51971372e-01 -5.11351137e+01] [ 3.16129278e-01 6.24989415e-02 9.46655250e-01 -7.07423586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.58, Y:-51.17, Z:-7.07 [[ 9.09640124e-01 -2.84131922e-01 -3.03024578e-01 1.23580035e+02] [ 2.67430353e-01 9.58763390e-01 -9.61965050e-02 -5.11742923e+01] [ 3.17861370e-01 6.46623070e-03 9.48115150e-01 -7.07409067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.61, Y:-51.17, Z:-7.07 [[ 9.08984946e-01 -2.85373130e-01 -3.03823213e-01 1.23605406e+02] [ 2.68585644e-01 9.58396194e-01 -9.66358521e-02 -5.11661068e+01] [ 3.18760286e-01 6.23798166e-03 9.47814838e-01 -7.06620783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.63, Y:-51.16, Z:-7.06 [[ 9.08167878e-01 -2.87702306e-01 -3.04069875e-01 1.23631931e+02] [ 2.70951485e-01 9.57703443e-01 -9.68989573e-02 -5.11582204e+01] [ 3.19086820e-01 5.61233631e-03 9.47708871e-01 -7.05958510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:-51.15, Z:-7.05 [[ 9.06690640e-01 -2.92066959e-01 -3.04317228e-01 1.23656815e+02] [ 2.75463991e-01 9.56388343e-01 -9.71644366e-02 -5.11479679e+01] [ 3.19423971e-01 4.26964698e-03 9.47602288e-01 -7.05031678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:-51.14, Z:-7.04 [[ 9.06410725e-01 -2.93344493e-01 -3.03922040e-01 1.23680567e+02] [ 2.76792649e-01 9.55998422e-01 -9.72257473e-02 -5.11372332e+01] [ 3.19069629e-01 4.00307357e-03 9.47722822e-01 -7.04044111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:-51.17, Z:-7.03 [[ 8.93977214e-01 -2.79914880e-01 -3.49931994e-01 1.23717089e+02] [ 2.75577002e-01 9.59195810e-01 -6.32512004e-02 -5.11661177e+01] [ 3.53358255e-01 -3.98880781e-02 9.34637301e-01 -7.03236681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:-51.08, Z:-7.02 [[ 9.03299793e-01 -3.12211597e-01 -2.94233585e-01 1.23715938e+02] [ 2.81709245e-01 9.48925679e-01 -1.42056178e-01 -5.10759806e+01] [ 3.23557391e-01 4.54309954e-02 9.45117262e-01 -7.01661611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-51.11, Z:-7.01 [[ 9.03189751e-01 -3.00036898e-01 -3.06962755e-01 1.23755713e+02] [ 2.83392162e-01 9.53925431e-01 -9.85654812e-02 -5.11067292e+01] [ 3.22392860e-01 2.03249372e-03 9.46603778e-01 -7.01342579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:-51.10, Z:-7.00 [[ 9.00642988e-01 -3.04881866e-01 -3.09659905e-01 1.23779757e+02] [ 2.88147008e-01 9.52390047e-01 -9.96217859e-02 -5.10981652e+01] [ 3.25289887e-01 4.96087856e-04 9.45614215e-01 -7.00332729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:-51.09, Z:-7.00 [[ 8.98201292e-01 -3.08676026e-01 -3.12975319e-01 1.23804918e+02] [ 2.91726364e-01 9.51166985e-01 -1.00881591e-01 -5.10897084e+01] [ 3.28831519e-01 -6.91176855e-04 9.44388349e-01 -6.99507052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.87, Y:-51.23, Z:-6.98 [[ 8.93527930e-01 -3.38424736e-01 -2.95087336e-01 1.23874457e+02] [ 3.24908689e-01 9.40932292e-01 -9.52930578e-02 -5.12348933e+01] [ 3.09906731e-01 -1.07294306e-02 9.50706420e-01 -6.97535985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:-51.23, Z:-6.97 [[ 8.92588034e-01 -3.39827470e-01 -2.96317215e-01 1.23901485e+02] [ 3.26248004e-01 9.40421138e-01 -9.57618072e-02 -5.12318144e+01] [ 3.11205465e-01 -1.11970566e-02 9.50276688e-01 -6.96659630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:-51.22, Z:-6.96 [[ 8.92427758e-01 -3.40291567e-01 -2.96267355e-01 1.23927106e+02] [ 3.26685914e-01 9.40253407e-01 -9.59158232e-02 -5.12236402e+01] [ 3.11205735e-01 -1.11884284e-02 9.50276701e-01 -6.95717239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.95, Y:-51.22, Z:-6.95 [[ 8.91501587e-01 -3.41332070e-01 -2.97854558e-01 1.23954538e+02] [ 3.27580534e-01 9.39872910e-01 -9.65914384e-02 -5.12213628e+01] [ 3.12915186e-01 -1.14599344e-02 9.49711933e-01 -6.94845789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:-51.22, Z:-6.94 [[ 8.91230371e-01 -3.41626546e-01 -2.98328222e-01 1.23981434e+02] [ 3.27789358e-01 9.39766490e-01 -9.69179108e-02 -5.12189262e+01] [ 3.13468597e-01 -1.14126310e-02 9.49529984e-01 -6.94021738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.01, Y:-51.22, Z:-6.93 [[ 8.91704624e-01 -3.41634630e-01 -2.96898373e-01 1.24008492e+02] [ 3.27877131e-01 9.39766261e-01 -9.66227744e-02 -5.12155450e+01] [ 3.12024760e-01 -1.11872121e-02 9.50008103e-01 -6.93102722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:-51.27, Z:-6.92 [[ 8.84544761e-01 -3.17561765e-01 -3.41665175e-01 1.24049535e+02] [ 3.25516070e-01 9.44870714e-01 -3.54770633e-02 -5.12749796e+01] [ 3.34095577e-01 -7.98364547e-02 9.39151897e-01 -6.91517889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.04, Y:-51.14, Z:-6.91 [[ 8.94223410e-01 -3.58475977e-01 -2.68066160e-01 1.24039565e+02] [ 3.24293690e-01 9.31624395e-01 -1.64041425e-01 -5.11437600e+01] [ 3.08541885e-01 5.97575185e-02 9.49331841e-01 -6.91076278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:-51.28, Z:-6.89 [[ 8.87910670e-01 -3.04745559e-01 -3.44593655e-01 1.24101916e+02] [ 3.19423264e-01 9.47495396e-01 -1.48745907e-02 -5.12841912e+01] [ 3.31033867e-01 -9.68639223e-02 9.38634092e-01 -6.89054954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.10, Y:-51.19, Z:-6.89 [[ 8.88136703e-01 -3.35140102e-01 -3.14474655e-01 1.24104014e+02] [ 3.18612676e-01 9.42137418e-01 -1.04225947e-01 -5.11937780e+01] [ 3.31208633e-01 -7.62872266e-03 9.43526705e-01 -6.88851561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-51.11, Z:-6.88 [[ 8.99200229e-01 -3.57979340e-01 -2.51574524e-01 1.24106644e+02] [ 3.19594125e-01 9.30079553e-01 -1.81139781e-01 -5.11071676e+01] [ 2.98828620e-01 8.24791929e-02 9.50735841e-01 -6.87816840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:-51.18, Z:-6.87 [[ 9.01440973e-01 -3.27973304e-01 -2.82555630e-01 1.24159334e+02] [ 3.14803277e-01 9.44668921e-01 -9.21928732e-02 -5.11832247e+01] [ 2.97158324e-01 -5.84300484e-03 9.54810342e-01 -6.86821438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:-51.18, Z:-6.86 [[ 9.01254378e-01 -3.25706285e-01 -2.85755072e-01 1.24186492e+02] [ 3.12064421e-01 9.45457841e-01 -9.34091401e-02 -5.11779037e+01] [ 3.00593318e-01 -4.98859464e-03 9.53739362e-01 -6.86071177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:-51.17, Z:-6.85 [[ 9.01146435e-01 -3.26050867e-01 -2.85702530e-01 1.24212149e+02] [ 3.12375050e-01 9.45339390e-01 -9.35695773e-02 -5.11694895e+01] [ 3.00594297e-01 -4.92645102e-03 9.53739377e-01 -6.85155830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.24, Y:-51.16, Z:-6.85 [[ 9.00808056e-01 -3.25280170e-01 -2.87641541e-01 1.24239826e+02] [ 3.11342000e-01 9.45606503e-01 -9.43106579e-02 -5.11642923e+01] [ 3.02673099e-01 -4.59909208e-03 9.53083335e-01 -6.84544289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.27, Y:-51.16, Z:-6.84 [[ 9.00646918e-01 -3.25772333e-01 -2.87589144e-01 1.24265520e+02] [ 3.11807715e-01 9.45437113e-01 -9.44701733e-02 -5.11559727e+01] [ 3.02673219e-01 -4.58824348e-03 9.53083349e-01 -6.83628827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.30, Y:-51.20, Z:-6.82 [[ 8.89660764e-01 -3.06864119e-01 -3.38139227e-01 1.24304088e+02] [ 3.04544047e-01 9.50521359e-01 -6.13357108e-02 -5.11956269e+01] [ 3.40230286e-01 -4.84103132e-02 9.39095200e-01 -6.82450729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.31, Y:-51.11, Z:-6.82 [[ 9.02284068e-01 -3.35452966e-01 -2.70840854e-01 1.24306143e+02] [ 3.08832406e-01 9.41212551e-01 -1.36899521e-01 -5.11073916e+01] [ 3.00842162e-01 3.98778240e-02 9.52839836e-01 -6.82164572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.34, Y:-51.14, Z:-6.81 [[ 9.02555085e-01 -3.22475881e-01 -2.85313204e-01 1.24344143e+02] [ 3.08474194e-01 9.46572498e-01 -9.40434854e-02 -5.11387177e+01] [ 3.00396388e-01 -3.13233445e-03 9.53809309e-01 -6.81033059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.37, Y:-51.13, Z:-6.80 [[ 9.03218297e-01 -3.20802326e-01 -2.85100992e-01 1.24369453e+02] [ 3.06688748e-01 9.47143104e-01 -9.41379483e-02 -5.11309412e+01] [ 3.00231111e-01 -2.41014874e-03 9.53863445e-01 -6.79963915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:-51.16, Z:-6.78 [[ 8.92737717e-01 -3.03981190e-01 -3.32588041e-01 1.24403842e+02] [ 3.01449585e-01 9.51557229e-01 -6.05556489e-02 -5.11648548e+01] [ 3.34884333e-01 -4.61982153e-02 9.41126032e-01 -6.78389615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:-51.08, Z:-6.78 [[ 9.04362496e-01 -3.30865009e-01 -2.69549295e-01 1.24406336e+02] [ 3.04335625e-01 9.42782155e-01 -1.36167673e-01 -5.10774292e+01] [ 2.99179384e-01 4.11114828e-02 9.53310832e-01 -6.78237997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:-51.11, Z:-6.77 [[ 9.04643241e-01 -3.16621067e-01 -2.85257264e-01 1.24444612e+02] [ 3.02155038e-01 9.48551917e-01 -9.46128674e-02 -5.11091054e+01] [ 3.00537752e-01 -6.01028465e-04 9.53769730e-01 -6.77189014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.47, Y:-51.10, Z:-6.76 [[ 9.04481422e-01 -3.17131468e-01 -2.85203419e-01 1.24470312e+02] [ 3.02639116e-01 9.48381401e-01 -9.47749103e-02 -5.11006885e+01] [ 3.00537724e-01 -5.91564786e-04 9.53769745e-01 -6.76281865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:-51.09, Z:-6.76 [[ 9.04639819e-01 -3.16896282e-01 -2.84962355e-01 1.24496492e+02] [ 3.02364560e-01 9.48460135e-01 -9.48633024e-02 -5.10937768e+01] [ 3.00337261e-01 -3.45396234e-04 9.53833010e-01 -6.75506161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:-51.09, Z:-6.75 [[ 9.04809616e-01 -3.16116133e-01 -2.85289588e-01 1.24521740e+02] [ 3.01455177e-01 9.48720497e-01 -9.51535309e-02 -5.10870141e+01] [ 3.00739646e-01 9.38064173e-05 9.53706274e-01 -6.74605312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.55, Y:-51.08, Z:-6.74 [[ 9.05401347e-01 -3.15296283e-01 -2.84317876e-01 1.24546887e+02] [ 3.00641781e-01 9.48993129e-01 -9.50082098e-02 -5.10801108e+01] [ 2.99771446e-01 5.42728514e-04 9.54010894e-01 -6.73568479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-51.07, Z:-6.73 [[ 9.05984870e-01 -3.14320833e-01 -2.83538056e-01 1.24571888e+02] [ 2.99646268e-01 9.49316245e-01 -9.49251332e-02 -5.10721781e+01] [ 2.99004230e-01 1.03961419e-03 9.54251219e-01 -6.72574133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-51.06, Z:-6.72 [[ 9.07347528e-01 -3.12967535e-01 -2.80663116e-01 1.24596184e+02] [ 2.98478779e-01 9.49762403e-01 -9.41371170e-02 -5.10631615e+01] [ 2.96025137e-01 1.64309647e-03 9.55178736e-01 -6.71532430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-51.05, Z:-6.71 [[ 9.07846396e-01 -3.11488955e-01 -2.80694767e-01 1.24620136e+02] [ 2.96873451e-01 9.50246990e-01 -9.43229182e-02 -5.10530863e+01] [ 2.96109905e-01 2.29989723e-03 9.55151106e-01 -6.70536763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.65, Y:-51.04, Z:-6.70 [[ 9.08563927e-01 -3.09694338e-01 -2.80358714e-01 1.24645146e+02] [ 2.94977553e-01 9.50831265e-01 -9.43829955e-02 -5.10435526e+01] [ 2.95803710e-01 3.05345768e-03 9.55243865e-01 -6.69621148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.67, Y:-51.04, Z:-6.69 [[ 9.08410650e-01 -3.10190914e-01 -2.80306418e-01 1.24670808e+02] [ 2.95449388e-01 9.50669351e-01 -9.45380574e-02 -5.10350247e+01] [ 2.95803567e-01 3.06301852e-03 9.55243879e-01 -6.68713997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-51.03, Z:-6.68 [[ 9.08327956e-01 -3.08612419e-01 -2.82309579e-01 1.24696363e+02] [ 2.93528477e-01 9.51180412e-01 -9.53774464e-02 -5.10259835e+01] [ 2.97962006e-01 3.76810037e-03 9.54570293e-01 -6.68069149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.72, Y:-51.02, Z:-6.67 [[ 9.08770655e-01 -3.06995655e-01 -2.82647422e-01 1.24722326e+02] [ 2.91743741e-01 9.51700382e-01 -9.56659427e-02 -5.10180920e+01] [ 2.98364688e-01 4.47778516e-03 9.54441440e-01 -6.67359973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.75, Y:-51.04, Z:-6.66 [[ 9.00011723e-01 -2.93001155e-01 -3.22690597e-01 1.24754305e+02] [ 2.85059083e-01 9.55744653e-01 -7.27562881e-02 -5.10409992e+01] [ 3.29727490e-01 -2.65043737e-02 9.43704032e-01 -6.65939736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-50.97, Z:-6.65 [[ 9.11513684e-01 -3.11914927e-01 -2.68052014e-01 1.24761280e+02] [ 2.87713462e-01 9.49348873e-01 -1.26323718e-01 -5.09716812e+01] [ 2.93877130e-01 3.80236243e-02 9.55086612e-01 -6.65418684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:-50.99, Z:-6.64 [[ 9.12239979e-01 -3.01247847e-01 -2.77611160e-01 1.24795214e+02] [ 2.86161442e-01 9.53522697e-01 -9.43721131e-02 -5.09901359e+01] [ 2.93137938e-01 6.64840454e-03 9.56047043e-01 -6.64314058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:-50.98, Z:-6.63 [[ 9.12144594e-01 -3.01585488e-01 -2.77557983e-01 1.24820811e+02] [ 2.86466873e-01 9.53415512e-01 -9.45282583e-02 -5.09814102e+01] [ 2.93136437e-01 6.71227222e-03 9.56047057e-01 -6.63410167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:-50.97, Z:-6.63 [[ 9.11882058e-01 -3.01263413e-01 -2.78767767e-01 1.24845973e+02] [ 2.85964004e-01 9.53515649e-01 -9.50394471e-02 -5.09708992e+01] [ 2.94441336e-01 6.94721976e-03 9.55644304e-01 -6.62590465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:-50.96, Z:-6.62 [[ 9.11815181e-01 -3.00366858e-01 -2.79951473e-01 1.24871439e+02] [ 2.84840367e-01 9.53794747e-01 -9.56114278e-02 -5.09614261e+01] [ 2.95734748e-01 7.43847103e-03 9.55241136e-01 -6.61863553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.90, Y:-50.95, Z:-6.61 [[ 9.11670659e-01 -2.98930797e-01 -2.81952103e-01 1.24896095e+02] [ 2.83055706e-01 9.54240116e-01 -9.64638189e-02 -5.09499364e+01] [ 2.97886014e-01 8.13508184e-03 9.54566783e-01 -6.61247320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-50.94, Z:-6.60 [[ 9.11693214e-01 -2.99181709e-01 -2.81612835e-01 1.24920415e+02] [ 2.83305542e-01 9.54160843e-01 -9.65145339e-02 -5.09397093e+01] [ 2.97579323e-01 8.20916880e-03 9.54661802e-01 -6.60324454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:-50.93, Z:-6.59 [[ 9.12483635e-01 -2.99374318e-01 -2.78834418e-01 1.24943600e+02] [ 2.83776081e-01 9.54100308e-01 -9.57274200e-02 -5.09286808e+01] [ 2.94694335e-01 8.22316602e-03 9.55556188e-01 -6.59008508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.97, Y:-50.92, Z:-6.58 [[ 9.12033544e-01 -3.00629336e-01 -2.78956656e-01 1.24967874e+02] [ 2.85023219e-01 9.53707613e-01 -9.59351538e-02 -5.09194160e+01] [ 2.94884008e-01 7.98695417e-03 9.55499676e-01 -6.58073892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.99, Y:-50.91, Z:-6.57 [[ 9.11543156e-01 -3.02161823e-01 -2.78903759e-01 1.24992822e+02] [ 2.86580653e-01 9.53225908e-01 -9.60827698e-02 -5.09094697e+01] [ 2.94890834e-01 7.65516993e-03 9.55500285e-01 -6.57213537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:-50.90, Z:-6.56 [[ 9.11084352e-01 -3.03603771e-01 -2.78836967e-01 1.25017432e+02] [ 2.88044714e-01 9.52770005e-01 -9.62266080e-02 -5.08994477e+01] [ 2.94882260e-01 7.35304250e-03 9.55505304e-01 -6.56410352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.04, Y:-50.89, Z:-6.56 [[ 9.10879639e-01 -3.04443188e-01 -2.78590431e-01 1.25042325e+02] [ 2.88899336e-01 9.52502977e-01 -9.63081160e-02 -5.08892641e+01] [ 2.94678565e-01 7.24051133e-03 9.55569002e-01 -6.55607642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.07, Y:-50.88, Z:-6.55 [[ 9.10827949e-01 -3.05148265e-01 -2.77987381e-01 1.25066662e+02] [ 2.89654450e-01 9.52277930e-01 -9.62654831e-02 -5.08788667e+01] [ 2.94096493e-01 7.16101053e-03 9.55748907e-01 -6.54765101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-50.87, Z:-6.54 [[ 9.10699283e-01 -3.06261001e-01 -2.77184082e-01 1.25090644e+02] [ 2.90858816e-01 9.51922256e-01 -9.61517979e-02 -5.08679813e+01] [ 2.93305243e-01 6.94393941e-03 9.55993628e-01 -6.53751929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-50.86, Z:-6.53 [[ 9.10552478e-01 -3.06743850e-01 -2.77132452e-01 1.25116223e+02] [ 2.91318326e-01 9.51766710e-01 -9.63003820e-02 -5.08592201e+01] [ 2.93304992e-01 6.95278952e-03 9.55993640e-01 -6.52847826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:-50.85, Z:-6.52 [[ 9.10405451e-01 -3.07223819e-01 -2.77083815e-01 1.25141801e+02] [ 2.91777516e-01 9.51611887e-01 -9.64401252e-02 -5.08504539e+01] [ 2.93304955e-01 6.95278865e-03 9.55993652e-01 -6.51943677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.18, Y:-50.90, Z:-6.50 [[ 9.00152272e-01 -2.83655487e-01 -3.30553251e-01 1.25184689e+02] [ 2.88500708e-01 9.56823693e-01 -3.54367204e-02 -5.09043234e+01] [ 3.26333003e-01 -6.34664027e-02 9.43121830e-01 -6.50147516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:-50.77, Z:-6.50 [[ 9.10572971e-01 -3.29235295e-01 -2.49921957e-01 1.25168284e+02] [ 2.95393673e-01 9.41245415e-01 -1.63705975e-01 -5.07650344e+01] [ 2.89135681e-01 7.52408712e-02 9.54326658e-01 -6.50069077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:-50.82, Z:-6.49 [[ 9.10259751e-01 -3.09432856e-01 -2.75097243e-01 1.25214609e+02] [ 2.94213114e-01 9.50898990e-01 -9.60716087e-02 -5.08175406e+01] [ 2.91317403e-01 6.51290206e-03 9.56604282e-01 -6.49225752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:-50.81, Z:-6.49 [[ 9.09427963e-01 -3.10797968e-01 -2.76306719e-01 1.25239775e+02] [ 2.95451009e-01 9.50455308e-01 -9.66613083e-02 -5.08088561e+01] [ 2.92659326e-01 6.27139781e-03 9.56196208e-01 -6.48504747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:-50.87, Z:-6.47 [[ 8.99261492e-01 -2.86666567e-01 -3.30380157e-01 1.25285693e+02] [ 2.94453307e-01 9.55272832e-01 -2.74055912e-02 -5.08730243e+01] [ 3.23459455e-01 -7.26367369e-02 9.43449991e-01 -6.47043599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-50.72, Z:-6.47 [[ 9.08234672e-01 -3.36077132e-01 -2.49322967e-01 1.25265002e+02] [ 2.99185659e-01 9.38080925e-01 -1.74619927e-01 -5.07181727e+01] [ 2.92570884e-01 8.40020156e-02 9.52547080e-01 -6.46863564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.31, Y:-50.78, Z:-6.46 [[ 9.08309178e-01 -3.13909604e-01 -2.76469161e-01 1.25314240e+02] [ 2.98600513e-01 9.49436675e-01 -9.69934717e-02 -5.07787893e+01] [ 2.92937143e-01 5.54622727e-03 9.56115615e-01 -6.45922178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:-50.77, Z:-6.45 [[ 9.08157386e-01 -3.14395162e-01 -2.76416069e-01 1.25339822e+02] [ 2.99062093e-01 9.49275936e-01 -9.71445443e-02 -5.07699261e+01] [ 2.92936897e-01 5.55696723e-03 9.56115628e-01 -6.45030232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:-50.76, Z:-6.44 [[ 9.07980891e-01 -3.15505253e-01 -2.75730190e-01 1.25363090e+02] [ 3.00252368e-01 9.48908806e-01 -9.70597398e-02 -5.07589050e+01] [ 2.92265663e-01 5.33974674e-03 9.56322262e-01 -6.43897809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.39, Y:-50.75, Z:-6.43 [[ 9.08290411e-01 -3.15997438e-01 -2.74142572e-01 1.25387048e+02] [ 3.00895547e-01 9.48745165e-01 -9.66668579e-02 -5.07479275e+01] [ 2.90637919e-01 5.31330099e-03 9.56818357e-01 -6.42850590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.43, Y:-50.79, Z:-6.41 [[ 8.95097693e-01 -2.98661795e-01 -3.31060797e-01 1.25426190e+02] [ 2.97621013e-01 9.53090880e-01 -5.51317203e-02 -5.07876033e+01] [ 3.31996765e-01 -4.91823740e-02 9.41997475e-01 -6.41390390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:-50.68, Z:-6.41 [[ 9.07233987e-01 -3.32252124e-01 -2.57943828e-01 1.25419418e+02] [ 3.02285454e-01 9.41429637e-01 -1.49444782e-01 -5.06780290e+01] [ 2.92489310e-01 5.76087184e-02 9.54531948e-01 -6.41188307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-50.71, Z:-6.40 [[ 9.06737524e-01 -3.17188326e-01 -2.77882400e-01 1.25460615e+02] [ 3.01597189e-01 9.48347271e-01 -9.83696531e-02 -5.07147787e+01] [ 2.94730721e-01 5.38690491e-03 9.55565164e-01 -6.40442868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:-50.71, Z:-6.40 [[ 9.06581430e-01 -3.17681354e-01 -2.77828486e-01 1.25486177e+02] [ 3.02066264e-01 9.48182181e-01 -9.85216943e-02 -5.07058367e+01] [ 2.94730525e-01 5.39532563e-03 9.55565177e-01 -6.39555140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.54, Y:-50.79, Z:-6.38 [[ 8.94906093e-01 -2.84635866e-01 -3.43693917e-01 1.25536698e+02] [ 3.01037100e-01 9.53594188e-01 -5.89819029e-03 -5.07923608e+01] [ 3.29423358e-01 -9.81862937e-02 9.39063205e-01 -6.37700370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.53, Y:-50.69, Z:-6.38 [[ 8.97055341e-01 -3.17965335e-01 -3.06903504e-01 1.25531917e+02] [ 2.99538650e-01 9.48094639e-01 -1.06738710e-01 -5.06905376e+01] [ 3.24912776e-01 3.82106862e-03 9.45736267e-01 -6.37505354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:-50.59, Z:-6.36 [[ 9.08185557e-01 -3.48983783e-01 -2.31104552e-01 1.25523904e+02] [ 3.08516817e-01 9.31254612e-01 -1.93861347e-01 -5.05889555e+01] [ 2.82871646e-01 1.04762434e-01 9.53419354e-01 -6.36413557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:-50.72, Z:-6.35 [[ 8.96199274e-01 -3.05858823e-01 -3.21367767e-01 1.25596486e+02] [ 3.04327622e-01 9.50900353e-01 -5.63313164e-02 -5.07168767e+01] [ 3.22818153e-01 -4.73170032e-02 9.45277494e-01 -6.35094274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:-50.62, Z:-6.35 [[ 9.07403428e-01 -3.37875130e-01 -2.49918817e-01 1.25590524e+02] [ 3.10260027e-01 9.39694461e-01 -1.43920239e-01 -5.06151213e+01] [ 2.83474398e-01 5.30538992e-02 9.57511122e-01 -6.34542837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-50.65, Z:-6.34 [[ 9.06978809e-01 -3.25217989e-01 -2.67624178e-01 1.25631014e+02] [ 3.10892192e-01 9.45632837e-01 -9.55226828e-02 -5.06485474e+01] [ 2.84139905e-01 3.43478186e-03 9.58776677e-01 -6.33684339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-50.64, Z:-6.33 [[ 9.06236521e-01 -3.26955687e-01 -2.68021167e-01 1.25655446e+02] [ 3.12614802e-01 9.45034757e-01 -9.58190656e-02 -5.06378820e+01] [ 2.84617906e-01 3.04735274e-03 9.58636198e-01 -6.32816763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:-50.63, Z:-6.32 [[ 9.06073142e-01 -3.27452167e-01 -2.67967421e-01 1.25681055e+02] [ 3.13088159e-01 9.44862810e-01 -9.59691379e-02 -5.06288403e+01] [ 2.84617753e-01 3.05763172e-03 9.58636211e-01 -6.31954472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:-50.67, Z:-6.31 [[ 8.93929531e-01 -3.11100171e-01 -3.22655663e-01 1.25720316e+02] [ 3.10221532e-01 9.49038772e-01 -5.55698743e-02 -5.06673051e+01] [ 3.23500531e-01 -5.04191824e-02 9.44883756e-01 -6.30627327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.71, Y:-50.56, Z:-6.30 [[ 9.06753969e-01 -3.42380960e-01 -2.46114847e-01 1.25713407e+02] [ 3.14712864e-01 9.37986560e-01 -1.45385784e-01 -5.05622266e+01] [ 2.80629743e-01 5.43736284e-02 9.58274729e-01 -6.30032616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.75, Y:-50.60, Z:-6.29 [[ 9.06922638e-01 -3.27220932e-01 -2.65363507e-01 1.25754540e+02] [ 3.13035720e-01 9.44941682e-01 -9.53617086e-02 -5.05980652e+01] [ 2.81957385e-01 3.41743609e-03 9.59420843e-01 -6.29210354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-50.62, Z:-6.28 [[ 8.96711472e-01 -3.17450742e-01 -3.08437291e-01 1.25788997e+02] [ 3.10109570e-01 9.47820713e-01 -7.39455968e-02 -5.06175805e+01] [ 3.15817337e-01 -2.93414908e-02 9.48366220e-01 -6.28165730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:-50.58, Z:-6.28 [[ 8.97009666e-01 -3.27033714e-01 -2.97359394e-01 1.25804336e+02] [ 3.09524131e-01 9.45008838e-01 -1.05608274e-01 -5.05783261e+01] [ 3.15544721e-01 2.69173452e-03 9.48906889e-01 -6.27553226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.83, Y:-50.57, Z:-6.27 [[ 8.97149134e-01 -3.27454136e-01 -2.96474655e-01 1.25829068e+02] [ 3.10032141e-01 9.44863328e-01 -1.05419934e-01 -5.05694748e+01] [ 3.14648222e-01 2.66073016e-03 9.49204623e-01 -6.26692244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:-50.53, Z:-6.26 [[ 9.06745080e-01 -3.36548605e-01 -2.54063764e-01 1.25844226e+02] [ 3.13771583e-01 9.41009903e-01 -1.26679741e-01 -5.05297671e+01] [ 2.81710408e-01 3.51482426e-02 9.58855488e-01 -6.25967069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.89, Y:-50.57, Z:-6.25 [[ 8.96262422e-01 -3.20295815e-01 -3.06796775e-01 1.25885103e+02] [ 3.10731461e-01 9.47043812e-01 -8.09566447e-02 -5.05721515e+01] [ 3.16480062e-01 -2.27730117e-02 9.48325767e-01 -6.24845899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.90, Y:-50.54, Z:-6.24 [[ 8.96714051e-01 -3.28400134e-01 -2.96744441e-01 1.25902346e+02] [ 3.10538842e-01 9.44531446e-01 -1.06892349e-01 -5.05391569e+01] [ 3.15387918e-01 3.70119630e-03 9.48955617e-01 -6.24024314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.92, Y:-50.50, Z:-6.23 [[ 9.06674869e-01 -3.36137896e-01 -2.54856817e-01 1.25919600e+02] [ 3.14870182e-01 9.41340932e-01 -1.21383763e-01 -5.05040894e+01] [ 2.80708837e-01 2.98087946e-02 9.59329967e-01 -6.23419787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-50.52, Z:-6.23 [[ 9.06419694e-01 -3.29573609e-01 -2.64167701e-01 1.25952018e+02] [ 3.15367382e-01 9.44123357e-01 -9.57836140e-02 -5.05159442e+01] [ 2.80974649e-01 3.51027779e-03 9.59708771e-01 -6.22550030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:-50.51, Z:-6.22 [[ 9.06254730e-01 -3.30070159e-01 -2.64113715e-01 1.25977631e+02] [ 3.15841275e-01 9.43949836e-01 -9.59322509e-02 -5.05067703e+01] [ 2.80974471e-01 3.52104377e-03 9.59708783e-01 -6.21705139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.00, Y:-50.50, Z:-6.21 [[ 9.05226069e-01 -3.31204801e-01 -2.66212592e-01 1.26001625e+02] [ 3.16744942e-01 9.43552935e-01 -9.68529826e-02 -5.04952742e+01] [ 2.83263846e-01 3.35235242e-03 9.59036160e-01 -6.20902585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-50.48, Z:-6.20 [[ 9.04444984e-01 -3.32792956e-01 -2.66885968e-01 1.26026534e+02] [ 3.18275816e-01 9.42995055e-01 -9.72668085e-02 -5.04845784e+01] [ 2.84041857e-01 3.02912773e-03 9.58807096e-01 -6.20118967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:-50.50, Z:-6.19 [[ 8.93892151e-01 -3.25793558e-01 -3.07921060e-01 1.26056974e+02] [ 3.15195026e-01 9.45207239e-01 -8.50609879e-02 -5.04961241e+01] [ 3.18761537e-01 -2.10198371e-02 9.47601841e-01 -6.19055781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:-50.44, Z:-6.18 [[ 9.04015407e-01 -3.41274240e-01 -2.57464633e-01 1.26067111e+02] [ 3.20678957e-01 9.39618552e-01 -1.19507250e-01 -5.04430964e+01] [ 2.82703292e-01 2.54729054e-02 9.58869115e-01 -6.18440424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.10, Y:-50.45, Z:-6.18 [[ 9.04055480e-01 -3.35832536e-01 -2.64386453e-01 1.26098463e+02] [ 3.21580131e-01 9.41918344e-01 -9.68300216e-02 -5.04525963e+01] [ 2.81549122e-01 2.51828138e-03 9.59543511e-01 -6.17548630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:-50.44, Z:-6.17 [[ 9.03886538e-01 -3.36329949e-01 -2.64331783e-01 1.26124050e+02] [ 3.22054801e-01 9.41740819e-01 -9.69790385e-02 -5.04433417e+01] [ 2.81548985e-01 2.52872750e-03 9.59543524e-01 -6.16706734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.15, Y:-50.43, Z:-6.16 [[ 9.04302287e-01 -3.36842444e-01 -2.62249008e-01 1.26148480e+02] [ 3.22772443e-01 9.41557708e-01 -9.63692525e-02 -5.04325489e+01] [ 2.79383829e-01 2.50018256e-03 9.60176247e-01 -6.15799378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:-50.42, Z:-6.15 [[ 9.04106045e-01 -3.38030618e-01 -2.61395412e-01 1.26172488e+02] [ 3.24054627e-01 9.41132332e-01 -9.62212644e-02 -5.04210883e+01] [ 2.78533407e-01 2.28783417e-03 9.60423816e-01 -6.14746898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.20, Y:-50.41, Z:-6.14 [[ 9.03692917e-01 -3.39490824e-01 -2.60931202e-01 1.26197728e+02] [ 3.25577397e-01 9.40607250e-01 -9.62151786e-02 -5.04107201e+01] [ 2.78097951e-01 1.99567373e-03 9.60550648e-01 -6.14008078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:-50.40, Z:-6.13 [[ 9.02645708e-01 -3.41152680e-01 -2.62384405e-01 1.26222867e+02] [ 3.27100411e-01 9.40006438e-01 -9.69186142e-02 -5.04005660e+01] [ 2.79707074e-01 1.65712446e-03 9.60083958e-01 -6.13240775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-50.39, Z:-6.12 [[ 9.01627115e-01 -3.43712135e-01 -2.62546214e-01 1.26247879e+02] [ 3.29699628e-01 9.39074498e-01 -9.71454757e-02 -5.03921381e+01] [ 2.79940533e-01 1.02760606e-03 9.60016793e-01 -6.12468330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:-50.38, Z:-6.12 [[ 9.01447718e-01 -3.44532205e-01 -2.62086953e-01 1.26273507e+02] [ 3.30554958e-01 9.38774033e-01 -9.71428554e-02 -5.03837230e+01] [ 2.79509268e-01 9.35063623e-04 9.60142539e-01 -6.11584928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:-50.37, Z:-6.11 [[ 9.01389857e-01 -3.45545118e-01 -2.60949991e-01 1.26298305e+02] [ 3.31685013e-01 9.38401813e-01 -9.68869892e-02 -5.03744309e+01] [ 2.78354771e-01 7.79748079e-04 9.60478013e-01 -6.10724522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.32, Y:-50.36, Z:-6.10 [[ 9.01254480e-01 -3.47037644e-01 -2.59432527e-01 1.26322275e+02] [ 3.33355034e-01 9.37851079e-01 -9.64871750e-02 -5.03639752e+01] [ 2.76793757e-01 4.76360030e-04 9.60929232e-01 -6.09862349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.36, Y:-50.38, Z:-6.09 [[ 8.89925922e-01 -3.39349057e-01 -3.04752474e-01 1.26355160e+02] [ 3.31486542e-01 9.40155705e-01 -7.88918461e-02 -5.03805321e+01] [ 3.13286651e-01 -3.08134451e-02 9.49158578e-01 -6.08944603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:-50.38, Z:-6.08 [[ 8.90484252e-01 -3.37478539e-01 -3.05198349e-01 1.26379824e+02] [ 3.33270808e-01 9.40412762e-01 -6.74863354e-02 -5.03835992e+01] [ 3.09787612e-01 -4.16181815e-02 9.49894501e-01 -6.08298043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.37, Y:-50.27, Z:-6.07 [[ 9.01327690e-01 -3.68952004e-01 -2.26898246e-01 1.26369072e+02] [ 3.36434440e-01 9.26281394e-01 -1.69748777e-01 -5.02698334e+01] [ 2.72800775e-01 7.66628889e-02 9.59011230e-01 -6.07217802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.42, Y:-50.33, Z:-6.07 [[ 9.01564089e-01 -3.48244340e-01 -2.56725676e-01 1.26420639e+02] [ 3.34845043e-01 9.37403753e-01 -9.56713208e-02 -5.03298295e+01] [ 2.73972608e-01 2.90507360e-04 9.61737452e-01 -6.06753072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.45, Y:-50.32, Z:-6.06 [[ 9.01585793e-01 -3.48697244e-01 -2.56033767e-01 1.26445507e+02] [ 3.35343433e-01 9.37235368e-01 -9.55753448e-02 -5.03196195e+01] [ 2.73290761e-01 3.10130658e-04 9.61931424e-01 -6.05854591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.47, Y:-50.31, Z:-6.05 [[ 9.00937314e-01 -3.49811564e-01 -2.56795301e-01 1.26470421e+02] [ 3.36374598e-01 9.36820075e-01 -9.60222750e-02 -5.03099156e+01] [ 2.74160695e-01 1.30634502e-04 9.61683886e-01 -6.04967505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:-50.36, Z:-6.04 [[ 8.89881347e-01 -3.34470802e-01 -3.10226483e-01 1.26512555e+02] [ 3.36133933e-01 9.40496633e-01 -4.98002179e-02 -5.03565584e+01] [ 3.08423682e-01 -5.99613629e-02 9.49357397e-01 -6.03980042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.50, Y:-50.24, Z:-6.03 [[ 9.00117597e-01 -3.67264176e-01 -2.34318878e-01 1.26501511e+02] [ 3.38342632e-01 9.28160836e-01 -1.55053947e-01 -5.02407050e+01] [ 2.74431366e-01 6.02867204e-02 9.59715029e-01 -6.03129827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:-50.29, Z:-6.03 [[ 9.00689550e-01 -3.51293264e-01 -2.55639154e-01 1.26548118e+02] [ 3.37975004e-01 9.36265471e-01 -9.58116100e-02 -5.02861359e+01] [ 2.73004086e-01 -1.03127941e-04 9.62012868e-01 -6.02606947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.58, Y:-50.30, Z:-6.02 [[ 8.91978704e-01 -3.43000648e-01 -2.94490317e-01 1.26579958e+02] [ 3.34866913e-01 9.38921607e-01 -7.93118254e-02 -5.03023844e+01] [ 3.03707329e-01 -2.78706042e-02 9.52357647e-01 -6.01513321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.59, Y:-50.24, Z:-6.01 [[ 9.02301463e-01 -3.58582704e-01 -2.39312587e-01 1.26586870e+02] [ 3.38764200e-01 9.33079030e-01 -1.20840149e-01 -5.02424680e+01] [ 2.66628744e-01 2.79637056e-02 9.63393556e-01 -6.00612896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.62, Y:-50.26, Z:-6.00 [[ 9.02314597e-01 -3.51207238e-01 -2.49963685e-01 1.26621046e+02] [ 3.38385811e-01 9.36297714e-01 -9.40299657e-02 -5.02572494e+01] [ 2.67064431e-01 2.60446247e-04 9.63678640e-01 -5.99870904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.65, Y:-50.25, Z:-5.99 [[ 9.01889819e-01 -3.50751528e-01 -2.52127190e-01 1.26646395e+02] [ 3.37640135e-01 9.36468396e-01 -9.50057024e-02 -5.02490275e+01] [ 2.69432540e-01 5.56417548e-04 9.63019105e-01 -5.99114492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.67, Y:-50.24, Z:-5.98 [[ 9.01771651e-01 -3.51094282e-01 -2.52072796e-01 1.26671932e+02] [ 3.37955746e-01 9.36339911e-01 -9.51498051e-02 -5.02393958e+01] [ 2.69432372e-01 6.13946718e-04 9.63019117e-01 -5.98297894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:126.70, Y:-50.23, Z:-5.98 [[ 9.01468684e-01 -3.51781614e-01 -2.52198152e-01 1.26697655e+02] [ 3.38629052e-01 9.36081964e-01 -9.52938724e-02 -5.02313450e+01] [ 2.69600773e-01 5.02820650e-04 9.62972051e-01 -5.97573575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.75, Y:-50.31, Z:-5.96 [[ 8.93500652e-01 -3.22124743e-01 -3.12877347e-01 1.26751480e+02] [ 3.36108778e-01 9.41772563e-01 -9.76367562e-03 -5.03101756e+01] [ 2.97804423e-01 -9.64369722e-02 9.49743353e-01 -5.96308280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.73, Y:-50.16, Z:-5.95 [[ 8.93831650e-01 -3.64622779e-01 -2.60988908e-01 1.26727925e+02] [ 3.32310468e-01 9.29431108e-01 -1.60398156e-01 -5.01624617e+01] [ 3.01056032e-01 5.66396023e-02 9.51922907e-01 -5.95402865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.77, Y:-50.20, Z:-5.95 [[ 8.94359881e-01 -3.47593434e-01 -2.81601150e-01 1.26771975e+02] [ 3.31347297e-01 9.37645144e-01 -1.05026439e-01 -5.02024929e+01] [ 3.00548451e-01 6.23653280e-04 9.53766344e-01 -5.94861595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.78, Y:-50.16, Z:-5.94 [[ 9.03591079e-01 -3.59115353e-01 -2.33579379e-01 1.26784009e+02] [ 3.36783715e-01 9.32457101e-01 -1.30768822e-01 -5.01587431e+01] [ 2.64763842e-01 3.94958097e-02 9.63504120e-01 -5.94076134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.82, Y:-50.18, Z:-5.93 [[ 9.03384782e-01 -3.49136205e-01 -2.48997683e-01 1.26822373e+02] [ 3.36070277e-01 9.37070234e-01 -9.46369104e-02 -5.01823932e+01] [ 2.66369489e-01 1.81282433e-03 9.63869290e-01 -5.93343798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:-50.17, Z:-5.93 [[ 9.03673802e-01 -3.47924296e-01 -2.49644434e-01 1.26847209e+02] [ 3.34699604e-01 9.37519734e-01 -9.50416925e-02 -5.01705349e+01] [ 2.67113897e-01 2.33079448e-03 9.63662147e-01 -5.92709240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:-50.16, Z:-5.92 [[ 9.03809029e-01 -3.47434292e-01 -2.49837252e-01 1.26872232e+02] [ 3.34126461e-01 9.37700638e-01 -9.52734015e-02 -5.01594797e+01] [ 2.67373797e-01 2.63172360e-03 9.63589294e-01 -5.92042423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:126.90, Y:-50.15, Z:-5.91 [[ 9.03775686e-01 -3.47603351e-01 -2.49722686e-01 1.26897018e+02] [ 3.34269789e-01 9.37637681e-01 -9.53901787e-02 -5.01485262e+01] [ 2.67307346e-01 2.73657438e-03 9.63607438e-01 -5.91193583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:-50.20, Z:-5.90 [[ 8.94868279e-01 -3.27426059e-01 -3.03319864e-01 1.26937949e+02] [ 3.32134664e-01 9.42485828e-01 -3.75103866e-02 -5.01998015e+01] [ 2.98156551e-01 -6.71761861e-02 9.52150214e-01 -5.90123607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:126.94, Y:-50.13, Z:-5.89 [[ 8.96128603e-01 -3.46421382e-01 -2.77390975e-01 1.26942172e+02] [ 3.31781288e-01 9.38075105e-01 -9.96808653e-02 -5.01313413e+01] [ 2.94745151e-01 -2.70626037e-03 9.55572065e-01 -5.89276010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:-50.05, Z:-5.88 [[ 9.04338520e-01 -3.66712056e-01 -2.18389812e-01 1.26941691e+02] [ 3.35750825e-01 9.27124219e-01 -1.66469416e-01 -5.00506262e+01] [ 2.63520826e-01 7.72201453e-02 9.61558019e-01 -5.87968846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.99, Y:-50.11, Z:-5.88 [[ 9.04094166e-01 -3.49136440e-01 -2.46409181e-01 1.26993744e+02] [ 3.36122105e-01 9.37068327e-01 -9.44715862e-02 -5.01067606e+01] [ 2.63885713e-01 2.58763722e-03 9.64550483e-01 -5.87625524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.02, Y:-50.10, Z:-5.87 [[ 9.03443227e-01 -3.51381631e-01 -2.45603921e-01 1.27018053e+02] [ 3.38492508e-01 9.36230011e-01 -9.43196043e-02 -5.00959432e+01] [ 2.63083938e-01 2.07732049e-03 9.64770712e-01 -5.86794895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.04, Y:-50.09, Z:-5.86 [[ 9.03132948e-01 -3.52505605e-01 -2.45133998e-01 1.27042530e+02] [ 3.39664123e-01 9.35807773e-01 -9.42979102e-02 -5.00850530e+01] [ 2.62638843e-01 1.90032502e-03 9.64892340e-01 -5.86050521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.09, Y:-50.15, Z:-5.85 [[ 8.93605594e-01 -3.28773311e-01 -3.05576755e-01 1.27093836e+02] [ 3.39465423e-01 9.40424477e-01 -1.91057366e-02 -5.01546202e+01] [ 2.93653316e-01 -8.66597491e-02 9.51975744e-01 -5.85099528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.09, Y:-50.07, Z:-5.84 [[ 8.93433734e-01 -3.54726245e-01 -2.75582027e-01 1.27089120e+02] [ 3.40040905e-01 9.34963981e-01 -1.01066990e-01 -5.00721361e+01] [ 2.93510383e-01 -3.41250364e-03 9.55949795e-01 -5.84480101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-50.05, Z:-5.83 [[ 8.95090802e-01 -3.60443324e-01 -2.62474886e-01 1.27107493e+02] [ 3.42964473e-01 9.32731703e-01 -1.11296630e-01 -5.00523007e+01] [ 2.84934775e-01 9.60102848e-03 9.58498823e-01 -5.83465229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.11, Y:-49.97, Z:-5.82 [[ 9.03325709e-01 -3.79552374e-01 -1.99856593e-01 1.27107849e+02] [ 3.49139905e-01 9.21244879e-01 -1.71491107e-01 -4.99749892e+01] [ 2.49206719e-01 8.51344135e-02 9.64701064e-01 -5.82080880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.19, Y:-50.11, Z:-5.82 [[ 8.92852502e-01 -3.39971422e-01 -2.95353756e-01 1.27186140e+02] [ 3.48804362e-01 9.36888557e-01 -2.39864497e-02 -5.01128729e+01] [ 2.84868262e-01 -8.16043167e-02 9.55086807e-01 -5.81691137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.16, Y:-49.96, Z:-5.81 [[ 9.02020174e-01 -3.82405199e-01 -2.00314429e-01 1.27160065e+02] [ 3.52880601e-01 9.20441304e-01 -1.68116293e-01 -4.99609301e+01] [ 2.48666218e-01 8.09572115e-02 9.65200001e-01 -5.80664416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-50.03, Z:-5.80 [[ 9.01790970e-01 -3.64494914e-01 -2.32199277e-01 1.27215247e+02] [ 3.53281462e-01 9.31204704e-01 -8.97218412e-02 -5.00250998e+01] [ 2.48928213e-01 -1.12135363e-03 9.68521289e-01 -5.80482337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.25, Y:-50.05, Z:-5.80 [[ 8.92154730e-01 -3.56090701e-01 -2.77955661e-01 1.27250431e+02] [ 3.51666859e-01 9.33694537e-01 -6.74161139e-02 -5.00497651e+01] [ 2.83531933e-01 -3.76021893e-02 9.58225296e-01 -5.79584346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:127.25, Y:-49.98, Z:-5.79 [[ 9.01295167e-01 -3.75381988e-01 -2.16229937e-01 1.27254065e+02] [ 3.56153942e-01 9.26237138e-01 -1.23446885e-01 -4.99785283e+01] [ 2.46619935e-01 3.42509359e-02 9.68506831e-01 -5.78829689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.29, Y:-50.00, Z:-5.78 [[ 9.01579509e-01 -3.66069571e-01 -2.30537326e-01 1.27292943e+02] [ 3.55013581e-01 9.30586529e-01 -8.92976497e-02 -5.00027580e+01] [ 2.47224082e-01 -1.33495034e-03 9.68957415e-01 -5.78273873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.32, Y:-50.00, Z:-5.78 [[ 9.01537685e-01 -3.66176862e-01 -2.30530493e-01 1.27319540e+02] [ 3.55088419e-01 9.30544465e-01 -8.94383258e-02 -4.99964701e+01] [ 2.47269120e-01 -1.22668700e-03 9.68946065e-01 -5.77569644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:-49.99, Z:-5.77 [[ 9.01210000e-01 -3.66469896e-01 -2.31344660e-01 1.27345977e+02] [ 3.55274105e-01 9.30429170e-01 -8.98992221e-02 -4.99901474e+01] [ 2.48195179e-01 -1.17268931e-03 9.68709336e-01 -5.76931404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.39, Y:-50.04, Z:-5.76 [[ 8.96167737e-01 -3.48194292e-01 -2.75034765e-01 1.27389574e+02] [ 3.51107180e-01 9.35469151e-01 -4.02643345e-02 -5.00381939e+01] [ 2.71306349e-01 -6.04830830e-02 9.60590788e-01 -5.76079803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.38, Y:-49.92, Z:-5.75 [[ 9.03757967e-01 -3.76198204e-01 -2.04197082e-01 1.27375982e+02] [ 3.51606248e-01 9.24519864e-01 -1.47092038e-01 -4.99221100e+01] [ 2.44120019e-01 6.11386311e-02 9.67815832e-01 -5.75239912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:-49.97, Z:-5.75 [[ 9.05043850e-01 -3.60041166e-01 -2.26419939e-01 1.27423478e+02] [ 3.49065412e-01 9.32936064e-01 -8.82249319e-02 -4.99670197e+01] [ 2.42999934e-01 8.12062782e-04 9.70025965e-01 -5.74679077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.45, Y:-49.96, Z:-5.74 [[ 9.06341018e-01 -3.56061687e-01 -2.27521501e-01 1.27449415e+02] [ 3.44816804e-01 9.34460248e-01 -8.87998641e-02 -4.99595515e+01] [ 2.44228028e-01 2.02972223e-03 9.69715706e-01 -5.73985027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.50, Y:-50.02, Z:-5.73 [[ 9.00694075e-01 -3.33919585e-01 -2.77935053e-01 1.27497535e+02] [ 3.41426160e-01 9.39640100e-01 -2.24646443e-02 -5.00204430e+01] [ 2.68660306e-01 -7.46605260e-02 9.60337152e-01 -5.72848873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-49.87, Z:-5.72 [[ 9.07775202e-01 -3.70568675e-01 -1.96527453e-01 1.27472600e+02] [ 3.42458876e-01 9.25304083e-01 -1.62893437e-01 -4.98726720e+01] [ 2.42210860e-01 8.05680523e-02 9.66872633e-01 -5.72256104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.52, Y:-49.93, Z:-5.72 [[ 9.08831059e-01 -3.49930193e-01 -2.27101227e-01 1.27524528e+02] [ 3.38478447e-01 9.36767647e-01 -8.88747195e-02 -4.99307523e+01] [ 2.43841029e-01 3.90323482e-03 9.69807361e-01 -5.71684010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.55, Y:-49.92, Z:-5.71 [[ 9.08421305e-01 -3.49650542e-01 -2.29162020e-01 1.27549915e+02] [ 3.37940365e-01 9.36870964e-01 -8.98282052e-02 -4.99204606e+01] [ 2.46103723e-01 4.15875886e-03 9.69234575e-01 -5.70973158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-49.91, Z:-5.70 [[ 9.08337236e-01 -3.48715441e-01 -2.30913418e-01 1.27574903e+02] [ 3.36755006e-01 9.37217408e-01 -9.06619919e-02 -4.99091009e+01] [ 2.48031312e-01 4.59041374e-03 9.68741140e-01 -5.70403541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:-49.89, Z:-5.70 [[ 9.06793752e-01 -3.48051707e-01 -2.37876231e-01 1.27598786e+02] [ 3.35281811e-01 9.37461594e-01 -9.35514109e-02 -4.98932654e+01] [ 2.55560559e-01 5.07626142e-03 9.66779723e-01 -5.70086846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:-49.88, Z:-5.69 [[ 9.06895006e-01 -3.48545285e-01 -2.36764932e-01 1.27623307e+02] [ 3.35873850e-01 9.37278297e-01 -9.32638718e-02 -4.98811921e+01] [ 2.54421315e-01 5.05739033e-03 9.67080254e-01 -5.69342325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.65, Y:-49.87, Z:-5.68 [[ 9.05831743e-01 -3.52315601e-01 -2.35250016e-01 1.27648380e+02] [ 3.39894743e-01 9.35872204e-01 -9.28158508e-02 -4.98725935e+01] [ 2.52864424e-01 4.11529997e-03 9.67492970e-01 -5.68290224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.67, Y:-49.87, Z:-5.67 [[ 9.01588289e-01 -3.65370107e-01 -2.31610109e-01 1.27673901e+02] [ 3.53721335e-01 9.30862145e-01 -9.15253173e-02 -4.98658097e+01] [ 2.49037698e-01 5.92717174e-04 9.68493610e-01 -5.67343602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-49.86, Z:-5.67 [[ 9.01404317e-01 -3.65856662e-01 -2.31558114e-01 1.27699536e+02] [ 3.54189943e-01 9.30671015e-01 -9.16566795e-02 -4.98558209e+01] [ 2.49037632e-01 6.04171518e-04 9.68493621e-01 -5.66605169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-49.85, Z:-5.66 [[ 9.01239163e-01 -3.66496863e-01 -2.31188280e-01 1.27725046e+02] [ 3.54853184e-01 9.30419118e-01 -9.16486878e-02 -4.98466006e+01] [ 2.48690953e-01 5.59489369e-04 9.68582726e-01 -5.65843627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:-49.84, Z:-5.65 [[ 9.01054998e-01 -3.66981564e-01 -2.31137237e-01 1.27750672e+02] [ 3.55320601e-01 9.30228041e-01 -9.17772408e-02 -4.98365871e+01] [ 2.48690895e-01 5.68519444e-04 9.68582736e-01 -5.65105189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:-49.83, Z:-5.64 [[ 9.01453865e-01 -3.66170745e-01 -2.30867743e-01 1.27776170e+02] [ 3.54475810e-01 9.30547222e-01 -9.18083244e-02 -4.98274596e+01] [ 2.48450859e-01 9.23938752e-04 9.68644061e-01 -5.64390291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.80, Y:-49.82, Z:-5.64 [[ 9.01270063e-01 -3.66655007e-01 -2.30816766e-01 1.27801785e+02] [ 3.54942923e-01 9.30356510e-01 -9.19363092e-02 -4.98174187e+01] [ 2.48450789e-01 9.32665340e-04 9.68644071e-01 -5.63651864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.83, Y:-49.81, Z:-5.63 [[ 9.02056566e-01 -3.65430840e-01 -2.29682942e-01 1.27826847e+02] [ 3.53761422e-01 9.30837449e-01 -9.16215037e-02 -4.98088301e+01] [ 2.47278807e-01 1.39481462e-03 9.68943366e-01 -5.62900873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.85, Y:-49.80, Z:-5.62 [[ 9.03717493e-01 -3.63184267e-01 -2.26697773e-01 1.27852119e+02] [ 3.51715401e-01 9.31714921e-01 -9.05736291e-02 -4.98004858e+01] [ 2.44112615e-01 2.11987481e-03 9.69744573e-01 -5.61863631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.88, Y:-49.79, Z:-5.61 [[ 9.04031146e-01 -3.62804271e-01 -2.26054745e-01 1.27876939e+02] [ 3.51353483e-01 9.31862392e-01 -9.04611122e-02 -4.97906830e+01] [ 2.43471594e-01 2.35454080e-03 9.69905170e-01 -5.61023737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.90, Y:-49.78, Z:-5.60 [[ 9.04051089e-01 -3.62272239e-01 -2.26826923e-01 1.27901516e+02] [ 3.50688291e-01 9.32068566e-01 -9.09170502e-02 -4.97803506e+01] [ 2.44354968e-01 2.64811228e-03 9.69682235e-01 -5.60234171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.93, Y:-49.77, Z:-5.60 [[ 9.04681355e-01 -3.61120905e-01 -2.26148927e-01 1.27927572e+02] [ 3.49535564e-01 9.32513889e-01 -9.07895169e-02 -4.97714341e+01] [ 2.43673008e-01 3.08849025e-03 9.69852528e-01 -5.59623455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:127.95, Y:-49.76, Z:-5.59 [[ 9.04963146e-01 -3.60942144e-01 -2.25305290e-01 1.27952912e+02] [ 3.49402989e-01 9.32582502e-01 -9.05948536e-02 -4.97628025e+01] [ 2.42815272e-01 3.26266199e-03 9.70067059e-01 -5.58873604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:-49.75, Z:-5.58 [[ 9.05120782e-01 -3.60519958e-01 -2.25348020e-01 1.27978366e+02] [ 3.48926959e-01 9.32744870e-01 -9.07578409e-02 -4.97538377e+01] [ 2.42912222e-01 3.51680875e-03 9.70041898e-01 -5.58177464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.00, Y:-49.74, Z:-5.57 [[ 9.05275119e-01 -3.60502134e-01 -2.24755803e-01 1.28003773e+02] [ 3.48934053e-01 9.32751240e-01 -9.06650471e-02 -4.97444526e+01] [ 2.42326197e-01 3.65185770e-03 9.70187960e-01 -5.57493546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:-49.74, Z:-5.57 [[ 9.05729029e-01 -3.59119471e-01 -2.25140247e-01 1.28028624e+02] [ 3.47433085e-01 9.33282293e-01 -9.09638004e-02 -4.97358572e+01] [ 2.42786278e-01 4.16738398e-03 9.70070851e-01 -5.56599683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:-49.73, Z:-5.56 [[ 9.05955714e-01 -3.58510351e-01 -2.25198962e-01 1.28053853e+02] [ 3.46763223e-01 9.33515048e-01 -9.11313445e-02 -4.97265883e+01] [ 2.42898150e-01 4.47024435e-03 9.70041497e-01 -5.55805821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:-49.72, Z:-5.55 [[ 9.05811166e-01 -3.59351125e-01 -2.24439082e-01 1.28078455e+02] [ 3.47674286e-01 9.33192210e-01 -9.09664240e-02 -4.97168163e+01] [ 2.42133690e-01 4.36670518e-03 9.70233069e-01 -5.55004007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:-49.71, Z:-5.55 [[ 9.04765340e-01 -3.61280494e-01 -2.25557275e-01 1.28104296e+02] [ 3.49508208e-01 9.32448571e-01 -9.15624074e-02 -4.97059351e+01] [ 2.43400270e-01 4.00837371e-03 9.69917647e-01 -5.54576420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-49.70, Z:-5.54 [[ 9.03734569e-01 -3.62600676e-01 -2.27562253e-01 1.28129508e+02] [ 3.50619130e-01 9.31936750e-01 -9.25209142e-02 -4.96962317e+01] [ 2.45621772e-01 3.82666932e-03 9.69358191e-01 -5.53921358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:-49.69, Z:-5.53 [[ 9.03300166e-01 -3.64905185e-01 -2.25594807e-01 1.28155826e+02] [ 3.53168346e-01 9.31038812e-01 -9.18632155e-02 -4.96909643e+01] [ 2.43558884e-01 3.30711307e-03 9.69880474e-01 -5.52976077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-49.75, Z:-5.52 [[ 8.94307163e-01 -3.49555659e-01 -2.79330520e-01 1.28200953e+02] [ 3.54470788e-01 9.34431333e-01 -3.44752712e-02 -4.97453375e+01] [ 2.73066217e-01 -6.81830276e-02 9.59575904e-01 -5.51731445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.20, Y:-49.66, Z:-5.51 [[ 8.91903778e-01 -3.72964249e-01 -2.55744639e-01 1.28198573e+02] [ 3.52429364e-01 9.27625685e-01 -1.23709868e-01 -4.96558706e+01] [ 2.83374654e-01 2.02053788e-02 9.58796406e-01 -5.51379388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:-49.62, Z:-5.51 [[ 9.01633250e-01 -3.81356078e-01 -2.04022118e-01 1.28213771e+02] [ 3.58249825e-01 9.22810349e-01 -1.41697292e-01 -4.96156766e+01] [ 2.42310846e-01 5.46681013e-02 9.68657242e-01 -5.50843645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:-49.65, Z:-5.50 [[ 9.01620316e-01 -3.69519683e-01 -2.24802155e-01 1.28258101e+02] [ 3.57938999e-01 9.29220017e-01 -9.18141228e-02 -4.96510537e+01] [ 2.42817788e-01 2.31602017e-03 9.70069151e-01 -5.50158485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:-49.65, Z:-5.49 [[ 9.01512184e-01 -3.72120165e-01 -2.20912574e-01 1.28284658e+02] [ 3.60987685e-01 9.28182987e-01 -9.03561517e-02 -4.96469178e+01] [ 2.38670639e-01 1.71045297e-03 9.71099068e-01 -5.49173836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.31, Y:-49.64, Z:-5.48 [[ 9.00926223e-01 -3.73954203e-01 -2.20204892e-01 1.28310371e+02] [ 3.62913123e-01 9.27446179e-01 -9.02089309e-02 -4.96401960e+01] [ 2.37962195e-01 1.35634633e-03 9.71273470e-01 -5.48132162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:-49.67, Z:-5.47 [[ 8.92830035e-01 -3.60780146e-01 -2.69614937e-01 1.28348292e+02] [ 3.58816066e-01 9.31582101e-01 -5.83593993e-02 -4.96723198e+01] [ 2.72223362e-01 -4.46371463e-02 9.61198193e-01 -5.46842958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.34, Y:-49.58, Z:-5.46 [[ 9.03935757e-01 -3.77945483e-01 -2.00143347e-01 1.28342494e+02] [ 3.56864595e-01 9.24491393e-01 -1.34027328e-01 -4.95781313e+01] [ 2.35685825e-01 4.97280195e-02 9.70556189e-01 -5.46494166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.832320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:128.38, Y:-49.61, Z:-5.46 [[ 9.05373002e-01 -3.64365957e-01 -2.18030219e-01 1.28383702e+02] [ 3.53212347e-01 9.31246951e-01 -8.95553077e-02 -4.96073284e+01] [ 2.35670882e-01 4.06999240e-03 9.71824403e-01 -5.45774479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.41, Y:-49.60, Z:-5.45 [[ 9.08305329e-01 -3.58552652e-01 -2.15456317e-01 1.28407217e+02] [ 3.47470750e-01 9.33492457e-01 -8.86335692e-02 -4.95955199e+01] [ 2.32906648e-01 5.64157524e-03 9.72482733e-01 -5.44915930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-49.58, Z:-5.44 [[ 9.09140438e-01 -3.56567514e-01 -2.15228419e-01 1.28431422e+02] [ 3.45422186e-01 9.34248496e-01 -8.86750318e-02 -4.95837853e+01] [ 2.32695462e-01 6.27338630e-03 9.72529417e-01 -5.44160041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:-49.57, Z:-5.44 [[ 9.10361675e-01 -3.52922517e-01 -2.16072481e-01 1.28455751e+02] [ 3.41554619e-01 9.35623567e-01 -8.91570698e-02 -4.95690261e+01] [ 2.33628043e-01 7.36462555e-03 9.72298154e-01 -5.43649305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.48, Y:-49.56, Z:-5.43 [[ 9.10861398e-01 -3.51951320e-01 -2.15549952e-01 1.28480067e+02] [ 3.40580575e-01 9.35986450e-01 -8.90743343e-02 -4.95570601e+01] [ 2.33101664e-01 7.72224629e-03 9.72421710e-01 -5.42985374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.50, Y:-49.54, Z:-5.42 [[ 9.10978555e-01 -3.51255718e-01 -2.16188557e-01 1.28503862e+02] [ 3.39765196e-01 9.36244933e-01 -8.94708731e-02 -4.95436602e+01] [ 2.33832596e-01 8.05269952e-03 9.72243524e-01 -5.42335374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:-49.53, Z:-5.42 [[ 9.10202318e-01 -3.51867102e-01 -2.18452014e-01 1.28529044e+02] [ 3.40115334e-01 9.36014813e-01 -9.05418683e-02 -4.95317534e+01] [ 2.36333026e-01 8.11253854e-03 9.71638249e-01 -5.41768676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:-49.52, Z:-5.41 [[ 9.10092836e-01 -3.52180176e-01 -2.18403649e-01 1.28554495e+02] [ 3.40409362e-01 9.35896641e-01 -9.06583846e-02 -4.95212145e+01] [ 2.36331327e-01 8.16089955e-03 9.71638258e-01 -5.41040242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:-49.51, Z:-5.40 [[ 9.08761548e-01 -3.53984328e-01 -2.21014805e-01 1.28579440e+02] [ 3.41958026e-01 9.35218261e-01 -9.18232700e-02 -4.95094458e+01] [ 2.39201080e-01 7.86767050e-03 9.70938177e-01 -5.40435425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.60, Y:-49.50, Z:-5.40 [[ 9.07933093e-01 -3.55829820e-01 -2.21455724e-01 1.28603773e+02] [ 3.43775228e-01 9.34520451e-01 -9.21418401e-02 -4.94977104e+01] [ 2.39741717e-01 7.52763401e-03 9.70807521e-01 -5.39817023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:-49.49, Z:-5.39 [[ 9.07740625e-01 -3.56773922e-01 -2.20724547e-01 1.28627790e+02] [ 3.44796524e-01 9.34161649e-01 -9.19639605e-02 -4.94857535e+01] [ 2.39002750e-01 7.37436655e-03 9.70990888e-01 -5.38990643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:-49.47, Z:-5.38 [[ 9.07986454e-01 -3.57756155e-01 -2.18108077e-01 1.28651617e+02] [ 3.46060788e-01 9.33787622e-01 -9.10088329e-02 -4.94739485e+01] [ 2.36225593e-01 7.15613440e-03 9.71671889e-01 -5.38159586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:-49.46, Z:-5.37 [[ 9.07861526e-01 -3.58467825e-01 -2.17458659e-01 1.28675854e+02] [ 3.46830828e-01 9.33515253e-01 -9.08716029e-02 -4.94618289e+01] [ 2.35575521e-01 7.07746516e-03 9.71830275e-01 -5.37284635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:-49.45, Z:-5.36 [[ 9.07493883e-01 -3.59616589e-01 -2.17096202e-01 1.28699747e+02] [ 3.48018713e-01 9.33074672e-01 -9.08550073e-02 -4.94499689e+01] [ 2.35239935e-01 6.89682249e-03 9.71912860e-01 -5.36470002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.72, Y:-49.44, Z:-5.36 [[ 9.06698043e-01 -3.61268183e-01 -2.17678567e-01 1.28723908e+02] [ 3.49620939e-01 9.32438479e-01 -9.12342157e-02 -4.94386116e+01] [ 2.35931891e-01 6.61689987e-03 9.71747066e-01 -5.35786672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:-49.43, Z:-5.35 [[ 9.06524898e-01 -3.61731837e-01 -2.17629702e-01 1.28749354e+02] [ 3.50069834e-01 9.32258641e-01 -9.13506278e-02 -4.94280885e+01] [ 2.35931601e-01 6.62602478e-03 9.71747074e-01 -5.35058355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:-49.42, Z:-5.34 [[ 9.05399920e-01 -3.63754772e-01 -2.18937094e-01 1.28774082e+02] [ 3.51976912e-01 9.31473710e-01 -9.20270699e-02 -4.94170997e+01] [ 2.37409433e-01 6.26049933e-03 9.71389503e-01 -5.34318942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.80, Y:-49.41, Z:-5.34 [[ 9.04115291e-01 -3.65777179e-01 -2.20867825e-01 1.28799361e+02] [ 3.53812372e-01 9.30683648e-01 -9.29771614e-02 -4.94063666e+01] [ 2.39566997e-01 5.91630435e-03 9.70861809e-01 -5.33679879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:-49.43, Z:-5.33 [[ 8.95098162e-01 -3.58583080e-01 -2.64985763e-01 1.28837511e+02] [ 3.53143753e-01 9.32974477e-01 -6.96284112e-02 -4.94285767e+01] [ 2.72192524e-01 -3.12538038e-02 9.61735114e-01 -5.32665869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:-49.36, Z:-5.32 [[ 9.02622690e-01 -3.78103815e-01 -2.05693423e-01 1.28836952e+02] [ 3.58774285e-01 9.24909725e-01 -1.25789560e-01 -4.93558154e+01] [ 2.37809359e-01 3.97430001e-02 9.70498430e-01 -5.32155586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:128.87, Y:-49.37, Z:-5.31 [[ 9.01964079e-01 -3.72974582e-01 -2.17602300e-01 1.28873609e+02] [ 3.61484195e-01 9.27831645e-01 -9.19652983e-02 -4.93732966e+01] [ 2.36199018e-01 4.28960345e-03 9.71695232e-01 -5.31452685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:128.90, Y:-49.36, Z:-5.31 [[ 9.01409713e-01 -3.75214900e-01 -2.16042374e-01 1.28898188e+02] [ 3.63921142e-01 9.26930034e-01 -9.14445955e-02 -4.93620769e+01] [ 2.34567540e-01 3.80665921e-03 9.72092371e-01 -5.30628002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:128.93, Y:-49.38, Z:-5.30 [[ 8.91837165e-01 -3.68730713e-01 -2.62038417e-01 1.28934803e+02] [ 3.63312985e-01 9.28980307e-01 -7.07054659e-02 -4.93820973e+01] [ 2.69499806e-01 -3.21441974e-02 9.62463820e-01 -5.29649852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-49.31, Z:-5.29 [[ 8.99713956e-01 -3.86200776e-01 -2.03380819e-01 1.28935468e+02] [ 3.67347989e-01 9.21640477e-01 -1.25037136e-01 -4.93105720e+01] [ 2.35733434e-01 3.77861209e-02 9.71082879e-01 -5.29160528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:-49.33, Z:-5.29 [[ 8.99349617e-01 -3.79973637e-01 -2.16310661e-01 1.28973703e+02] [ 3.68729747e-01 9.24993094e-01 -9.17940601e-02 -4.93302912e+01] [ 2.34965190e-01 2.79477754e-03 9.71999768e-01 -5.28644357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.00, Y:-49.32, Z:-5.28 [[ 8.98579710e-01 -3.81547903e-01 -2.16738790e-01 1.28998703e+02] [ 3.70269456e-01 9.24345623e-01 -9.21178598e-02 -4.93200959e+01] [ 2.35488928e-01 2.52348592e-03 9.71873756e-01 -5.28101695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:129.02, Y:-49.31, Z:-5.27 [[ 8.98099224e-01 -3.83342970e-01 -2.15559623e-01 1.29024155e+02] [ 3.72206226e-01 9.23603511e-01 -9.17555426e-02 -4.93096814e+01] [ 2.34265466e-01 2.17294806e-03 9.72170237e-01 -5.27427126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.05, Y:-49.30, Z:-5.27 [[ 8.97584271e-01 -3.84685039e-01 -2.15313488e-01 1.29049136e+02] [ 3.73578315e-01 9.23045829e-01 -9.17912829e-02 -4.92997510e+01] [ 2.34054950e-01 1.95396168e-03 9.72221406e-01 -5.26713238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-49.29, Z:-5.26 [[ 8.96772564e-01 -3.86324051e-01 -2.15760739e-01 1.29074608e+02] [ 3.75183488e-01 9.22361623e-01 -9.21215824e-02 -4.92896630e+01] [ 2.34598208e-01 1.66224103e-03 9.72091003e-01 -5.25933091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:-49.28, Z:-5.25 [[ 8.95725738e-01 -3.87535469e-01 -2.17925821e-01 1.29099878e+02] [ 3.76167044e-01 9.21853580e-01 -9.31897671e-02 -4.92785818e+01] [ 2.37010038e-01 1.49596116e-03 9.71506049e-01 -5.25250243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:-49.27, Z:-5.25 [[ 8.95130391e-01 -3.88788777e-01 -2.18139565e-01 1.29124242e+02] [ 3.77399489e-01 9.21325998e-01 -9.34239323e-02 -4.92667710e+01] [ 2.37299829e-01 1.30084070e-03 9.71435587e-01 -5.24616809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.15, Y:-49.26, Z:-5.24 [[ 8.94832106e-01 -3.90073782e-01 -2.17066687e-01 1.29149139e+02] [ 3.78800891e-01 9.20782960e-01 -9.31054558e-02 -4.92551864e+01] [ 2.36189304e-01 1.08869679e-03 9.71706451e-01 -5.23892805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:-49.25, Z:-5.23 [[ 8.94644514e-01 -3.92351817e-01 -2.13708319e-01 1.29174283e+02] [ 3.81460920e-01 9.19815025e-01 -9.18035240e-02 -4.92462438e+01] [ 2.32591402e-01 6.10147257e-04 9.72574351e-01 -5.22971843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:-49.24, Z:-5.22 [[ 8.94206964e-01 -3.93571720e-01 -2.13296055e-01 1.29200024e+02] [ 3.82724461e-01 9.19293817e-01 -9.17652694e-02 -4.92379894e+01] [ 2.32197959e-01 4.23525215e-04 9.72668458e-01 -5.22154253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:129.23, Y:-49.25, Z:-5.21 [[ 8.86528106e-01 -3.89522314e-01 -2.49680364e-01 1.29232648e+02] [ 3.80950388e-01 9.20783101e-01 -8.38765897e-02 -4.92474175e+01] [ 2.62573263e-01 -2.07568775e-02 9.64688775e-01 -5.21243789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.24, Y:-49.20, Z:-5.21 [[ 8.92346304e-01 -4.01638862e-01 -2.05923040e-01 1.29244202e+02] [ 3.86329276e-01 9.15577965e-01 -1.11654291e-01 -4.92023510e+01] [ 2.33383300e-01 2.00801948e-02 9.72177464e-01 -5.20789927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.28, Y:-49.21, Z:-5.20 [[ 8.92537588e-01 -3.97485306e-01 -2.13030714e-01 1.29276864e+02] [ 3.86716603e-01 9.17608468e-01 -9.18965057e-02 -4.92102075e+01] [ 2.32006298e-01 -3.61428413e-04 9.72714217e-01 -5.20125902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:129.31, Y:-49.22, Z:-5.19 [[ 8.86250979e-01 -3.92316833e-01 -2.46265518e-01 1.29309267e+02] [ 3.83977569e-01 9.19592924e-01 -8.31268933e-02 -4.92185425e+01] [ 2.59076108e-01 -2.08891445e-02 9.65630993e-01 -5.19017306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.32, Y:-49.18, Z:-5.18 [[ 8.92695531e-01 -4.02769871e-01 -2.02166071e-01 1.29320127e+02] [ 3.88294697e-01 9.15115656e-01 -1.08584364e-01 -4.91755860e+01] [ 2.28739847e-01 1.84327631e-02 9.73313061e-01 -5.18342935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.35, Y:-49.18, Z:-5.18 [[ 8.93153399e-01 -3.97989868e-01 -2.09478094e-01 1.29352555e+02] [ 3.87513512e-01 9.17389798e-01 -9.07151352e-02 -4.91820400e+01] [ 2.28276771e-01 -1.53060533e-04 9.73596268e-01 -5.17705682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:-49.17, Z:-5.17 [[ 8.92326693e-01 -3.98523312e-01 -2.11972268e-01 1.29377995e+02] [ 3.87774459e-01 9.17158189e-01 -9.19338086e-02 -4.91721674e+01] [ 2.31049867e-01 -1.62440048e-04 9.72941896e-01 -5.17230799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:-49.16, Z:-5.17 [[ 8.91801434e-01 -3.99033620e-01 -2.13219073e-01 1.29404049e+02] [ 3.88137284e-01 9.16936281e-01 -9.26137424e-02 -4.91631183e+01] [ 2.32464301e-01 -1.65203635e-04 9.72604916e-01 -5.16728854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.43, Y:-49.16, Z:-5.16 [[ 8.91366216e-01 -4.00036736e-01 -2.13159280e-01 1.29429917e+02] [ 3.89141497e-01 9.16499058e-01 -9.27274088e-02 -4.91552496e+01] [ 2.32454649e-01 -2.95041817e-04 9.72607191e-01 -5.16065403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-49.24, Z:-5.14 [[ 8.82622850e-01 -3.72545984e-01 -2.86681696e-01 1.29490129e+02] [ 3.87842927e-01 9.21718019e-01 -3.70905109e-03 -4.92440510e+01] [ 2.65621477e-01 -1.07913775e-01 9.58018710e-01 -5.14462572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.46, Y:-49.09, Z:-5.14 [[ 8.83299140e-01 -4.13233171e-01 -2.21406810e-01 1.29458278e+02] [ 3.84448513e-01 9.08757985e-01 -1.62352290e-01 -4.90891564e+01] [ 2.68294558e-01 5.82861198e-02 9.61572025e-01 -5.14079599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-49.09, Z:-5.14 [[ 8.91036989e-01 -4.09593910e-01 -1.95667862e-01 1.29490886e+02] [ 3.88678007e-01 9.11095775e-01 -1.37236640e-01 -4.90899479e+01] [ 2.34483455e-01 4.62311280e-02 9.71020181e-01 -5.13797132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:-49.12, Z:-5.13 [[ 8.91646031e-01 -3.98158664e-01 -2.15492538e-01 1.29534179e+02] [ 3.86891683e-01 9.17316434e-01 -9.40499037e-02 -4.91198944e+01] [ 2.35121631e-01 4.86952624e-04 9.71965834e-01 -5.13221898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.56, Y:-49.11, Z:-5.12 [[ 8.92510488e-01 -3.97190658e-01 -2.13692796e-01 1.29558823e+02] [ 3.86052847e-01 9.17735707e-01 -9.34043393e-02 -4.91103303e+01] [ 2.33212840e-01 8.67640263e-04 9.72425328e-01 -5.12451226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:-49.10, Z:-5.11 [[ 8.94218571e-01 -3.95098811e-01 -2.10404556e-01 1.29583537e+02] [ 3.84216462e-01 9.18637371e-01 -9.21036986e-02 -4.91007618e+01] [ 2.29675550e-01 1.51994353e-03 9.73266064e-01 -5.11495224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.61, Y:-49.09, Z:-5.11 [[ 8.94361728e-01 -3.94273124e-01 -2.11342859e-01 1.29609158e+02] [ 3.83236133e-01 9.18991403e-01 -9.26545655e-02 -4.90912897e+01] [ 2.30753476e-01 1.87247716e-03 9.73010446e-01 -5.10759241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:-49.08, Z:-5.10 [[ 8.93797025e-01 -3.93954245e-01 -2.14305696e-01 1.29635225e+02] [ 3.82557647e-01 9.19127611e-01 -9.40961317e-02 -4.90820336e+01] [ 2.34043853e-01 2.11855953e-03 9.72223733e-01 -5.10128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:-49.07, Z:-5.10 [[ 8.94071178e-01 -3.92795500e-01 -2.15286842e-01 1.29660737e+02] [ 3.81225171e-01 9.19622259e-01 -9.46692672e-02 -4.90714728e+01] [ 2.35168234e-01 2.56830004e-03 9.71951288e-01 -5.09545137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.69, Y:-49.06, Z:-5.09 [[ 8.94459859e-01 -3.92403829e-01 -2.14384694e-01 1.29685162e+02] [ 3.80886850e-01 9.19788802e-01 -9.44127552e-02 -4.90598922e+01] [ 2.34236567e-01 2.79210914e-03 9.72175619e-01 -5.08842428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:-49.05, Z:-5.08 [[ 8.95262004e-01 -3.91331251e-01 -2.12992480e-01 1.29709578e+02] [ 3.79902391e-01 9.20244380e-01 -9.39385645e-02 -4.90480869e+01] [ 2.32766229e-01 3.18327480e-03 9.72527506e-01 -5.08013522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.75, Y:-49.09, Z:-5.07 [[ 8.86062862e-01 -3.77268425e-01 -2.69371752e-01 1.29751917e+02] [ 3.76827521e-01 9.24622000e-01 -5.54542681e-02 -4.90854957e+01] [ 2.69988193e-01 -5.23707222e-02 9.61438341e-01 -5.06768190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-48.98, Z:-5.06 [[ 8.97293421e-01 -4.00339623e-01 -1.85991137e-01 1.29735930e+02] [ 3.78190899e-01 9.14482390e-01 -1.43852715e-01 -4.89760053e+01] [ 2.27675561e-01 5.87379395e-02 9.71963833e-01 -5.06454906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.78, Y:-49.01, Z:-5.06 [[ 8.97605045e-01 -3.87527981e-01 -2.10064863e-01 1.29781471e+02] [ 3.76247101e-01 9.21847563e-01 -9.29257222e-02 -4.90097751e+01] [ 2.29659099e-01 4.37430151e-03 9.73261303e-01 -5.05937063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:-49.00, Z:-5.05 [[ 8.97677876e-01 -3.87486793e-01 -2.09829494e-01 1.29805966e+02] [ 3.76198576e-01 9.21864234e-01 -9.29567968e-02 -4.89967381e+01] [ 2.29453837e-01 4.50770307e-03 9.73309107e-01 -5.05314897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.83, Y:-48.98, Z:-5.05 [[ 8.97248168e-01 -3.87663131e-01 -2.11336278e-01 1.29828979e+02] [ 3.76182140e-01 9.21789509e-01 -9.37608639e-02 -4.89816607e+01] [ 2.31155194e-01 4.62583014e-03 9.72905894e-01 -5.04574897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.85, Y:-48.97, Z:-5.04 [[ 8.97057589e-01 -3.88131501e-01 -2.11285638e-01 1.29854258e+02] [ 3.76636488e-01 9.21592356e-01 -9.38748397e-02 -4.89705907e+01] [ 2.31155011e-01 4.63325692e-03 9.72905902e-01 -5.03867382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:-48.96, Z:-5.03 [[ 8.96571049e-01 -3.89442196e-01 -2.10938689e-01 1.29878321e+02] [ 3.77991085e-01 9.21040359e-01 -9.38477260e-02 -4.89576581e+01] [ 2.30831311e-01 4.40821001e-03 9.72983799e-01 -5.03125178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:129.90, Y:-48.95, Z:-5.02 [[ 8.95649777e-01 -3.91217205e-01 -2.11566952e-01 1.29902869e+02] [ 3.79712741e-01 9.20289269e-01 -9.42650258e-02 -4.89453572e+01] [ 2.31580896e-01 4.09378208e-03 9.72807036e-01 -5.02464503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:-48.93, Z:-5.02 [[ 8.94257744e-01 -3.93905933e-01 -2.12464590e-01 1.29926971e+02] [ 3.82343960e-01 9.19143928e-01 -9.48026198e-02 -4.89339040e+01] [ 2.32628852e-01 3.54342418e-03 9.72559130e-01 -5.01745278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:-48.97, Z:-5.01 [[ 8.81276083e-01 -3.87004226e-01 -2.71256694e-01 1.29970757e+02] [ 3.85512547e-01 9.20679792e-01 -6.10638664e-02 -4.89700795e+01] [ 2.73372531e-01 -5.07587341e-02 9.60568066e-01 -5.00929579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-48.92, Z:-5.00 [[ 8.80906705e-01 -4.01261523e-01 -2.50983201e-01 1.29977701e+02] [ 3.86798696e-01 9.15958626e-01 -1.06801521e-01 -4.89182915e+01] [ 2.72745569e-01 -2.99779943e-03 9.62081529e-01 -5.00358784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.98, Y:-48.86, Z:-5.00 [[ 8.89746652e-01 -4.16549216e-01 -1.86648452e-01 1.29981373e+02] [ 3.94142753e-01 9.07359405e-01 -1.46117761e-01 -4.88559505e+01] [ 2.30222468e-01 5.64416540e-02 9.71499848e-01 -4.99638686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-48.89, Z:-4.99 [[ 8.88210266e-01 -4.09037644e-01 -2.09214551e-01 1.30027500e+02] [ 3.98174642e-01 9.12517500e-01 -9.36416899e-02 -4.88928391e+01] [ 2.29214915e-01 -1.30418661e-04 9.73375830e-01 -4.98852793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.08, Y:-48.95, Z:-4.98 [[ 8.81662641e-01 -3.91780757e-01 -2.63018680e-01 1.30077845e+02] [ 3.97352402e-01 9.17035534e-01 -3.40132025e-02 -4.89471728e+01] [ 2.54523194e-01 -7.45229345e-02 9.64190996e-01 -4.97716208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.05, Y:-48.81, Z:-4.97 [[ 8.86708482e-01 -4.27051282e-01 -1.77130659e-01 1.30049356e+02] [ 4.01633556e-01 9.01287919e-01 -1.62390189e-01 -4.88101289e+01] [ 2.28994662e-01 7.28511414e-02 9.70697768e-01 -4.97029406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.10, Y:-48.87, Z:-4.97 [[ 8.86274390e-01 -4.13372082e-01 -2.08904828e-01 1.30104207e+02] [ 4.02601568e-01 9.10561635e-01 -9.37522598e-02 -4.88653420e+01] [ 2.28975289e-01 -1.01518451e-03 9.73431706e-01 -4.96657520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:-48.86, Z:-4.96 [[ 8.86158002e-01 -4.14133855e-01 -2.07887338e-01 1.30129784e+02] [ 4.03458336e-01 9.10215351e-01 -9.34311768e-02 -4.88550768e+01] [ 2.27915260e-01 -1.07909462e-03 9.73680374e-01 -4.95928291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.16, Y:-48.84, Z:-4.95 [[ 8.86351817e-01 -4.14477704e-01 -2.06370270e-01 1.30155254e+02] [ 4.03937541e-01 9.10058880e-01 -9.28832519e-02 -4.88443716e+01] [ 2.26307134e-01 -1.03346036e-03 9.74055447e-01 -4.95294861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:-48.87, Z:-4.94 [[ 8.77983652e-01 -4.05733011e-01 -2.54018562e-01 1.30191665e+02] [ 4.00881547e-01 9.13213647e-01 -7.30398518e-02 -4.88672936e+01] [ 2.61607897e-01 -3.77035583e-02 9.64437530e-01 -4.94293840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:-48.79, Z:-4.94 [[ 8.86996464e-01 -4.21626403e-01 -1.88330689e-01 1.30191199e+02] [ 4.03897424e-01 9.06060506e-01 -1.26179356e-01 -4.87936252e+01] [ 2.23839547e-01 3.58543622e-02 9.73966284e-01 -4.93797988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-48.81, Z:-4.93 [[ 8.87419370e-01 -4.13187608e-01 -2.04359639e-01 1.30230125e+02] [ 4.02775034e-01 9.10645781e-01 -9.21766421e-02 -4.88144251e+01] [ 2.24185490e-01 -5.11623017e-04 9.74546358e-01 -4.93056817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.27, Y:-48.84, Z:-4.92 [[ 8.79452826e-01 -4.00847135e-01 -2.56679374e-01 1.30268366e+02] [ 3.96559747e-01 9.15286294e-01 -7.06496098e-02 -4.88374684e+01] [ 2.63254807e-01 -3.96557088e-02 9.63910956e-01 -4.92146410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:-48.79, Z:-4.92 [[ 8.80604766e-01 -4.09023844e-01 -2.39237834e-01 1.30277713e+02] [ 3.94264499e-01 9.12522342e-01 -1.08896651e-01 -4.87906433e+01] [ 2.62851195e-01 1.57192463e-03 9.64835104e-01 -4.91662321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.29, Y:-48.75, Z:-4.91 [[ 8.88365593e-01 -4.17265224e-01 -1.91562797e-01 1.30290372e+02] [ 3.98896896e-01 9.08019359e-01 -1.27992615e-01 -4.87479546e+01] [ 2.27349595e-01 3.72904301e-02 9.73098960e-01 -4.91201648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.33, Y:-48.77, Z:-4.90 [[ 8.88556318e-01 -4.08875299e-01 -2.08059268e-01 1.30328831e+02] [ 3.97866311e-01 9.12589756e-01 -9.42461481e-02 -4.87670071e+01] [ 2.28407679e-01 9.63236825e-04 9.73565100e-01 -4.90494809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-48.79, Z:-4.89 [[ 8.80130132e-01 -3.99449902e-01 -2.56536014e-01 1.30367584e+02] [ 3.95909978e-01 9.15792285e-01 -6.76740751e-02 -4.87928105e+01] [ 2.61966105e-01 -4.20031751e-02 9.64162586e-01 -4.89384511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-48.74, Z:-4.89 [[ 8.81182714e-01 -4.10023026e-01 -2.35368099e-01 1.30374630e+02] [ 3.95617852e-01 9.12073343e-01 -1.07743824e-01 -4.87440935e+01] [ 2.58850418e-01 1.82617383e-03 9.65915693e-01 -4.88657923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-48.70, Z:-4.88 [[ 8.88893755e-01 -4.19765064e-01 -1.83480743e-01 1.30386065e+02] [ 4.01534005e-01 9.06703837e-01 -1.29068177e-01 -4.86996581e+01] [ 2.20541005e-01 4.10541390e-02 9.74513326e-01 -4.88045021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:-48.73, Z:-4.88 [[ 8.87181847e-01 -4.14972105e-01 -2.01758577e-01 1.30427961e+02] [ 4.04700452e-01 9.09834101e-01 -9.17575740e-02 -4.87260415e+01] [ 2.21643667e-01 -2.46133298e-04 9.75127696e-01 -4.87542507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:-48.72, Z:-4.87 [[ 8.85716268e-01 -4.17941838e-01 -2.02067596e-01 1.30452604e+02] [ 4.07683607e-01 9.08473376e-01 -9.20337029e-02 -4.87153765e+01] [ 2.22037766e-01 -8.63898785e-04 9.75037683e-01 -4.86891050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.48, Y:-48.70, Z:-4.86 [[ 8.84662588e-01 -4.20413604e-01 -2.01555220e-01 1.30477311e+02] [ 4.10240655e-01 9.07331564e-01 -9.19349685e-02 -4.87041008e+01] [ 2.21528124e-01 -1.35471816e-03 9.75153042e-01 -4.86213239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-48.69, Z:-4.86 [[ 8.83590530e-01 -4.22882915e-01 -2.01091562e-01 1.30502303e+02] [ 4.12790352e-01 9.06182450e-01 -9.18558209e-02 -4.86940111e+01] [ 2.21069902e-01 -1.84572319e-03 9.75256219e-01 -4.85557095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.53, Y:-48.69, Z:-4.85 [[ 8.81521023e-01 -4.27932442e-01 -1.99485618e-01 1.30529409e+02] [ 4.18100638e-01 9.03805861e-01 -9.12514225e-02 -4.86896837e+01] [ 2.19345714e-01 -2.96501678e-03 9.75642694e-01 -4.84784628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:-48.68, Z:-4.84 [[ 8.80094542e-01 -4.30821276e-01 -1.99566091e-01 1.30556407e+02] [ 4.21025385e-01 9.02430227e-01 -9.14183271e-02 -4.86821776e+01] [ 2.19479433e-01 -3.56561967e-03 9.75610611e-01 -4.84127325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:-48.68, Z:-4.84 [[ 8.78660658e-01 -4.33807777e-01 -1.99414797e-01 1.30583257e+02] [ 4.24073598e-01 9.00995712e-01 -9.14784709e-02 -4.86755132e+01] [ 2.19355949e-01 -4.18801706e-03 9.75635910e-01 -4.83529641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.61, Y:-48.67, Z:-4.83 [[ 8.78477279e-01 -4.34747204e-01 -1.98173002e-01 1.30608902e+02] [ 4.25130827e-01 9.00542374e-01 -9.10341316e-02 -4.86665054e+01] [ 2.18040020e-01 -4.27803624e-03 9.75930452e-01 -4.82834874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.63, Y:-48.66, Z:-4.82 [[ 8.78449000e-01 -4.35334523e-01 -1.97005602e-01 1.30634737e+02] [ 4.25819031e-01 9.00258591e-01 -9.06235237e-02 -4.86578485e+01] [ 2.16807534e-01 -4.28059062e-03 9.76204984e-01 -4.82044840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.66, Y:-48.65, Z:-4.81 [[ 8.78941367e-01 -4.33813714e-01 -1.98160883e-01 1.30661126e+02] [ 4.24118529e-01 9.00994521e-01 -9.12816901e-02 -4.86512642e+01] [ 2.18141119e-01 -3.81244868e-03 9.75909790e-01 -4.81264724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-48.67, Z:-4.80 [[ 8.72087474e-01 -4.24500757e-01 -2.43438996e-01 1.30697798e+02] [ 4.19832863e-01 9.04623844e-01 -7.34579320e-02 -4.86720371e+01] [ 2.51403668e-01 -3.81419483e-02 9.67130492e-01 -4.80223471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.70, Y:-48.60, Z:-4.80 [[ 8.80173834e-01 -4.37387276e-01 -1.84353986e-01 1.30699793e+02] [ 4.20736306e-01 8.98733099e-01 -1.23530470e-01 -4.86032661e+01] [ 2.19715685e-01 3.11638721e-02 9.75066065e-01 -4.80193353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:-48.62, Z:-4.79 [[ 8.82885274e-01 -4.26697444e-01 -1.96068568e-01 1.30738325e+02] [ 4.16979948e-01 9.04392642e-01 -9.05630786e-02 -4.86229861e+01] [ 2.15966004e-01 -1.79985279e-03 9.76399224e-01 -4.79444438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.76, Y:-48.61, Z:-4.79 [[ 8.83884330e-01 -4.24868704e-01 -1.95537913e-01 1.30763200e+02] [ 4.15131797e-01 9.05254147e-01 -9.04462266e-02 -4.86115448e+01] [ 2.15439278e-01 -1.23000300e-03 9.76516464e-01 -4.78639120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:130.79, Y:-48.60, Z:-4.78 [[ 8.84276395e-01 -4.23535369e-01 -1.96654642e-01 1.30787511e+02] [ 4.13623838e-01 9.05879225e-01 -9.10941889e-02 -4.86005410e+01] [ 2.16726965e-01 -7.88606645e-04 9.76231940e-01 -4.77907958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-48.59, Z:-4.77 [[ 8.85307775e-01 -4.20567401e-01 -1.98376424e-01 1.30812583e+02] [ 4.10375836e-01 9.07261295e-01 -9.20250811e-02 -4.85905352e+01] [ 2.18682001e-01 6.16287267e-05 9.75796177e-01 -4.77268693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-48.58, Z:-4.77 [[ 8.85375332e-01 -4.19763625e-01 -1.99772420e-01 1.30838109e+02] [ 4.09375499e-01 9.07633378e-01 -9.28081474e-02 -4.85800334e+01] [ 2.20277601e-01 3.88110248e-04 9.75437147e-01 -4.76678179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.86, Y:-48.57, Z:-4.76 [[ 8.85817909e-01 -4.19059753e-01 -1.99287620e-01 1.30863765e+02] [ 4.08674786e-01 9.07958398e-01 -9.27171335e-02 -4.85697329e+01] [ 2.19798887e-01 6.86671921e-04 9.75544965e-01 -4.75997768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:-48.56, Z:-4.75 [[ 8.86366664e-01 -4.18831602e-01 -1.97317576e-01 1.30888415e+02] [ 4.08618401e-01 9.08063517e-01 -9.19328599e-02 -4.85593209e+01] [ 2.17681279e-01 8.58630145e-04 9.76019530e-01 -4.75291202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-48.59, Z:-4.74 [[ 8.77780945e-01 -4.05557750e-01 -2.54997107e-01 1.30929476e+02] [ 4.03783031e-01 9.12768142e-01 -6.17542058e-02 -4.85920484e+01] [ 2.57798132e-01 -4.87568396e-02 9.64967820e-01 -4.73891826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.94, Y:-48.56, Z:-4.74 [[ 8.82157223e-01 -4.12048073e-01 -2.28068014e-01 1.30941530e+02] [ 4.04398564e-01 9.10936820e-01 -8.15837635e-02 -4.85569495e+01] [ 2.41371984e-01 -2.02606713e-02 9.70221145e-01 -4.73593557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-48.46, Z:-4.73 [[ 8.88002689e-01 -4.30755343e-01 -1.60938058e-01 1.30931452e+02] [ 4.08099487e-01 8.99533054e-01 -1.55868834e-01 -4.84648302e+01] [ 2.11910436e-01 7.27332046e-02 9.74578805e-01 -4.73194427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-48.51, Z:-4.72 [[ 8.88383070e-01 -4.16545850e-01 -1.93041644e-01 1.30984657e+02] [ 4.06648493e-01 9.09113115e-01 -9.02792715e-02 -4.85135475e+01] [ 2.13102146e-01 1.70248281e-03 9.77028442e-01 -4.72476082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-48.50, Z:-4.72 [[ 8.88177234e-01 -4.16725013e-01 -1.93601303e-01 1.31010335e+02] [ 4.06745121e-01 9.09030843e-01 -9.06715676e-02 -4.85027122e+01] [ 2.13774666e-01 1.78603652e-03 9.76881365e-01 -4.71867959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.04, Y:-48.49, Z:-4.71 [[ 8.88333656e-01 -4.16274375e-01 -1.93852932e-01 1.31035688e+02] [ 4.06229160e-01 9.09236808e-01 -9.09191787e-02 -4.84936959e+01] [ 2.14105545e-01 2.01785287e-03 9.76808448e-01 -4.71215860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.06, Y:-48.48, Z:-4.71 [[ 8.88813351e-01 -4.16461254e-01 -1.91235066e-01 1.31060490e+02] [ 4.06665798e-01 9.09151127e-01 -8.98173526e-02 -4.84818503e+01] [ 2.11267023e-01 2.06210117e-03 9.77426208e-01 -4.70525194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-48.47, Z:-4.70 [[ 8.88877858e-01 -4.16272618e-01 -1.91345919e-01 1.31085137e+02] [ 4.06433494e-01 9.09237122e-01 -8.99981718e-02 -4.84696983e+01] [ 2.11442587e-01 2.22799181e-03 9.77387880e-01 -4.69885035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.11, Y:-48.46, Z:-4.69 [[ 8.89002940e-01 -4.16630137e-01 -1.89981848e-01 1.31109866e+02] [ 4.06913704e-01 9.09073318e-01 -8.94815034e-02 -4.84580574e+01] [ 2.09988120e-01 2.24310209e-03 9.77701364e-01 -4.69179160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:-48.45, Z:-4.69 [[ 8.88673853e-01 -4.16719523e-01 -1.91320731e-01 1.31134986e+02] [ 4.06838502e-01 9.09032059e-01 -9.02393937e-02 -4.84468999e+01] [ 2.11521196e-01 2.35674977e-03 9.77370569e-01 -4.68557457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:-48.43, Z:-4.68 [[ 8.88314690e-01 -4.17056062e-01 -1.92253096e-01 1.31159777e+02] [ 4.07057168e-01 9.08877574e-01 -9.08075873e-02 -4.84347343e+01] [ 2.12606382e-01 2.40771305e-03 9.77134960e-01 -4.67928855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.18, Y:-48.42, Z:-4.67 [[ 8.88750517e-01 -4.16391464e-01 -1.91678554e-01 1.31183569e+02] [ 4.06410325e-01 9.09181493e-01 -9.06623396e-02 -4.84220503e+01] [ 2.12021618e-01 2.67605780e-03 9.77261312e-01 -4.67219059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:-48.41, Z:-4.67 [[ 8.88953704e-01 -4.16457155e-01 -1.90590530e-01 1.31206733e+02] [ 4.06564905e-01 9.09151151e-01 -9.02727099e-02 -4.84078970e+01] [ 2.10870316e-01 2.76083914e-03 9.77510147e-01 -4.66593808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.23, Y:-48.40, Z:-4.66 [[ 8.88622359e-01 -4.16871090e-01 -1.91229697e-01 1.31231186e+02] [ 4.06893488e-01 9.08961335e-01 -9.07027085e-02 -4.83956474e+01] [ 2.11631738e-01 2.79033634e-03 9.77345498e-01 -4.65916055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.26, Y:-48.38, Z:-4.65 [[ 8.88297347e-01 -4.17804666e-01 -1.90701561e-01 1.31255728e+02] [ 4.07876705e-01 9.08532932e-01 -9.05787226e-02 -4.83840269e+01] [ 2.11102861e-01 2.67811479e-03 9.77460183e-01 -4.65382008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.31, Y:-48.44, Z:-4.64 [[ 8.81678969e-01 -4.01734016e-01 -2.47491366e-01 1.31305430e+02] [ 4.07102041e-01 9.12840757e-01 -3.14591791e-02 -4.84374650e+01] [ 2.38558428e-01 -7.30173436e-02 9.68379236e-01 -4.64094521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.27, Y:-48.29, Z:-4.64 [[ 8.88230765e-01 -4.33665575e-01 -1.51592472e-01 1.31273158e+02] [ 4.11130680e-01 8.97620308e-01 -1.58900428e-01 -4.82938420e+01] [ 2.04982127e-01 7.88159326e-02 9.75587196e-01 -4.64206198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:-48.34, Z:-4.63 [[ 8.89161614e-01 -4.18731111e-01 -1.84542354e-01 1.31326828e+02] [ 4.09430792e-01 9.08106800e-01 -8.77978687e-02 -4.83437199e+01] [ 2.04347866e-01 2.50917249e-03 9.78895119e-01 -4.63299565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.37, Y:-48.39, Z:-4.62 [[ 8.82119092e-01 -4.04194866e-01 -2.41852059e-01 1.31373213e+02] [ 4.08384654e-01 9.12142694e-01 -3.48952732e-02 -4.83931826e+01] [ 2.34708079e-01 -6.79868830e-02 9.69685465e-01 -4.61957919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.35, Y:-48.27, Z:-4.62 [[ 8.82423432e-01 -4.31687043e-01 -1.87016533e-01 1.31351077e+02] [ 4.07340494e-01 8.99963977e-01 -1.55365896e-01 -4.82706056e+01] [ 2.35377587e-01 6.09191004e-02 9.69992915e-01 -4.61827347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.39, Y:-48.29, Z:-4.61 [[ 8.88325605e-01 -4.25132188e-01 -1.73609453e-01 1.31394468e+02] [ 4.13508369e-01 9.04966959e-01 -1.00227905e-01 -4.82950000e+01] [ 1.99720928e-01 1.72460530e-02 9.79701038e-01 -4.61481745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:-48.30, Z:-4.61 [[ 8.88247804e-01 -4.22450318e-01 -1.80420531e-01 1.31425701e+02] [ 4.13606432e-01 9.06384349e-01 -8.60065731e-02 -4.82962398e+01] [ 1.99863850e-01 1.77205731e-03 9.79822076e-01 -4.60789117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:-48.29, Z:-4.60 [[ 8.87669109e-01 -4.23826917e-01 -1.80039710e-01 1.31450947e+02] [ 4.15025870e-01 9.05741852e-01 -8.59373361e-02 -4.82858169e+01] [ 1.99492056e-01 1.56278143e-03 9.79898197e-01 -4.60314994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-48.28, Z:-4.60 [[ 8.86568645e-01 -4.25737401e-01 -1.80952211e-01 1.31476904e+02] [ 4.16860200e-01 9.04845897e-01 -8.64955287e-02 -4.82759491e+01] [ 2.00558248e-01 1.25244868e-03 9.79680979e-01 -4.59767057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.50, Y:-48.27, Z:-4.59 [[ 8.86304252e-01 -4.26403071e-01 -1.80679810e-01 1.31502333e+02] [ 4.17541753e-01 9.04532449e-01 -8.64866017e-02 -4.82653102e+01] [ 2.00308904e-01 1.21207810e-03 9.79732042e-01 -4.59088072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.53, Y:-48.25, Z:-4.59 [[ 8.86126549e-01 -4.26093867e-01 -1.82273848e-01 1.31527013e+02] [ 4.17041788e-01 9.04677862e-01 -8.73734137e-02 -4.82533271e+01] [ 2.02128390e-01 1.40809032e-03 9.79358020e-01 -4.58598749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.55, Y:-48.24, Z:-4.58 [[ 8.86547905e-01 -4.25067446e-01 -1.82621134e-01 1.31551340e+02] [ 4.15933361e-01 9.05159969e-01 -8.76633880e-02 -4.82401551e+01] [ 2.02564193e-01 1.75957093e-03 9.79267406e-01 -4.58113242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.58, Y:-48.23, Z:-4.58 [[ 8.87329081e-01 -4.23457301e-01 -1.82567841e-01 1.31575572e+02] [ 4.14269640e-01 9.05913296e-01 -8.77597062e-02 -4.82272873e+01] [ 2.02553123e-01 2.23942562e-03 9.79268716e-01 -4.57570118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.62, Y:-48.26, Z:-4.56 [[ 8.80132644e-01 -4.11344627e-01 -2.36985500e-01 1.31615548e+02] [ 4.09417179e-01 9.10393089e-01 -5.96824725e-02 -4.82566269e+01] [ 2.40300026e-01 -4.44974428e-02 9.69678233e-01 -4.56493541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:-48.16, Z:-4.56 [[ 8.89030458e-01 -4.28870742e-01 -1.60295764e-01 1.31604859e+02] [ 4.11443579e-01 9.01942640e-01 -1.31200821e-01 -4.81631252e+01] [ 2.00845778e-01 5.06888634e-02 9.78310591e-01 -4.56346554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-48.19, Z:-4.56 [[ 8.89586652e-01 -4.19502448e-01 -1.80702200e-01 1.31648524e+02] [ 4.10382600e-01 9.07748245e-01 -8.70588646e-02 -4.81921240e+01] [ 2.00553511e-01 3.28936542e-03 9.79677227e-01 -4.55530828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.67, Y:-48.18, Z:-4.55 [[ 8.89205740e-01 -4.20041562e-01 -1.81323573e-01 1.31672949e+02] [ 4.10844753e-01 9.07498906e-01 -8.74775674e-02 -4.81808093e+01] [ 2.01295158e-01 3.28971644e-03 9.79525108e-01 -4.54882099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:-48.17, Z:-4.54 [[ 8.89228949e-01 -4.19804008e-01 -1.81759379e-01 1.31697761e+02] [ 4.10532974e-01 9.07608179e-01 -8.78070057e-02 -4.81679964e+01] [ 2.01828032e-01 3.46231289e-03 9.79414855e-01 -4.54396945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.72, Y:-48.15, Z:-4.54 [[ 8.89406518e-01 -4.19592349e-01 -1.81378905e-01 1.31721799e+02] [ 4.10331740e-01 9.07705464e-01 -8.77419728e-02 -4.81541807e+01] [ 2.01454484e-01 3.61276058e-03 9.79491214e-01 -4.53883045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:-48.14, Z:-4.53 [[ 8.90638871e-01 -4.17652270e-01 -1.79802623e-01 1.31743501e+02] [ 4.08490620e-01 9.08597586e-01 -8.70967274e-02 -4.81369279e+01] [ 1.99744375e-01 4.12404607e-03 9.79839363e-01 -4.53223178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:-48.12, Z:-4.52 [[ 8.91524728e-01 -4.16562508e-01 -1.77930706e-01 1.31767041e+02] [ 4.07547999e-01 9.09096294e-01 -8.63050206e-02 -4.81227532e+01] [ 1.97707581e-01 4.42775695e-03 9.80251043e-01 -4.52471527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:-48.17, Z:-4.51 [[ 8.86335587e-01 -4.01694440e-01 -2.30327602e-01 1.31814450e+02] [ 4.05530025e-01 9.13499690e-01 -3.26146477e-02 -4.81695330e+01] [ 2.23505316e-01 -6.44972352e-02 9.72566440e-01 -4.51131375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.78, Y:-48.04, Z:-4.51 [[ 8.92029002e-01 -4.27736057e-01 -1.46034671e-01 1.31784949e+02] [ 4.07268537e-01 9.00791563e-01 -1.50688081e-01 -4.80350192e+01] [ 1.96001525e-01 7.49428113e-02 9.77735638e-01 -4.51239082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-48.08, Z:-4.51 [[ 8.92209174e-01 -4.15074893e-01 -1.77976467e-01 1.31838044e+02] [ 4.05990500e-01 9.09773922e-01 -8.65050551e-02 -4.80806508e+01] [ 1.97824425e-01 4.92384900e-03 9.80225103e-01 -4.50820127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:-48.07, Z:-4.50 [[ 8.92422191e-01 -4.14928532e-01 -1.77248263e-01 1.31861687e+02] [ 4.05893520e-01 9.09840045e-01 -8.62643749e-02 -4.80666075e+01] [ 1.97061118e-01 5.04032104e-03 9.80378249e-01 -4.50150100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-48.05, Z:-4.49 [[ 8.92566107e-01 -4.15611805e-01 -1.74907324e-01 1.31884398e+02] [ 4.06807567e-01 9.09528767e-01 -8.52351144e-02 -4.80509560e+01] [ 1.94507962e-01 4.92435137e-03 9.80888578e-01 -4.49416287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-48.07, Z:-4.48 [[ 8.85654306e-01 -4.08557357e-01 -2.20674731e-01 1.31922830e+02] [ 4.04576390e-01 9.12184499e-01 -6.50952013e-02 -4.80690704e+01] [ 2.27891193e-01 -3.16279409e-02 9.73172789e-01 -4.48285467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-48.00, Z:-4.48 [[ 8.91434112e-01 -4.24181920e-01 -1.59420585e-01 1.31918540e+02] [ 4.09460568e-01 9.04710941e-01 -1.17644193e-01 -4.79952927e+01] [ 1.94132087e-01 3.95956030e-02 9.80175964e-01 -4.48147145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.99, Y:-48.08, Z:-4.47 [[ 8.83205762e-01 -4.01469807e-01 -2.42424370e-01 1.31989090e+02] [ 4.08556998e-01 9.12452612e-01 -2.26143891e-02 -4.80836369e+01] [ 2.30279744e-01 -7.90710140e-02 9.69906704e-01 -4.47056169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.96, Y:-47.95, Z:-4.47 [[ 8.84669788e-01 -4.31985086e-01 -1.75351795e-01 1.31958536e+02] [ 4.09264775e-01 8.99717010e-01 -1.51695898e-01 -4.79492528e+01] [ 2.23297358e-01 6.24354648e-02 9.72748736e-01 -4.46673109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-47.97, Z:-4.46 [[ 8.88976298e-01 -4.27072739e-01 -1.65317928e-01 1.31998094e+02] [ 4.14893465e-01 9.03901164e-01 -1.04048539e-01 -4.79677107e+01] [ 1.93867362e-01 2.39073572e-02 9.80736399e-01 -4.46292219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:-48.00, Z:-4.45 [[ 8.82088829e-01 -4.17474123e-01 -2.18253649e-01 1.32040556e+02] [ 4.11925440e-01 9.08320676e-01 -7.26015264e-02 -4.79951220e+01] [ 2.28553560e-01 -2.58632349e-02 9.73187733e-01 -4.45468563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.05, Y:-47.96, Z:-4.45 [[ 8.82508617e-01 -4.24674882e-01 -2.02063816e-01 1.32051730e+02] [ 4.12986063e-01 9.05337331e-01 -9.90294366e-02 -4.79566373e+01] [ 2.24991230e-01 3.94479127e-03 9.74352803e-01 -4.45034687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:-47.92, Z:-4.44 [[ 8.88440869e-01 -4.30551782e-01 -1.59053402e-01 1.32064132e+02] [ 4.17771380e-01 9.02074902e-01 -1.08295634e-01 -4.79192435e+01] [ 1.90104961e-01 2.97663082e-02 9.81312423e-01 -4.44427127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:-47.96, Z:-4.43 [[ 8.82522786e-01 -4.19508351e-01 -2.12523587e-01 1.32111859e+02] [ 4.14874329e-01 9.07319832e-01 -6.81910088e-02 -4.79551278e+01] [ 2.21433563e-01 -2.79904617e-02 9.74773672e-01 -4.43485330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.12, Y:-47.92, Z:-4.43 [[ 8.82230523e-01 -4.26267485e-01 -1.99913321e-01 1.32124432e+02] [ 4.15518668e-01 9.04596761e-01 -9.51259006e-02 -4.79181914e+01] [ 2.21390021e-01 8.55255996e-04 9.75184971e-01 -4.42914635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:132.15, Y:-47.90, Z:-4.42 [[ 8.81681863e-01 -4.29449977e-01 -1.95473299e-01 1.32146225e+02] [ 4.17551045e-01 9.03062618e-01 -1.00643094e-01 -4.78996678e+01] [ 2.19745803e-01 7.11510997e-03 9.75531218e-01 -4.42369524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:-47.88, Z:-4.42 [[ 8.79950687e-01 -4.34204154e-01 -1.92752537e-01 1.32168702e+02] [ 4.21878385e-01 9.00764878e-01 -1.03156501e-01 -4.78826744e+01] [ 2.18415696e-01 9.45450486e-03 9.75810020e-01 -4.42015291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:-47.86, Z:-4.42 [[ 8.84634670e-01 -4.37742987e-01 -1.60631808e-01 1.32189205e+02] [ 4.26936156e-01 8.98910118e-01 -9.84180816e-02 -4.78617422e+01] [ 1.87475383e-01 1.84845203e-02 9.82095364e-01 -4.41611801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-47.88, Z:-4.41 [[ 8.78791579e-01 -4.30970728e-01 -2.04913621e-01 1.32229699e+02] [ 4.24880248e-01 9.02121753e-01 -7.51872153e-02 -4.78824410e+01] [ 2.17260524e-01 -2.09898584e-02 9.75887950e-01 -4.40821531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.23, Y:-47.83, Z:-4.40 [[ 8.83676917e-01 -4.40649110e-01 -1.57935013e-01 1.32234758e+02] [ 4.29135114e-01 8.97385926e-01 -1.02672067e-01 -4.78299187e+01] [ 1.86971013e-01 2.29534759e-02 9.82097235e-01 -4.40388800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:132.27, Y:-47.83, Z:-4.40 [[ 8.83950475e-01 -4.36971543e-01 -1.66395395e-01 1.32267590e+02] [ 4.29117420e-01 8.99474056e-01 -8.24903774e-02 -4.78338669e+01] [ 1.85714288e-01 1.51424588e-03 9.82602621e-01 -4.39882261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.29, Y:-47.82, Z:-4.39 [[ 8.83957461e-01 -4.37441253e-01 -1.65119220e-01 1.32291526e+02] [ 4.29695416e-01 8.99245729e-01 -8.19693130e-02 -4.78206305e+01] [ 1.84339512e-01 1.50641391e-03 9.82861473e-01 -4.39352013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.32, Y:-47.81, Z:-4.39 [[ 8.84563387e-01 -4.36320779e-01 -1.64838682e-01 1.32315104e+02] [ 4.28561389e-01 8.99789307e-01 -8.19410700e-02 -4.78066946e+01] [ 1.84072675e-01 1.83857578e-03 9.82910917e-01 -4.38905373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.34, Y:-47.79, Z:-4.39 [[ 8.84204772e-01 -4.36349498e-01 -1.66676442e-01 1.32339150e+02] [ 4.28393352e-01 8.99775127e-01 -8.29690085e-02 -4.77937461e+01] [ 1.86174802e-01 1.95851362e-03 9.82514686e-01 -4.38502027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.37, Y:-47.80, Z:-4.38 [[ 8.79026835e-01 -4.29908035e-01 -2.06133220e-01 1.32374702e+02] [ 4.24972525e-01 9.02496097e-01 -6.99939109e-02 -4.78025501e+01] [ 2.16125371e-01 -2.60744289e-02 9.76017391e-01 -4.37851756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:-47.74, Z:-4.37 [[ 8.84517009e-01 -4.41723006e-01 -1.50034817e-01 1.32375205e+02] [ 4.29904611e-01 8.96688353e-01 -1.05508406e-01 -4.77419822e+01] [ 1.81139964e-01 2.88233205e-02 9.83034857e-01 -4.37219244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:-47.78, Z:-4.37 [[ 8.78524967e-01 -4.30883352e-01 -2.06236316e-01 1.32422761e+02] [ 4.26733082e-01 9.01924439e-01 -6.65671258e-02 -4.77776616e+01] [ 2.14692240e-01 -2.95269770e-02 9.76235320e-01 -4.36583477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:-47.71, Z:-4.36 [[ 8.83910485e-01 -4.43532668e-01 -1.48260001e-01 1.32419651e+02] [ 4.31200466e-01 8.95680275e-01 -1.08733635e-01 -4.77077417e+01] [ 1.81020477e-01 3.21810189e-02 9.82952679e-01 -4.36014342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.47, Y:-47.75, Z:-4.36 [[ 8.77656617e-01 -4.31204723e-01 -2.09239931e-01 1.32470776e+02] [ 4.27822281e-01 9.01623925e-01 -6.35798281e-02 -4.77488570e+01] [ 2.16071650e-01 -3.37162476e-02 9.75795192e-01 -4.35553770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.48, Y:-47.71, Z:-4.35 [[ 8.77357468e-01 -4.38423280e-01 -1.95010005e-01 1.32481085e+02] [ 4.28749169e-01 8.98762913e-01 -9.16481104e-02 -4.77087441e+01] [ 2.15448425e-01 -3.20222341e-03 9.76509970e-01 -4.34985170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:-47.66, Z:-4.34 [[ 8.82970471e-01 -4.47681011e-01 -1.41226274e-01 1.32487214e+02] [ 4.34657319e-01 8.93321202e-01 -1.14237672e-01 -4.76580864e+01] [ 1.77302461e-01 3.94834570e-02 9.83364070e-01 -4.34282387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.53, Y:-47.68, Z:-4.34 [[ 8.82373137e-01 -4.43445267e-01 -1.57397403e-01 1.32527061e+02] [ 4.36347004e-01 8.96300831e-01 -7.90323473e-02 -4.76759822e+01] [ 1.76121944e-01 1.05613484e-03 9.84367790e-01 -4.33579840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.56, Y:-47.67, Z:-4.33 [[ 8.76147485e-01 -4.41816426e-01 -1.92779226e-01 1.32557673e+02] [ 4.34872958e-01 8.96990980e-01 -7.93264933e-02 -4.76748461e+01] [ 2.07968975e-01 -1.43327648e-02 9.78030407e-01 -4.32914950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:-47.66, Z:-4.32 [[ 8.73852228e-01 -4.43424356e-01 -1.99391886e-01 1.32581581e+02] [ 4.36906060e-01 8.96112669e-01 -7.80716282e-02 -4.76643139e+01] [ 2.13296456e-01 -1.88924569e-02 9.76804841e-01 -4.32347306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.58, Y:-47.60, Z:-4.32 [[ 8.78365264e-01 -4.55935501e-01 -1.43517534e-01 1.32582854e+02] [ 4.43533859e-01 8.89373369e-01 -1.10872567e-01 -4.76003553e+01] [ 1.78191412e-01 3.37317254e-02 9.83417506e-01 -4.31911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:-47.63, Z:-4.32 [[ 8.72596065e-01 -4.48652740e-01 -1.93097968e-01 1.32627350e+02] [ 4.41968732e-01 8.93553910e-01 -7.88989848e-02 -4.76279821e+01] [ 2.07941690e-01 -1.64963203e-02 9.78002109e-01 -4.31516131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:-47.59, Z:-4.31 [[ 8.77738875e-01 -4.55747837e-01 -1.47879600e-01 1.32638554e+02] [ 4.46386986e-01 8.89968019e-01 -9.32501087e-02 -4.75858235e+01] [ 1.74106650e-01 1.58377166e-02 9.84599432e-01 -4.30769221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:132.67, Y:-47.58, Z:-4.30 [[ 8.76661151e-01 -4.55732102e-01 -1.54186504e-01 1.32667473e+02] [ 4.49059727e-01 8.90116287e-01 -7.77068618e-02 -4.75834164e+01] [ 1.72657430e-01 -1.11636250e-03 9.84981302e-01 -4.30097091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.70, Y:-47.58, Z:-4.29 [[ 8.70268947e-01 -4.55216696e-01 -1.88174706e-01 1.32695711e+02] [ 4.48691839e-01 8.90234418e-01 -7.84749253e-02 -4.75813814e+01] [ 2.03242696e-01 -1.61381643e-02 9.78995386e-01 -4.29480447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-47.54, Z:-4.29 [[ 8.74258914e-01 -4.62317396e-01 -1.48101237e-01 1.32708932e+02] [ 4.53300688e-01 8.86617339e-01 -9.18051256e-02 -4.75411848e+01] [ 1.73752231e-01 1.31270569e-02 9.84701905e-01 -4.28940178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:-47.54, Z:-4.29 [[ 8.71967236e-01 -4.63995963e-01 -1.56143801e-01 1.32738991e+02] [ 4.57248783e-01 8.85833461e-01 -7.88836433e-02 -4.75379942e+01] [ 1.74919096e-01 -2.61261072e-03 9.84579344e-01 -4.28710153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-47.52, Z:-4.28 [[ 8.70938485e-01 -4.66212809e-01 -1.55279654e-01 1.32762652e+02] [ 4.59557904e-01 8.84667684e-01 -7.85469383e-02 -4.75245828e+01] [ 1.73990481e-01 -2.95044081e-03 9.84742914e-01 -4.28239603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-47.58, Z:-4.28 [[ 8.65347555e-01 -4.51295697e-01 -2.17958258e-01 1.32817689e+02] [ 4.59171243e-01 8.88202682e-01 -1.60550769e-02 -4.75787289e+01] [ 2.00836697e-01 -8.61869428e-02 9.75826026e-01 -4.27714450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:-47.42, Z:-4.26 [[ 8.67737030e-01 -4.83432015e-01 -1.15438010e-01 1.32771847e+02] [ 4.65623651e-01 8.71931230e-01 -1.51428352e-01 -4.74241022e+01] [ 1.73859320e-01 7.76493209e-02 9.81704395e-01 -4.26014159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.83, Y:-47.48, Z:-4.26 [[ 8.68152084e-01 -4.71380310e-01 -1.55282200e-01 1.32830695e+02] [ 4.64779751e-01 8.81921654e-01 -7.87018332e-02 -4.74763253e+01] [ 1.74045229e-01 -3.84686151e-03 9.84730146e-01 -4.26368875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.85, Y:-47.46, Z:-4.26 [[ 8.68010953e-01 -4.71439174e-01 -1.55891276e-01 1.32854074e+02] [ 4.64769652e-01 8.81890457e-01 -7.91100070e-02 -4.74613303e+01] [ 1.74774585e-01 -3.78518146e-03 9.84601197e-01 -4.25883148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.88, Y:-47.45, Z:-4.25 [[ 8.67651267e-01 -4.72124395e-01 -1.55819880e-01 1.32877858e+02] [ 4.65454561e-01 8.81523602e-01 -7.91719115e-02 -4.74466440e+01] [ 1.74737892e-01 -3.83346439e-03 9.84607523e-01 -4.25358222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:-47.43, Z:-4.25 [[ 8.66854231e-01 -4.73185803e-01 -1.57031650e-01 1.32901186e+02] [ 4.66410226e-01 8.80953621e-01 -7.98887905e-02 -4.74308441e+01] [ 1.76139842e-01 -3.98923119e-03 9.84357070e-01 -4.25008546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:-47.42, Z:-4.24 [[ 8.66895178e-01 -4.73451737e-01 -1.56000650e-01 1.32925090e+02] [ 4.66752292e-01 8.80811003e-01 -7.94624161e-02 -4.74166646e+01] [ 1.75028708e-01 -3.92807560e-03 9.84555494e-01 -4.24471598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:-47.40, Z:-4.24 [[ 8.66675905e-01 -4.73866366e-01 -1.55960068e-01 1.32949990e+02] [ 4.67159267e-01 8.80588038e-01 -7.95419799e-02 -4.74041804e+01] [ 1.75028840e-01 -3.92107380e-03 9.84555499e-01 -4.23894840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:-47.43, Z:-4.23 [[ 8.61133768e-01 -4.62496791e-01 -2.11057697e-01 1.32993875e+02] [ 4.62912390e-01 8.84963068e-01 -5.05221480e-02 -4.74323572e+01] [ 2.10144599e-01 -5.41948955e-02 9.76167076e-01 -4.23384485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:-47.33, Z:-4.22 [[ 8.65896125e-01 -4.82275790e-01 -1.32792934e-01 1.32971669e+02] [ 4.68420604e-01 8.74896997e-01 -1.23034068e-01 -4.73287162e+01] [ 1.75516492e-01 4.43317761e-02 9.83477836e-01 -4.22039288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.02, Y:-47.35, Z:-4.22 [[ 8.66347306e-01 -4.74035059e-01 -1.57267630e-01 1.33016193e+02] [ 4.67184067e-01 8.80497660e-01 -8.03922762e-02 -4.73526451e+01] [ 1.76582537e-01 -3.82529884e-03 9.84278403e-01 -4.22142544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.04, Y:-47.34, Z:-4.22 [[ 8.66097034e-01 -4.74102484e-01 -1.58438511e-01 1.33039168e+02] [ 4.67131362e-01 8.80461557e-01 -8.10909181e-02 -4.73378046e+01] [ 1.77944424e-01 -3.77899371e-03 9.84033283e-01 -4.21714601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:-47.32, Z:-4.21 [[ 8.66662078e-01 -4.73770914e-01 -1.56326462e-01 1.33061958e+02] [ 4.66963152e-01 8.80640876e-01 -8.01065687e-02 -4.73224329e+01] [ 1.75619635e-01 -3.57337214e-03 9.84451611e-01 -4.21211483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:-47.35, Z:-4.21 [[ 8.62607786e-01 -4.62134932e-01 -2.05764699e-01 1.33106636e+02] [ 4.62692961e-01 8.85196726e-01 -4.83940069e-02 -4.73508436e+01] [ 2.04506799e-01 -5.34608304e-02 9.77404169e-01 -4.20801671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:-47.30, Z:-4.20 [[ 8.63046105e-01 -4.70676201e-01 -1.83344850e-01 1.33107466e+02] [ 4.63524523e-01 8.82202929e-01 -8.28432778e-02 -4.72993472e+01] [ 2.00739723e-01 -1.34872658e-02 9.79551764e-01 -4.19784164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:-47.22, Z:-4.18 [[ 8.67566247e-01 -4.81822341e-01 -1.23191069e-01 1.33100789e+02] [ 4.67018302e-01 8.74458236e-01 -1.31212419e-01 -4.72233041e+01] [ 1.70946520e-01 5.63029818e-02 9.83670301e-01 -4.18256199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:-47.26, Z:-4.19 [[ 8.67841938e-01 -4.72687394e-01 -1.53026138e-01 1.33150541e+02] [ 4.66113519e-01 8.81224735e-01 -7.86203180e-02 -4.72558807e+01] [ 1.72013251e-01 -3.09754260e-03 9.85089766e-01 -4.18835445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:-47.24, Z:-4.18 [[ 8.66968635e-01 -4.73978975e-01 -1.53978300e-01 1.33173289e+02] [ 4.67325422e-01 8.80530024e-01 -7.92074929e-02 -4.72394654e+01] [ 1.73125202e-01 -3.28756190e-03 9.84894338e-01 -4.18349124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.20, Y:-47.22, Z:-4.18 [[ 8.65407261e-01 -4.76737365e-01 -1.54245768e-01 1.33196238e+02] [ 4.70086632e-01 8.79037747e-01 -7.94430520e-02 -4.72226975e+01] [ 1.73461323e-01 -3.75827935e-03 9.84833511e-01 -4.17938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:-47.23, Z:-4.17 [[ 8.60808864e-01 -4.73015393e-01 -1.87788543e-01 1.33227871e+02] [ 4.67856576e-01 8.80718069e-01 -7.37963842e-02 -4.72275617e+01] [ 2.00295589e-01 -2.43335234e-02 9.79433283e-01 -4.17387875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.23, Y:-47.18, Z:-4.16 [[ 8.63402877e-01 -4.83467720e-01 -1.44202760e-01 1.33234439e+02] [ 4.73850772e-01 8.75223152e-01 -9.72104994e-02 -4.71802367e+01] [ 1.73207733e-01 1.56012355e-02 9.84761739e-01 -4.16395339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.29, Y:-47.24, Z:-4.17 [[ 8.55025768e-01 -4.74754448e-01 -2.08660372e-01 1.33289404e+02] [ 4.78482416e-01 8.77376135e-01 -3.55766041e-02 -4.72395785e+01] [ 1.99963781e-01 -6.94214055e-02 9.77340859e-01 -4.16908268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:-47.11, Z:-4.15 [[ 8.59077969e-01 -4.96959625e-01 -1.22540499e-01 1.33258629e+02] [ 4.80916585e-01 8.65654889e-01 -1.39143274e-01 -4.71133522e+01] [ 1.75226372e-01 6.06031631e-02 9.82661170e-01 -4.14532247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:-47.18, Z:-4.15 [[ 8.53619315e-01 -4.83620796e-01 -1.93507081e-01 1.33322232e+02] [ 4.80180831e-01 8.74566470e-01 -6.75267280e-02 -4.71795790e+01] [ 2.01892134e-01 -3.52762715e-02 9.78772267e-01 -4.15385327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.32, Y:-47.11, Z:-4.14 [[ 8.57976994e-01 -4.94259055e-01 -1.39940935e-01 1.33322508e+02] [ 4.83195450e-01 8.68985064e-01 -1.06710427e-01 -4.71133167e+01] [ 1.74349177e-01 2.39362681e-02 9.84392919e-01 -4.14139095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.36, Y:-47.13, Z:-4.14 [[ 8.58329591e-01 -4.89846434e-01 -1.52711443e-01 1.33361389e+02] [ 4.83511364e-01 8.71786509e-01 -7.87721052e-02 -4.71264684e+01] [ 1.71718011e-01 -6.22528923e-03 9.85126474e-01 -4.14066050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:-47.11, Z:-4.13 [[ 8.58475196e-01 -4.89576545e-01 -1.52758454e-01 1.33385906e+02] [ 4.83227217e-01 8.71938690e-01 -7.88313272e-02 -4.71148428e+01] [ 1.71789975e-01 -6.14230332e-03 9.85114449e-01 -4.13473555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-47.10, Z:-4.13 [[ 8.57925708e-01 -4.90085040e-01 -1.54208085e-01 1.33410003e+02] [ 4.83615801e-01 8.71652046e-01 -7.96144971e-02 -4.71019010e+01] [ 1.73433667e-01 -6.27414300e-03 9.84825567e-01 -4.12989376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-47.09, Z:-4.13 [[ 8.57558482e-01 -4.90234679e-01 -1.55767165e-01 1.33433962e+02] [ 4.83629194e-01 8.71567428e-01 -8.04550840e-02 -4.70881402e+01] [ 1.75203460e-01 -6.33860888e-03 9.84511843e-01 -4.12571236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:-47.12, Z:-4.13 [[ 8.50879449e-01 -4.79337869e-01 -2.15033415e-01 1.33479853e+02] [ 4.81682081e-01 8.75193813e-01 -4.49239680e-02 -4.71245489e+01] [ 2.09729673e-01 -6.53528616e-02 9.75572892e-01 -4.12604743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.45, Y:-47.01, Z:-4.10 [[ 8.57945162e-01 -4.98245171e-01 -1.25227189e-01 1.33453686e+02] [ 4.83394081e-01 8.65452259e-01 -1.31615158e-01 -4.70118353e+01] [ 1.73954770e-01 5.23845062e-02 9.83359345e-01 -4.10234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:-47.05, Z:-4.11 [[ 8.59620001e-01 -4.87929270e-01 -1.51586547e-01 1.33505672e+02] [ 4.81630298e-01 8.72864853e-01 -7.83530781e-02 -4.70476109e+01] [ 1.70545329e-01 -5.65480086e-03 9.85333605e-01 -4.10693545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.53, Y:-47.04, Z:-4.10 [[ 8.60304485e-01 -4.86627908e-01 -1.51886380e-01 1.33530286e+02] [ 4.80277684e-01 8.73592793e-01 -7.85428386e-02 -4.70354571e+01] [ 1.70907985e-01 -5.37688276e-03 9.85272323e-01 -4.10151058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.55, Y:-47.02, Z:-4.10 [[ 8.60942972e-01 -4.84736999e-01 -1.54295950e-01 1.33554323e+02] [ 4.78145901e-01 8.74645370e-01 -7.98246462e-02 -4.70207781e+01] [ 1.73648198e-01 -5.05150797e-03 9.84794794e-01 -4.09841481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.58, Y:-47.01, Z:-4.09 [[ 8.61493495e-01 -4.83503964e-01 -1.55089892e-01 1.33577565e+02] [ 4.76818270e-01 8.75329028e-01 -8.02709756e-02 -4.70055207e+01] [ 1.74566019e-01 -4.79677065e-03 9.84633788e-01 -4.09440803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:-46.99, Z:-4.09 [[ 8.63381890e-01 -4.80337546e-01 -1.54426531e-01 1.33599000e+02] [ 4.73652762e-01 8.77074103e-01 -7.99629843e-02 -4.69861679e+01] [ 1.73852735e-01 -4.10596020e-03 9.84763102e-01 -4.08922784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-46.97, Z:-4.08 [[ 8.64155707e-01 -4.79003952e-01 -1.54240487e-01 1.33621964e+02] [ 4.72307968e-01 8.77804516e-01 -7.99025385e-02 -4.69710011e+01] [ 1.73666628e-01 -3.80077649e-03 9.84797165e-01 -4.08384174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:-47.01, Z:-4.08 [[ 8.59083526e-01 -4.65090131e-01 -2.13697605e-01 1.33670294e+02] [ 4.67099371e-01 8.83099814e-01 -4.41915723e-02 -4.70056233e+01] [ 2.09269379e-01 -6.18537651e-02 9.75899810e-01 -4.08385705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.64, Y:-46.89, Z:-4.06 [[ 8.66133131e-01 -4.83402888e-01 -1.27023807e-01 1.33638732e+02] [ 4.68446576e-01 8.73737566e-01 -1.30921625e-01 -4.68883116e+01] [ 1.74273364e-01 5.38916891e-02 9.83221481e-01 -4.06063064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.69, Y:-46.92, Z:-4.07 [[ 8.66833231e-01 -4.74146151e-01 -1.54225733e-01 1.33688552e+02] [ 4.67363029e-01 8.80441810e-01 -7.99626001e-02 -4.69196332e+01] [ 1.73700743e-01 -2.76516683e-03 9.84794601e-01 -4.06799712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:-46.90, Z:-4.06 [[ 8.66601027e-01 -4.74600815e-01 -1.54132175e-01 1.33711663e+02] [ 4.67826726e-01 8.80196627e-01 -7.99503112e-02 -4.69044096e+01] [ 1.73611103e-01 -2.82212907e-03 9.84810246e-01 -4.06347126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.74, Y:-46.89, Z:-4.06 [[ 8.66056684e-01 -4.75288154e-01 -1.55070921e-01 1.33735557e+02] [ 4.68434835e-01 8.79825268e-01 -8.04754842e-02 -4.68891263e+01] [ 1.74684359e-01 -2.94429013e-03 9.84620082e-01 -4.05827888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.76, Y:-46.87, Z:-4.05 [[ 8.64689264e-01 -4.77583594e-01 -1.55648281e-01 1.33757448e+02] [ 4.70711210e-01 8.78579740e-01 -8.07997357e-02 -4.68706986e+01] [ 1.75338054e-01 -3.39872644e-03 9.84502420e-01 -4.05261961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-46.85, Z:-4.05 [[ 8.63466941e-01 -4.79297463e-01 -1.57158466e-01 1.33781014e+02] [ 4.72313535e-01 8.77644460e-01 -8.16096012e-02 -4.68538005e+01] [ 1.77044531e-01 -3.76087764e-03 9.84195656e-01 -4.04648548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-46.84, Z:-4.04 [[ 8.63069553e-01 -4.80179416e-01 -1.56648252e-01 1.33805218e+02] [ 4.73253315e-01 8.77161547e-01 -8.13567482e-02 -4.68367434e+01] [ 1.76471659e-01 -3.91777239e-03 9.84297925e-01 -4.04119805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:-46.88, Z:-4.05 [[ 8.55874833e-01 -4.69531620e-01 -2.16837101e-01 1.33858156e+02] [ 4.74365121e-01 8.79725582e-01 -3.25673457e-02 -4.68815512e+01] [ 2.06048543e-01 -7.49863859e-02 9.75664409e-01 -4.04729067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:-46.74, Z:-4.01 [[ 8.62509470e-01 -4.90768296e-01 -1.23385144e-01 1.33816550e+02] [ 4.73226077e-01 8.68608803e-01 -1.46887123e-01 -4.67400769e+01] [ 1.79260965e-01 6.83024669e-02 9.81427674e-01 -4.01118676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:-46.85, Z:-4.04 [[ 8.55583133e-01 -4.67603713e-01 -2.22090680e-01 1.33907289e+02] [ 4.72550036e-01 8.80657807e-01 -3.37385604e-02 -4.68457585e+01] [ 2.11362167e-01 -7.60828157e-02 9.74442117e-01 -4.03535204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:-46.70, Z:-4.00 [[ 8.63865303e-01 -4.88849719e-01 -1.21501813e-01 1.33864930e+02] [ 4.71614838e-01 8.69659299e-01 -1.45849749e-01 -4.67041136e+01] [ 1.76963791e-01 6.86924797e-02 9.81817274e-01 -3.99850009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:-46.82, Z:-4.03 [[ 8.57676869e-01 -4.64101901e-01 -2.21359017e-01 1.33957984e+02] [ 4.71625625e-01 8.81551088e-01 -2.09033547e-02 -4.68198890e+01] [ 2.04840569e-01 -8.64702609e-02 9.74968325e-01 -4.02617425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:-46.66, Z:-3.98 [[ 8.65018523e-01 -4.89043194e-01 -1.12159308e-01 1.33906289e+02] [ 4.71026354e-01 8.68527526e-01 -1.54253396e-01 -4.66614938e+01] [ 1.72850020e-01 8.06020550e-02 9.81644630e-01 -3.98170180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-46.71, Z:-4.00 [[ 8.66710898e-01 -4.74656146e-01 -1.53341976e-01 1.33972254e+02] [ 4.68016078e-01 8.80165709e-01 -7.91787642e-02 -4.67091694e+01] [ 1.72549036e-01 -3.14141221e-03 9.84995920e-01 -3.99918565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-46.69, Z:-3.99 [[ 8.67757758e-01 -4.72913897e-01 -1.52803535e-01 1.33999091e+02] [ 4.66310390e-01 8.81103974e-01 -7.88061297e-02 -4.66907285e+01] [ 1.71904316e-01 -2.86924588e-03 9.85109473e-01 -3.99280017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.06, Y:-46.75, Z:-4.00 [[ 8.60900841e-01 -4.57019593e-01 -2.23568408e-01 1.34059923e+02] [ 4.66010077e-01 8.84669158e-01 -1.39674096e-02 -4.67473055e+01] [ 2.04167456e-01 -9.21605765e-02 9.74588158e-01 -4.00284500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-46.58, Z:-3.95 [[ 8.69379347e-01 -4.82214971e-01 -1.07927164e-01 1.34003020e+02] [ 4.63973253e-01 8.71738567e-01 -1.57482354e-01 -4.65798698e+01] [ 1.70024619e-01 8.68365888e-02 9.81606355e-01 -3.95185154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.07, Y:-46.63, Z:-3.97 [[ 8.70489635e-01 -4.68866088e-01 -1.49707668e-01 1.34073958e+02] [ 4.62506139e-01 8.83266482e-01 -7.69960567e-02 -4.66347748e+01] [ 1.68332605e-01 -2.21644619e-03 9.85727762e-01 -3.97341040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-46.62, Z:-3.97 [[ 8.70700184e-01 -4.68415382e-01 -1.49894026e-01 1.34101074e+02] [ 4.62048886e-01 8.83505585e-01 -7.69981080e-02 -4.66165659e+01] [ 1.68499308e-01 -2.21610095e-03 9.85699281e-01 -3.96915184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:-46.66, Z:-3.98 [[ 8.65001768e-01 -4.54824290e-01 -2.11912263e-01 1.34157203e+02] [ 4.61129276e-01 8.87069365e-01 -2.16271374e-02 -4.66595545e+01] [ 1.97817424e-01 -7.90114362e-02 9.77049364e-01 -3.98089147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.11, Y:-46.51, Z:-3.93 [[ 8.71171004e-01 -4.78880128e-01 -1.08327762e-01 1.34110422e+02] [ 4.62900629e-01 8.74652341e-01 -1.43896804e-01 -4.65110138e+01] [ 1.63658450e-01 7.52137339e-02 9.83645671e-01 -3.93313812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:-46.56, Z:-3.95 [[ 8.71480836e-01 -4.68847694e-01 -1.43885341e-01 1.34175737e+02] [ 4.63023615e-01 8.83275803e-01 -7.37088058e-02 -4.65579307e+01] [ 1.61648644e-01 -2.38649897e-03 9.86845490e-01 -3.95197328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:-46.54, Z:-3.95 [[ 8.70699347e-01 -4.69680935e-01 -1.45885116e-01 1.34204401e+02] [ 4.63719734e-01 8.82832229e-01 -7.46409002e-02 -4.65416062e+01] [ 1.63849490e-01 -2.66002418e-03 9.86481763e-01 -3.94564010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:-46.52, Z:-3.94 [[ 8.68941926e-01 -4.72641424e-01 -1.46799230e-01 1.34232976e+02] [ 4.66661938e-01 8.81248581e-01 -7.50171622e-02 -4.65247935e+01] [ 1.64822832e-01 -3.32005577e-03 9.86317602e-01 -3.94128711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-46.51, Z:-3.94 [[ 8.68096645e-01 -4.73896044e-01 -1.47752340e-01 1.34261998e+02] [ 4.67871547e-01 8.80573176e-01 -7.54128448e-02 -4.65091069e+01] [ 1.65844596e-01 -3.66347836e-03 9.86145095e-01 -3.93631719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-46.49, Z:-3.93 [[ 8.67643317e-01 -4.75473645e-01 -1.45326828e-01 1.34290561e+02] [ 4.69682846e-01 8.79720983e-01 -7.40878979e-02 -4.64934674e+01] [ 1.63073902e-01 -3.97564851e-03 9.86605847e-01 -3.93053936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-46.48, Z:-3.92 [[ 8.67428018e-01 -4.75690522e-01 -1.45901205e-01 1.34318864e+02] [ 4.69871212e-01 8.79603107e-01 -7.42927833e-02 -4.64774891e+01] [ 1.63675527e-01 -4.11113452e-03 9.86505662e-01 -3.92374933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:-46.46, Z:-3.92 [[ 8.68662644e-01 -4.73972493e-01 -1.44136350e-01 1.34345678e+02] [ 4.68284475e-01 8.80531380e-01 -7.33085237e-02 -4.64592363e+01] [ 1.61662803e-01 -3.81643891e-03 9.86838676e-01 -3.91556213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:-46.44, Z:-3.91 [[ 8.68823817e-01 -4.73287371e-01 -1.45410590e-01 1.34373923e+02] [ 4.67502937e-01 8.80899886e-01 -7.38674183e-02 -4.64430791e+01] [ 1.63052689e-01 -3.80210570e-03 9.86610037e-01 -3.91009650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-46.43, Z:-3.91 [[ 8.69519388e-01 -4.71834659e-01 -1.45972902e-01 1.34402696e+02] [ 4.65999398e-01 8.81679609e-01 -7.40650242e-02 -4.64277082e+01] [ 1.63647777e-01 -3.62230998e-03 9.86512181e-01 -3.90552753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:-46.41, Z:-3.90 [[ 8.69412041e-01 -4.71753233e-01 -1.46872698e-01 1.34431709e+02] [ 4.65859198e-01 8.81722815e-01 -7.44317546e-02 -4.64124637e+01] [ 1.64614429e-01 -3.71013357e-03 9.86351015e-01 -3.90032803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.46, Y:-46.40, Z:-3.89 [[ 8.70078366e-01 -4.70976816e-01 -1.45411402e-01 1.34460757e+02] [ 4.65203780e-01 8.82138224e-01 -7.36043236e-02 -4.63970716e+01] [ 1.62938886e-01 -3.60440405e-03 9.86629580e-01 -3.89324205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.49, Y:-46.38, Z:-3.89 [[ 8.70176893e-01 -4.70783390e-01 -1.45448186e-01 1.34490246e+02] [ 4.65019826e-01 8.82241277e-01 -7.35315611e-02 -4.63821557e+01] [ 1.62937831e-01 -3.65082489e-03 9.86629583e-01 -3.88735811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:-46.37, Z:-3.88 [[ 8.70139882e-01 -4.70994000e-01 -1.44987022e-01 1.34519293e+02] [ 4.65275676e-01 8.82128617e-01 -7.32642424e-02 -4.63670950e+01] [ 1.62404220e-01 -3.70879540e-03 9.86717343e-01 -3.88107503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:-46.35, Z:-3.87 [[ 8.69658458e-01 -4.71894125e-01 -1.44948618e-01 1.34547941e+02] [ 4.66205582e-01 8.81646360e-01 -7.31577177e-02 -4.63525488e+01] [ 1.62316118e-01 -3.95362662e-03 9.86730889e-01 -3.87418221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-46.34, Z:-3.87 [[ 8.68674142e-01 -4.73133649e-01 -1.46798452e-01 1.34576841e+02] [ 4.67330540e-01 8.80980073e-01 -7.40018772e-02 -4.63374483e+01] [ 1.64339289e-01 -4.31988254e-03 9.86394412e-01 -3.86975407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-46.32, Z:-3.87 [[ 8.68792799e-01 -4.72768352e-01 -1.47272394e-01 1.34605288e+02] [ 4.66936945e-01 8.81176044e-01 -7.41530071e-02 -4.63215694e+01] [ 1.64830100e-01 -4.34332297e-03 9.86312412e-01 -3.86537685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.63, Y:-46.31, Z:-3.86 [[ 8.68597059e-01 -4.72814862e-01 -1.48274261e-01 1.34633838e+02] [ 4.66919094e-01 8.81150493e-01 -7.45678743e-02 -4.63051871e+01] [ 1.65908737e-01 -4.46264724e-03 9.86131013e-01 -3.85981981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:-46.29, Z:-3.85 [[ 8.68578349e-01 -4.72917882e-01 -1.48055154e-01 1.34662073e+02] [ 4.67055952e-01 8.81094736e-01 -7.43693718e-02 -4.62885076e+01] [ 1.65621223e-01 -4.55441463e-03 9.86178923e-01 -3.85443625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:-46.28, Z:-3.85 [[ 8.69013191e-01 -4.72790143e-01 -1.45895698e-01 1.34691348e+02] [ 4.67111341e-01 8.81163369e-01 -7.31991316e-02 -4.62753008e+01] [ 1.63165773e-01 -4.53852438e-03 9.86588228e-01 -3.84768997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-46.26, Z:-3.84 [[ 8.68018030e-01 -4.74767082e-01 -1.45399162e-01 1.34721921e+02] [ 4.69168937e-01 8.80097444e-01 -7.28628643e-02 -4.62642969e+01] [ 1.62558321e-01 -4.97049044e-03 9.86686418e-01 -3.84228874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.75, Y:-46.25, Z:-3.84 [[ 8.66697326e-01 -4.76805242e-01 -1.46603229e-01 1.34752010e+02] [ 4.71156867e-01 8.78991908e-01 -7.33786912e-02 -4.62502341e+01] [ 1.63850396e-01 -5.47600261e-03 9.86470000e-01 -3.83682336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.78, Y:-46.24, Z:-3.83 [[ 8.65470037e-01 -4.78601758e-01 -1.47993149e-01 1.34782014e+02] [ 4.72885856e-01 8.78011929e-01 -7.39866253e-02 -4.62359229e+01] [ 1.65349879e-01 -5.95065974e-03 9.86217018e-01 -3.83223322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.81, Y:-46.22, Z:-3.83 [[ 8.64773109e-01 -4.80014784e-01 -1.47489920e-01 1.34810971e+02] [ 4.74372646e-01 8.77237952e-01 -7.36489556e-02 -4.62219831e+01] [ 1.64736343e-01 -6.27554715e-03 9.86317674e-01 -3.82617054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.84, Y:-46.21, Z:-3.82 [[ 8.62662154e-01 -4.82798849e-01 -1.50729155e-01 1.34841375e+02] [ 4.76962044e-01 8.75702979e-01 -7.51764711e-02 -4.62090716e+01] [ 1.68289084e-01 -7.04018955e-03 9.85712544e-01 -3.82065654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:-46.20, Z:-3.82 [[ 8.62211927e-01 -4.83465293e-01 -1.51168457e-01 1.34871554e+02] [ 4.77619261e-01 8.75333348e-01 -7.53085012e-02 -4.61960624e+01] [ 1.68731838e-01 -7.26907893e-03 9.85635190e-01 -3.81541718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:-46.18, Z:-3.81 [[ 8.61958271e-01 -4.83734813e-01 -1.51751675e-01 1.34901141e+02] [ 4.77862444e-01 8.75183095e-01 -7.55118189e-02 -4.61836832e+01] [ 1.69338196e-01 -7.42838924e-03 9.85530007e-01 -3.80872040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.93, Y:-46.17, Z:-3.80 [[ 8.61783944e-01 -4.83778242e-01 -1.52600939e-01 1.34931829e+02] [ 4.77855839e-01 8.75157963e-01 -7.58441661e-02 -4.61736283e+01] [ 1.70241684e-01 -7.55996491e-03 9.85373338e-01 -3.80221803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:-46.16, Z:-3.80 [[ 8.62038426e-01 -4.83482919e-01 -1.52098714e-01 1.34961941e+02] [ 4.77601404e-01 8.75321590e-01 -7.55580046e-02 -4.61615141e+01] [ 1.69666293e-01 -7.50865580e-03 9.85472967e-01 -3.79685938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-46.15, Z:-3.79 [[ 8.62607805e-01 -4.82665907e-01 -1.51464178e-01 1.34992151e+02] [ 4.76836244e-01 8.75773341e-01 -7.51548572e-02 -4.61483104e+01] [ 1.68922977e-01 -7.39444337e-03 9.85601517e-01 -3.79078079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-46.14, Z:-3.79 [[ 8.63252138e-01 -4.81901086e-01 -1.50223469e-01 1.35022463e+02] [ 4.76170116e-01 8.76195551e-01 -7.44538592e-02 -4.61360298e+01] [ 1.67504531e-01 -7.25947350e-03 9.85844578e-01 -3.78561571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-46.13, Z:-3.78 [[ 8.63965384e-01 -4.81001144e-01 -1.49002397e-01 1.35053719e+02] [ 4.75364492e-01 8.76691209e-01 -7.37639712e-02 -4.61261893e+01] [ 1.66109646e-01 -7.10093096e-03 9.86081722e-01 -3.77946254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.08, Y:-46.11, Z:-3.77 [[ 8.64877486e-01 -4.79307080e-01 -1.49169894e-01 1.35083468e+02] [ 4.73647327e-01 8.77620452e-01 -7.37601037e-02 -4.61138709e+01] [ 1.66268290e-01 -6.86046865e-03 9.86056687e-01 -3.77181288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:-46.10, Z:-3.77 [[ 8.65904865e-01 -4.76873702e-01 -1.50997474e-01 1.35113415e+02] [ 4.71051814e-01 8.78947410e-01 -7.45763989e-02 -4.61019970e+01] [ 1.68282362e-01 -6.55156754e-03 9.85717061e-01 -3.76533989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:-46.09, Z:-3.76 [[ 8.66848685e-01 -4.75202720e-01 -1.50850029e-01 1.35143775e+02] [ 4.69381921e-01 8.79853801e-01 -7.44170760e-02 -4.60888820e+01] [ 1.68089168e-01 -6.29793202e-03 9.85751676e-01 -3.76058564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-46.08, Z:-3.76 [[ 8.67537984e-01 -4.73741126e-01 -1.51483306e-01 1.35173567e+02] [ 4.67864040e-01 8.80642890e-01 -7.46414176e-02 -4.60760067e+01] [ 1.68763406e-01 -6.11932675e-03 9.85637594e-01 -3.75596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.20, Y:-46.06, Z:-3.75 [[ 8.69356624e-01 -4.70872446e-01 -1.49994002e-01 1.35203247e+02] [ 4.65083307e-01 8.82183638e-01 -7.38210444e-02 -4.60634609e+01] [ 1.67082550e-01 -5.58289263e-03 9.85927103e-01 -3.74980915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:-46.05, Z:-3.74 [[ 8.70130526e-01 -4.69585199e-01 -1.49541329e-01 1.35231909e+02] [ 4.63826999e-01 8.82870667e-01 -7.35112319e-02 -4.60484164e+01] [ 1.66545439e-01 -5.39693901e-03 9.86019011e-01 -3.74253298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:-46.03, Z:-3.74 [[ 8.70864158e-01 -4.68164525e-01 -1.49725071e-01 1.35260454e+02] [ 4.62386157e-01 8.83625954e-01 -7.35133642e-02 -4.60329267e+01] [ 1.66717308e-01 -5.21064643e-03 9.85990968e-01 -3.73609446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-46.02, Z:-3.73 [[ 8.71145663e-01 -4.67383275e-01 -1.50526104e-01 1.35289580e+02] [ 4.61546094e-01 8.84039681e-01 -7.38176500e-02 -4.60173136e+01] [ 1.67572184e-01 -5.16880966e-03 9.85846259e-01 -3.73015978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-46.00, Z:-3.73 [[ 8.70392367e-01 -4.68082643e-01 -1.52695013e-01 1.35319280e+02] [ 4.62101445e-01 8.83667800e-01 -7.47895328e-02 -4.60033884e+01] [ 1.69939348e-01 -5.46434753e-03 9.85439374e-01 -3.72780632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.35, Y:-45.99, Z:-3.72 [[ 8.70221817e-01 -4.68192798e-01 -1.53328054e-01 1.35349179e+02] [ 4.62178982e-01 8.83608652e-01 -7.50089303e-02 -4.59903043e+01] [ 1.70600636e-01 -5.59059636e-03 9.85324397e-01 -3.72164117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:-45.98, Z:-3.71 [[ 8.70294933e-01 -4.68281647e-01 -1.52640194e-01 1.35379651e+02] [ 4.62338740e-01 8.83561112e-01 -7.45831770e-02 -4.59786968e+01] [ 1.69792873e-01 -5.66211402e-03 9.85463506e-01 -3.71484329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:-45.96, Z:-3.71 [[ 8.69564676e-01 -4.69115252e-01 -1.54234093e-01 1.35409508e+02] [ 4.63075702e-01 8.83116779e-01 -7.52705052e-02 -4.59648598e+01] [ 1.71517257e-01 -5.96948837e-03 9.85163030e-01 -3.70898866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:-46.00, Z:-3.71 [[ 8.64178966e-01 -4.56747706e-01 -2.11130879e-01 1.35464795e+02] [ 4.60397401e-01 8.87041459e-01 -3.45207762e-02 -4.60047190e+01] [ 2.03049128e-01 -6.73719791e-02 9.76848027e-01 -3.71346829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:-45.94, Z:-3.69 [[ 8.61973058e-01 -4.71219888e-01 -1.86960599e-01 1.35458976e+02] [ 4.61494595e-01 8.82006196e-01 -9.53299976e-02 -4.59423550e+01] [ 2.09821798e-01 -4.10941643e-03 9.77731009e-01 -3.69496828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:-45.89, Z:-3.68 [[ 8.68956068e-01 -4.79214456e-01 -1.23567217e-01 1.35464198e+02] [ 4.65213015e-01 8.76139361e-01 -1.26319714e-01 -4.58862766e+01] [ 1.68796336e-01 5.22812046e-02 9.84263416e-01 -3.67636002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.52, Y:-45.92, Z:-3.69 [[ 8.69944048e-01 -4.70049081e-01 -1.49168411e-01 1.35520767e+02] [ 4.64441882e-01 8.82619301e-01 -7.26423260e-02 -4.59222756e+01] [ 1.65804377e-01 -6.08529853e-03 9.86139887e-01 -3.68609907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-45.91, Z:-3.68 [[ 8.69811274e-01 -4.69858367e-01 -1.50537246e-01 1.35549913e+02] [ 4.64159383e-01 8.82720145e-01 -7.32203013e-02 -4.59084154e+01] [ 1.67285431e-01 -6.18543165e-03 9.85889104e-01 -3.68080593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.58, Y:-45.89, Z:-3.68 [[ 8.70363380e-01 -4.68564456e-01 -1.51376804e-01 1.35580098e+02] [ 4.62797021e-01 8.83408596e-01 -7.35402554e-02 -4.58947887e+01] [ 1.68185919e-01 -6.04998857e-03 9.85736727e-01 -3.67525845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.65, Y:-45.97, Z:-3.68 [[ 8.63598763e-01 -4.51662652e-01 -2.24049158e-01 1.35646966e+02] [ 4.62136486e-01 8.86785921e-01 -6.37173853e-03 -4.59681468e+01] [ 2.01561515e-01 -9.80386651e-02 9.74557015e-01 -3.68406657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:-45.80, Z:-3.64 [[ 8.72545011e-01 -4.76832535e-01 -1.06282348e-01 1.35594276e+02] [ 4.59250568e-01 8.74786018e-01 -1.54396692e-01 -4.57992506e+01] [ 1.66595679e-01 8.59078347e-02 9.82275788e-01 -3.63683410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:-45.86, Z:-3.65 [[ 8.74626074e-01 -4.61701795e-01 -1.47853587e-01 1.35664273e+02] [ 4.56137456e-01 8.87022237e-01 -7.16252246e-02 -4.58601073e+01] [ 1.64218914e-01 -4.79627001e-03 9.86412259e-01 -3.65464449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:-45.85, Z:-3.65 [[ 8.75582009e-01 -4.59771297e-01 -1.48211000e-01 1.35693548e+02] [ 4.54166955e-01 8.88025840e-01 -7.17111242e-02 -4.58451737e+01] [ 1.64585914e-01 -4.52356819e-03 9.86352378e-01 -3.64798286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.72, Y:-45.83, Z:-3.64 [[ 8.76509160e-01 -4.58047739e-01 -1.48067420e-01 1.35723255e+02] [ 4.52444449e-01 8.88917318e-01 -7.15543245e-02 -4.58315767e+01] [ 1.64394990e-01 -4.27426125e-03 9.86385329e-01 -3.64133372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-45.88, Z:-3.65 [[ 8.75118476e-01 -4.39892075e-01 -2.01649736e-01 1.35780843e+02] [ 4.44713331e-01 8.95370969e-01 -2.32568638e-02 -4.58766480e+01] [ 1.90781829e-01 -6.93238146e-02 9.79181547e-01 -3.64600348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-45.75, Z:-3.61 [[ 8.79390305e-01 -4.61445239e-01 -1.17221941e-01 1.35748852e+02] [ 4.47317538e-01 8.85100978e-01 -1.28465089e-01 -4.57535831e+01] [ 1.63032858e-01 6.05355238e-02 9.84761767e-01 -3.61373322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.84, Y:-45.85, Z:-3.64 [[ 8.75917874e-01 -4.37252789e-01 -2.03906536e-01 1.35835250e+02] [ 4.42460818e-01 8.96522534e-01 -2.18121472e-02 -4.58519404e+01] [ 1.92344227e-01 -7.11150032e-02 9.78747340e-01 -3.63613759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.80, Y:-45.73, Z:-3.60 [[ 8.81702519e-01 -4.58652050e-01 -1.10629852e-01 1.35801148e+02] [ 4.45036243e-01 8.86349223e-01 -1.27780266e-01 -4.57260622e+01] [ 1.56663364e-01 6.34298892e-02 9.85613129e-01 -3.60119839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:-45.77, Z:-3.61 [[ 8.82694471e-01 -4.48571652e-01 -1.40121175e-01 1.35860431e+02] [ 4.43449031e-01 8.93743570e-01 -6.76416062e-02 -4.57671049e+01] [ 1.55574506e-01 -2.42972756e-03 9.87821173e-01 -3.61293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:-45.75, Z:-3.61 [[ 8.82191057e-01 -4.49123731e-01 -1.41516124e-01 1.35889035e+02] [ 4.43918763e-01 8.93465698e-01 -6.82288668e-02 -4.57522664e+01] [ 1.57083006e-01 -2.63076666e-03 9.87581900e-01 -3.60765156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.92, Y:-45.73, Z:-3.60 [[ 8.81758608e-01 -4.48963906e-01 -1.44682994e-01 1.35917199e+02] [ 4.43534479e-01 8.93545680e-01 -6.96655110e-02 -4.57348848e+01] [ 1.60558164e-01 -2.74373240e-03 9.87022567e-01 -3.60254366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:-45.80, Z:-3.61 [[ 8.73196605e-01 -4.35747523e-01 -2.18292890e-01 1.35978540e+02] [ 4.45191389e-01 8.95411354e-01 -6.56764605e-03 -4.57998458e+01] [ 1.98323768e-01 -9.14472685e-02 9.75861199e-01 -3.61126769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.93, Y:-45.64, Z:-3.57 [[ 8.81922435e-01 -4.60547603e-01 -1.00542153e-01 1.35929043e+02] [ 4.44549404e-01 8.83509767e-01 -1.47601895e-01 -4.56358791e+01] [ 1.56807673e-01 8.54774683e-02 9.83923247e-01 -3.56633384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.00, Y:-45.70, Z:-3.58 [[ 8.82064962e-01 -4.49792439e-01 -1.40171911e-01 1.35998148e+02] [ 4.44737769e-01 8.93128178e-01 -6.73080517e-02 -4.56960160e+01] [ 1.55466136e-01 -2.96966905e-03 9.87836759e-01 -3.58473346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.03, Y:-45.68, Z:-3.58 [[ 8.81104710e-01 -4.51919268e-01 -1.39368095e-01 1.36027603e+02] [ 4.46962262e-01 8.92052358e-01 -6.68380706e-02 -4.56823901e+01] [ 1.54529050e-01 -3.40094021e-03 9.87982392e-01 -3.58009282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:-45.67, Z:-3.57 [[ 8.80315934e-01 -4.53583152e-01 -1.38946685e-01 1.36057113e+02] [ 4.48689746e-01 8.91206045e-01 -6.65529702e-02 -4.56695664e+01] [ 1.54017432e-01 -3.75631273e-03 9.88060990e-01 -3.57444761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.09, Y:-45.66, Z:-3.57 [[ 8.79210361e-01 -4.55820321e-01 -1.38625306e-01 1.36087373e+02] [ 4.50990131e-01 8.90061844e-01 -6.63160311e-02 -4.56579945e+01] [ 1.53613290e-01 -4.21290323e-03 9.88122062e-01 -3.56900658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.12, Y:-45.65, Z:-3.56 [[ 8.76596139e-01 -4.60682424e-01 -1.39107560e-01 1.36120409e+02] [ 4.55891842e-01 8.87550068e-01 -6.64643125e-02 -4.56506093e+01] [ 1.54083865e-01 -5.15564217e-03 9.88044322e-01 -3.56455036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:-45.69, Z:-3.57 [[ 8.72762695e-01 -4.49828019e-01 -1.89578562e-01 1.36176999e+02] [ 4.54262712e-01 8.90598445e-01 -2.19043012e-02 -4.56933986e+01] [ 1.78691541e-01 -6.70012147e-02 9.81621195e-01 -3.56840672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-45.58, Z:-3.54 [[ 8.74218346e-01 -4.72910247e-01 -1.09991733e-01 1.36153036e+02] [ 4.60762728e-01 8.79483881e-01 -1.19188134e-01 -4.55843543e+01] [ 1.53101246e-01 5.35163621e-02 9.86760360e-01 -3.53899766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-45.62, Z:-3.55 [[ 8.74899782e-01 -4.64715750e-01 -1.36343837e-01 1.36210545e+02] [ 4.60177676e-01 8.85440715e-01 -6.50480290e-02 -4.56234231e+01] [ 1.50953229e-01 -5.83188383e-03 9.88523703e-01 -3.54692039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.24, Y:-45.62, Z:-3.54 [[ 8.76338647e-01 -4.61659158e-01 -1.37482351e-01 1.36242866e+02] [ 4.57019540e-01 8.87040823e-01 -6.55112073e-02 -4.56159906e+01] [ 1.52196307e-01 -5.42211791e-03 9.88335411e-01 -3.54204274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:-45.66, Z:-3.54 [[ 8.71297259e-01 -4.48978927e-01 -1.98138864e-01 1.36296769e+02] [ 4.53671969e-01 8.90854131e-01 -2.36782847e-02 -4.56615818e+01] [ 1.87143876e-01 -6.92592240e-02 9.79887917e-01 -3.54462948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-45.55, Z:-3.52 [[ 8.80976748e-01 -4.60714101e-01 -1.07807639e-01 1.36272342e+02] [ 4.48260643e-01 8.85602483e-01 -1.21534513e-01 -4.55455653e+01] [ 1.51467377e-01 5.87431585e-02 9.86715194e-01 -3.51634993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-45.59, Z:-3.53 [[ 8.84189004e-01 -4.46813214e-01 -1.36263555e-01 1.36329287e+02] [ 4.42103009e-01 8.94622342e-01 -6.47749495e-02 -4.55920910e+01] [ 1.50846724e-01 -2.96922970e-03 9.88552704e-01 -3.52690072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-45.58, Z:-3.52 [[ 8.84148217e-01 -4.46895084e-01 -1.36259736e-01 1.36355422e+02] [ 4.42184607e-01 8.94581432e-01 -6.47829832e-02 -4.55796675e+01] [ 1.50846626e-01 -2.97419861e-03 9.88552704e-01 -3.52221605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:136.39, Y:-45.60, Z:-3.52 [[ 8.79783857e-01 -4.36434369e-01 -1.88428782e-01 1.36394668e+02] [ 4.34396656e-01 8.99087929e-01 -5.42258286e-02 -4.56007978e+01] [ 1.93080059e-01 -3.41458242e-02 9.80588677e-01 -3.51939123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-45.59, Z:-3.51 [[ 8.86411781e-01 -4.31010229e-01 -1.68832275e-01 1.36415930e+02] [ 4.29333898e-01 9.01857057e-01 -4.82312489e-02 -4.55877682e+01] [ 1.73050740e-01 -2.97326714e-02 9.84464022e-01 -3.51474108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-45.56, Z:-3.51 [[ 8.86419093e-01 -4.31921490e-01 -1.66448244e-01 1.36436581e+02] [ 4.27421082e-01 9.01794107e-01 -6.38639766e-02 -4.55636707e+01] [ 1.77686270e-01 -1.45332406e-02 9.83979865e-01 -3.50682836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.46, Y:-45.55, Z:-3.50 [[ 8.87533452e-01 -4.30478756e-01 -1.64232799e-01 1.36459345e+02] [ 4.24146431e-01 9.02590664e-01 -7.36878403e-02 -4.55481517e+01] [ 1.79956041e-01 -4.25833219e-03 9.83665436e-01 -3.50246631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.47, Y:-45.50, Z:-3.49 [[ 8.89529010e-01 -4.32936953e-01 -1.45957991e-01 1.36466455e+02] [ 4.19588958e-01 9.00529832e-01 -1.13978627e-01 -4.54990034e+01] [ 1.80785085e-01 4.01449339e-02 9.82702975e-01 -3.49085301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:-45.49, Z:-3.49 [[ 8.95698864e-01 -4.29527365e-01 -1.15020819e-01 1.36493703e+02] [ 4.20997003e-01 9.02429008e-01 -9.15609556e-02 -4.54897547e+01] [ 1.43126060e-01 3.35876236e-02 9.89134370e-01 -3.48670679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:-45.54, Z:-3.49 [[ 8.89797293e-01 -4.17743167e-01 -1.83715605e-01 1.36547173e+02] [ 4.16821477e-01 9.07848403e-01 -4.55097159e-02 -4.55386336e+01] [ 1.85797291e-01 -3.60821876e-02 9.81925375e-01 -3.49482251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.57, Y:-45.53, Z:-3.49 [[ 8.93137170e-01 -4.14906461e-01 -1.73662386e-01 1.36571631e+02] [ 4.14911735e-01 9.09066515e-01 -3.80305639e-02 -4.55262161e+01] [ 1.73649787e-01 -3.80880516e-02 9.84070654e-01 -3.49208455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.55, Y:-45.41, Z:-3.46 [[ 8.97138823e-01 -4.31238378e-01 -9.57882720e-02 1.36546848e+02] [ 4.18255498e-01 8.98989186e-01 -1.29926063e-01 -4.54138505e+01] [ 1.42141725e-01 7.64977438e-02 9.86885923e-01 -3.46497494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:136.62, Y:-45.50, Z:-3.48 [[ 8.89202924e-01 -4.19907399e-01 -1.81647836e-01 1.36621266e+02] [ 4.19332288e-01 9.06791310e-01 -4.34735932e-02 -4.54997466e+01] [ 1.82971563e-01 -3.75139566e-02 9.82402214e-01 -3.47973609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.63, Y:-45.45, Z:-3.47 [[ 8.87304916e-01 -4.29585075e-01 -1.67769632e-01 1.36628642e+02] [ 4.21639059e-01 9.03023554e-01 -8.22737151e-02 -4.54534332e+01] [ 1.86843490e-01 2.26364184e-03 9.82387086e-01 -3.46741624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-45.41, Z:-3.46 [[ 8.92507029e-01 -4.37511916e-01 -1.09610794e-01 1.36639097e+02] [ 4.29297574e-01 8.98561655e-01 -9.10524317e-02 -4.54131750e+01] [ 1.38328580e-01 3.42092873e-02 9.89795397e-01 -3.45765987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.68, Y:-45.43, Z:-3.46 [[ 8.91037655e-01 -4.36785031e-01 -1.23574809e-01 1.36679021e+02] [ 4.32746145e-01 8.99565667e-01 -5.92653807e-02 -4.54290988e+01] [ 1.37049886e-01 -6.68836101e-04 9.90563921e-01 -3.46097969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.74, Y:-45.50, Z:-3.47 [[ 8.81353077e-01 -4.26628642e-01 -2.02989543e-01 1.36743198e+02] [ 4.37103128e-01 8.99379347e-01 7.59249444e-03 -4.54986029e+01] [ 1.79325427e-01 -9.54190325e-02 9.79151469e-01 -3.46859601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:-45.32, Z:-3.43 [[ 8.89261992e-01 -4.49755910e-01 -8.32630279e-02 1.36691269e+02] [ 4.35661213e-01 8.88299854e-01 -1.45336427e-01 -4.53236857e+01] [ 1.39328453e-01 9.29676890e-02 9.85872502e-01 -3.43071831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-45.39, Z:-3.45 [[ 8.89331955e-01 -4.39557664e-01 -1.26006876e-01 1.36760900e+02] [ 4.35394377e-01 8.98213602e-01 -6.03660684e-02 -4.53938594e+01] [ 1.39715458e-01 -1.17721189e-03 9.90190994e-01 -3.44798710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:-45.38, Z:-3.44 [[ 8.89349581e-01 -4.39732390e-01 -1.25270703e-01 1.36787092e+02] [ 4.35618202e-01 8.98128060e-01 -6.00230766e-02 -4.53808579e+01] [ 1.38903224e-01 -1.18870028e-03 9.90305247e-01 -3.44298618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:136.81, Y:-45.36, Z:-3.44 [[ 8.89281425e-01 -4.39864710e-01 -1.25289996e-01 1.36813221e+02] [ 4.35749134e-01 8.98063247e-01 -6.00424543e-02 -4.53647635e+01] [ 1.38928897e-01 -1.20036786e-03 9.90301631e-01 -3.43976190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.84, Y:-45.36, Z:-3.44 [[ 8.89685545e-01 -4.38943593e-01 -1.25650915e-01 1.36841503e+02] [ 4.34795062e-01 8.98513995e-01 -6.02150750e-02 -4.53550463e+01] [ 1.39330127e-01 -1.05991559e-03 9.90245420e-01 -3.43843706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:-45.45, Z:-3.44 [[ 8.81672373e-01 -4.21785665e-01 -2.11543567e-01 1.36912740e+02] [ 4.35630624e-01 8.99870662e-01 2.14184766e-02 -4.54453320e+01] [ 1.81327843e-01 -1.11038935e-01 9.77133854e-01 -3.44210011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.85, Y:-45.24, Z:-3.40 [[ 8.92152547e-01 -4.46077369e-01 -7.12657895e-02 1.36846344e+02] [ 4.31719601e-01 8.88386353e-01 -1.56166173e-01 -4.52427929e+01] [ 1.32973750e-01 1.08557211e-01 9.85156492e-01 -3.39941622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:-45.32, Z:-3.42 [[ 8.93977713e-01 -4.31741888e-01 -1.20011631e-01 1.36920577e+02] [ 4.27906450e-01 9.01997196e-01 -5.74206267e-02 -4.53212629e+01] [ 1.33041044e-01 -2.09904854e-05 9.91110529e-01 -3.41932607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:-45.31, Z:-3.42 [[ 8.95910437e-01 -4.27622950e-01 -1.20345760e-01 1.36947164e+02] [ 4.23727708e-01 9.03956996e-01 -5.75897447e-02 -4.53107949e+01] [ 1.33414088e-01 6.01420339e-04 9.91060200e-01 -3.41596572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.97, Y:-45.30, Z:-3.41 [[ 8.96674528e-01 -4.26138860e-01 -1.19918563e-01 1.36973095e+02] [ 4.22256279e-01 9.04657382e-01 -5.73990840e-02 -4.52984210e+01] [ 1.32945194e-01 8.31930175e-04 9.91123041e-01 -3.41119182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:137.00, Y:-45.28, Z:-3.41 [[ 8.98012749e-01 -4.23001575e-01 -1.21007314e-01 1.36997179e+02] [ 4.19016815e-01 9.06127976e-01 -5.79396284e-02 -4.52837083e+01] [ 1.34156666e-01 1.32642582e-03 9.90959247e-01 -3.40713770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-45.35, Z:-3.41 [[ 8.92405906e-01 -4.09525389e-01 -1.89474682e-01 1.37057801e+02] [ 4.18722604e-01 9.08064777e-01 9.47326131e-03 -4.53524931e+01] [ 1.68175744e-01 -8.77913266e-02 9.81839907e-01 -3.41268378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:-45.22, Z:-3.38 [[ 8.94052756e-01 -4.29286182e-01 -1.27996262e-01 1.37025560e+02] [ 4.16058817e-01 9.01660871e-01 -1.17909860e-01 -4.52197741e+01] [ 1.66026295e-01 5.21636615e-02 9.84740688e-01 -3.38462281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-45.21, Z:-3.38 [[ 8.98578565e-01 -4.27287854e-01 -9.99082134e-02 1.37056540e+02] [ 4.19575443e-01 9.03294111e-01 -8.95332116e-02 -4.52144663e+01] [ 1.28502955e-01 3.85335920e-02 9.90960218e-01 -3.38275954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.13, Y:-45.31, Z:-3.39 [[ 8.88454494e-01 -4.12543414e-01 -2.01138120e-01 1.37131834e+02] [ 4.20680395e-01 9.07205418e-01 -2.51683912e-03 -4.53055571e+01] [ 1.83511897e-01 -8.23787667e-02 9.79559657e-01 -3.39345359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.11, Y:-45.19, Z:-3.37 [[ 8.94406966e-01 -4.26384456e-01 -1.35027686e-01 1.37105941e+02] [ 4.14197741e-01 9.03560647e-01 -1.09628408e-01 -4.51851926e+01] [ 1.68749552e-01 4.21242494e-02 9.84758415e-01 -3.37443169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.15, Y:-45.21, Z:-3.38 [[ 8.93857342e-01 -4.20825664e-01 -1.54676478e-01 1.37150037e+02] [ 4.15500093e-01 9.07130471e-01 -6.68878277e-02 -4.52125855e+01] [ 1.68459861e-01 -4.47991528e-03 9.85698334e-01 -3.37848237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.15, Y:-45.15, Z:-3.36 [[ 9.00462792e-01 -4.25305977e-01 -9.10032220e-02 1.37151563e+02] [ 4.17014558e-01 9.03693692e-01 -9.71420057e-02 -4.51513065e+01] [ 1.23554113e-01 4.95230932e-02 9.91101329e-01 -3.36433241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:137.22, Y:-45.22, Z:-3.37 [[ 8.94472022e-01 -4.13891048e-01 -1.69156739e-01 1.37218497e+02] [ 4.15299695e-01 9.09232817e-01 -2.86678838e-02 -4.52186222e+01] [ 1.65668239e-01 -4.46081221e-02 9.85172142e-01 -3.37366333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.21, Y:-45.13, Z:-3.36 [[ 9.01667902e-01 -4.22488081e-01 -9.21890254e-02 1.37205048e+02] [ 4.14314356e-01 9.05094146e-01 -9.56462354e-02 -4.51261829e+01] [ 1.23849142e-01 4.80459037e-02 9.91137216e-01 -3.35536137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27232058799999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:137.27, Y:-45.19, Z:-3.37 [[ 8.96490992e-01 -4.09100596e-01 -1.70119382e-01 1.37270696e+02] [ 4.11033933e-01 9.11267616e-01 -2.53463544e-02 -4.51933224e+01] [ 1.65393492e-01 -4.72020601e-02 9.85097436e-01 -3.36537537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:-45.09, Z:-3.35 [[ 9.03714079e-01 -4.18156348e-01 -9.19028443e-02 1.37253812e+02] [ 4.09534911e-01 9.06884650e-01 -9.92037701e-02 -4.50926553e+01] [ 1.24827965e-01 5.20144205e-02 9.90814049e-01 -3.34716955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:-45.18, Z:-3.36 [[ 8.96816923e-01 -4.03916734e-01 -1.80473484e-01 1.37328853e+02] [ 4.08874680e-01 9.12529793e-01 -1.05296443e-02 -4.51796547e+01] [ 1.68940531e-01 -6.43478749e-02 9.83523486e-01 -3.35840839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:-45.05, Z:-3.33 [[ 9.04605240e-01 -4.18429829e-01 -8.12763106e-02 1.37297344e+02] [ 4.08726391e-01 9.05611802e-01 -1.13181278e-01 -4.50504300e+01] [ 1.20963209e-01 6.91646039e-02 9.90244495e-01 -3.33130736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.35, Y:-45.09, Z:-3.34 [[ 9.04289386e-01 -4.11563014e-01 -1.13475067e-01 1.37353482e+02] [ 4.07960493e-01 9.11376653e-01 -5.44135254e-02 -4.50898146e+01] [ 1.25813121e-01 2.91222915e-03 9.92049685e-01 -3.34259715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:-45.08, Z:-3.34 [[ 9.04773100e-01 -4.10570909e-01 -1.13212919e-01 1.37379554e+02] [ 4.06978583e-01 9.11823625e-01 -5.42780885e-02 -4.50751141e+01] [ 1.25515218e-01 3.03412115e-03 9.92087055e-01 -3.33915088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.41, Y:-45.06, Z:-3.33 [[ 9.04776820e-01 -4.11446605e-01 -1.09957247e-01 1.37405736e+02] [ 4.08064069e-01 9.11429453e-01 -5.27263481e-02 -4.50597051e+01] [ 1.21912350e-01 2.83597597e-03 9.92536818e-01 -3.33364516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-45.04, Z:-3.33 [[ 9.04926419e-01 -4.11093337e-01 -1.10047464e-01 1.37434657e+02] [ 4.07702033e-01 9.11588676e-01 -5.27744050e-02 -4.50438950e+01] [ 1.22013228e-01 2.89037854e-03 9.92524266e-01 -3.32840015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-45.08, Z:-3.33 [[ 8.98317434e-01 -4.03856158e-01 -1.72991306e-01 1.37485759e+02] [ 4.07045917e-01 9.13225565e-01 -1.82397856e-02 -4.50803897e+01] [ 1.65346333e-01 -5.40302874e-02 9.84754446e-01 -3.33037985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-44.97, Z:-3.31 [[ 9.04468060e-01 -4.17562107e-01 -8.70598371e-02 1.37463017e+02] [ 4.08611744e-01 9.06763996e-01 -1.03997590e-01 -4.49711591e+01] [ 1.22368178e-01 5.84888263e-02 9.90759853e-01 -3.30941312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-45.05, Z:-3.32 [[ 8.98779513e-01 -4.04306256e-01 -1.69504687e-01 1.37536838e+02] [ 4.06871109e-01 9.13246304e-01 -2.09066639e-02 -4.50495483e+01] [ 1.63252224e-01 -5.01760787e-02 9.85307603e-01 -3.32297969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.54, Y:-44.99, Z:-3.31 [[ 9.01000028e-01 -4.10447461e-01 -1.40470034e-01 1.37536323e+02] [ 4.05177453e-01 9.11881621e-01 -6.55983334e-02 -4.49886251e+01] [ 1.55016712e-01 2.18880980e-03 9.87909423e-01 -3.30816430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.56, Y:-44.97, Z:-3.30 [[ 9.02249710e-01 -4.08042603e-01 -1.39451410e-01 1.37559772e+02] [ 4.02516392e-01 9.12952365e-01 -6.70711091e-02 -4.49716876e+01] [ 1.54680364e-01 4.38341042e-03 9.87954842e-01 -3.30458910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:-44.95, Z:-3.30 [[ 9.03801340e-01 -4.04297795e-01 -1.40308346e-01 1.37581209e+02] [ 3.98448350e-01 9.14605798e-01 -6.88124054e-02 -4.49531882e+01] [ 1.56147530e-01 6.28711536e-03 9.87713734e-01 -3.30236160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:-44.94, Z:-3.30 [[ 9.04690732e-01 -4.03909704e-01 -1.35615743e-01 1.37603281e+02] [ 3.98145869e-01 9.14764449e-01 -6.84534072e-02 -4.49363273e+01] [ 1.51705456e-01 7.93431511e-03 9.88393900e-01 -3.29741605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:-44.94, Z:-3.30 [[ 9.05258634e-01 -4.02416064e-01 -1.36264880e-01 1.37631164e+02] [ 4.01131221e-01 9.15232472e-01 -3.79903357e-02 -4.49449714e+01] [ 1.40001965e-01 -2.02690184e-02 9.89943744e-01 -3.30011623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752320588 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:137.63, Y:-44.93, Z:-3.30 [[ 8.74427758e-01 -4.73566554e-01 -1.05407849e-01 1.37633891e+02] [ 4.68236546e-01 8.80650628e-01 -7.21734620e-02 -4.49279277e+01] [ 1.27006426e-01 1.37546716e-02 9.91806522e-01 -3.30075432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.64, Y:-44.82, Z:-3.26 [[ 9.09368238e-01 -4.11969066e-01 -5.77139223e-02 1.37635560e+02] [ 4.03036543e-01 9.06881458e-01 -1.22994170e-01 -4.48201782e+01] [ 1.03009479e-01 8.85861715e-02 9.90727782e-01 -3.26487076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:-44.92, Z:-3.29 [[ 9.04100316e-01 -4.01408505e-01 -1.46539523e-01 1.37719657e+02] [ 4.04010218e-01 9.14663732e-01 -1.28841411e-02 -4.49186863e+01] [ 1.39206191e-01 -4.75549085e-02 9.89120906e-01 -3.29246925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:-44.81, Z:-3.27 [[ 9.08204003e-01 -4.12303047e-01 -7.19144327e-02 1.37701013e+02] [ 4.05779858e-01 9.09530312e-01 -8.99851058e-02 -4.48112867e+01] [ 1.02509490e-01 5.25434051e-02 9.93343342e-01 -3.26632929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-44.90, Z:-3.29 [[ 9.01899253e-01 -4.04573291e-01 -1.51321478e-01 1.37774191e+02] [ 4.09621022e-01 9.12252617e-01 2.40448400e-03 -4.48969087e+01] [ 1.37070624e-01 -6.41530607e-02 9.88481679e-01 -3.28862409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:-44.76, Z:-3.25 [[ 9.08471507e-01 -4.13203984e-01 -6.27852573e-02 1.37747038e+02] [ 4.05704263e-01 9.07946240e-01 -1.05060346e-01 -4.47649535e+01] [ 1.00416992e-01 6.99720846e-02 9.92481907e-01 -3.25294315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:-44.85, Z:-3.28 [[ 9.03864877e-01 -4.05757651e-01 -1.35606091e-01 1.37818831e+02] [ 4.07787247e-01 9.12973777e-01 -1.37274480e-02 -4.48455826e+01] [ 1.29374822e-01 -4.28906764e-02 9.90667727e-01 -3.27683833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-44.75, Z:-3.25 [[ 9.09003375e-01 -4.11242178e-01 -6.77697174e-02 1.37809357e+02] [ 4.05398760e-01 9.10148779e-01 -8.53290449e-02 -4.47477060e+01] [ 9.67714278e-02 5.00906305e-02 9.94045381e-01 -3.25077786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:-44.79, Z:-3.26 [[ 9.04245776e-01 -4.09241071e-01 -1.21907028e-01 1.37863653e+02] [ 4.08007450e-01 9.12265669e-01 -3.60731154e-02 -4.47903374e+01] [ 1.25974197e-01 -1.71200133e-02 9.91885783e-01 -3.26397861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-44.77, Z:-3.26 [[ 9.04350390e-01 -4.09684761e-01 -1.19619269e-01 1.37888145e+02] [ 4.08199275e-01 9.12109694e-01 -3.78055187e-02 -4.47705307e+01] [ 1.24594240e-01 -1.46390633e-02 9.92099780e-01 -3.26138087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:-44.74, Z:-3.25 [[ 9.04529637e-01 -4.12231991e-01 -1.09045500e-01 1.37908430e+02] [ 4.09429574e-01 9.11078086e-01 -4.80015158e-02 -4.47449530e+01] [ 1.19136726e-01 -1.22765891e-03 9.92877099e-01 -3.25459691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:-44.72, Z:-3.25 [[ 9.04920140e-01 -4.12696190e-01 -1.03929764e-01 1.37930953e+02] [ 4.08667158e-01 9.10808979e-01 -5.84650076e-02 -4.47208613e+01] [ 1.18788448e-01 1.04334817e-02 9.92864768e-01 -3.24703856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.96, Y:-44.71, Z:-3.25 [[ 9.05263789e-01 -4.11487811e-01 -1.05713076e-01 1.37962210e+02] [ 4.08194408e-01 9.11406378e-01 -5.21127517e-02 -4.47126779e+01] [ 1.17791334e-01 4.02430058e-03 9.93030214e-01 -3.24506298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.98, Y:-44.67, Z:-3.23 [[ 9.09053379e-01 -4.11555651e-01 -6.51452242e-02 1.37977920e+02] [ 4.06991311e-01 9.10515852e-01 -7.29311665e-02 -4.46657742e+01] [ 8.93309931e-02 3.97847831e-02 9.95207086e-01 -3.23039438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.03, Y:-44.69, Z:-3.24 [[ 9.07329815e-01 -4.12448512e-01 -8.14790198e-02 1.38025330e+02] [ 4.10687409e-01 9.10980252e-01 -3.80897964e-02 -4.46863718e+01] [ 8.99358579e-02 1.09760044e-03 9.95946955e-01 -3.23817739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:-44.72, Z:-3.25 [[ 9.03083009e-01 -4.11191764e-01 -1.23945196e-01 1.38073822e+02] [ 4.14496749e-01 9.10050280e-01 9.66481980e-04 -4.47215316e+01] [ 1.12398951e-01 -5.22476941e-02 9.92288594e-01 -3.24568824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:-44.62, Z:-3.21 [[ 9.03956950e-01 -4.23863846e-01 -5.65797912e-02 1.38059670e+02] [ 4.18569712e-01 9.04121317e-01 -8.58139886e-02 -4.46196510e+01] [ 8.75284425e-02 5.38895645e-02 9.94703316e-01 -3.21355615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.14, Y:-44.72, Z:-3.24 [[ 8.97613069e-01 -4.20233780e-01 -1.33020107e-01 1.38139015e+02] [ 4.25790598e-01 9.04695342e-01 1.51229920e-02 -4.47192348e+01] [ 1.13987479e-01 -7.02133062e-02 9.90997955e-01 -3.23986063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-44.59, Z:-3.20 [[ 9.00847228e-01 -4.31505968e-01 -4.77165643e-02 1.38113513e+02] [ 4.25575705e-01 8.99452773e-01 -9.93480124e-02 -4.45887344e+01] [ 8.57880564e-02 6.91903711e-02 9.93907995e-01 -3.20239390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.19, Y:-44.69, Z:-3.23 [[ 8.96881620e-01 -4.25283698e-01 -1.21396604e-01 1.38194962e+02] [ 4.29326808e-01 9.03113430e-01 8.03897438e-03 -4.46941650e+01] [ 1.06216058e-01 -5.93288247e-02 9.92571529e-01 -3.23116916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-44.63, Z:-3.21 [[ 8.94546094e-01 -4.33802975e-01 -1.07713808e-01 1.38199467e+02] [ 4.30494805e-01 9.01006540e-01 -5.34924148e-02 -4.46348020e+01] [ 1.20256014e-01 1.48119617e-03 9.92741808e-01 -3.21367936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:-44.61, Z:-3.21 [[ 8.96849001e-01 -4.31939696e-01 -9.53413274e-02 1.38225303e+02] [ 4.27184496e-01 9.01700229e-01 -6.67090950e-02 -4.46129645e+01] [ 1.14783603e-01 1.90996482e-02 9.93206891e-01 -3.20749708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.25, Y:-44.59, Z:-3.20 [[ 9.01003409e-01 -4.29670246e-01 -5.98024826e-02 1.38251042e+02] [ 4.25480837e-01 9.02149861e-01 -7.13560420e-02 -4.45860343e+01] [ 8.46103696e-02 3.88472267e-02 9.95656556e-01 -3.20068735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.31, Y:-44.64, Z:-3.21 [[ 8.98818814e-01 -4.24375889e-01 -1.09680647e-01 1.38309718e+02] [ 4.25010284e-01 9.04995353e-01 -1.86994525e-02 -4.46384351e+01] [ 1.07196073e-01 -2.98079834e-02 9.93790967e-01 -3.21161593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.34, Y:-44.64, Z:-3.21 [[ 8.98397142e-01 -4.23169997e-01 -1.17514801e-01 1.38342464e+02] [ 4.25005483e-01 9.05133038e-01 -1.02236780e-02 -4.46391174e+01] [ 1.10692882e-01 -4.07595115e-02 9.93018503e-01 -3.20911455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.33, Y:-44.53, Z:-3.18 [[ 9.03093150e-01 -4.27286771e-01 -4.29974235e-02 1.38328989e+02] [ 4.21921966e-01 9.01473208e-01 -9.65811063e-02 -4.45324264e+01] [ 8.00288543e-02 6.90801781e-02 9.94395953e-01 -3.18197991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-44.64, Z:-3.21 [[ 9.00250633e-01 -4.17468687e-01 -1.23566553e-01 1.38408964e+02] [ 4.22170065e-01 9.06417340e-01 1.34179638e-02 -4.46391012e+01] [ 1.06401287e-01 -6.42456302e-02 9.92245567e-01 -3.20634739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:-44.51, Z:-3.18 [[ 9.05498530e-01 -4.22118959e-01 -4.34510761e-02 1.38389179e+02] [ 4.17156127e-01 9.04243905e-01 -9.12344620e-02 -4.45143255e+01] [ 7.78021668e-02 6.44867887e-02 9.94881037e-01 -3.17880550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:-44.56, Z:-3.19 [[ 9.06864437e-01 -4.15572058e-01 -6.99768414e-02 1.38447044e+02] [ 4.14329216e-01 9.09560249e-01 -3.21162524e-02 -4.45581060e+01] [ 7.69947704e-02 1.31637300e-04 9.97031488e-01 -3.19085253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:-44.55, Z:-3.19 [[ 9.07618640e-01 -4.13876017e-01 -7.02498839e-02 1.38478286e+02] [ 4.12621771e-01 9.10333228e-01 -3.21976230e-02 -4.45462448e+01] [ 7.72766275e-02 2.36531287e-04 9.97009662e-01 -3.18625174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.53, Y:-44.60, Z:-3.19 [[ 9.04516044e-01 -4.08456772e-01 -1.22530776e-01 1.38531452e+02] [ 4.13885843e-01 9.10073663e-01 2.15507891e-02 -4.45965497e+01] [ 1.02709466e-01 -7.02067880e-02 9.92230705e-01 -3.19211703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:-44.46, Z:-3.16 [[ 9.07947132e-01 -4.17543107e-01 -3.59132075e-02 1.38505177e+02] [ 4.12897850e-01 9.05923111e-01 -9.39078434e-02 -4.44628565e+01] [ 7.17451774e-02 7.04348710e-02 9.94932942e-01 -3.16017914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.56, Y:-44.51, Z:-3.17 [[ 9.08448315e-01 -4.12832352e-01 -6.55065437e-02 1.38563823e+02] [ 4.11746207e-01 9.10807006e-01 -2.99275610e-02 -4.45092256e+01] [ 7.20188844e-02 2.15571491e-04 9.97403245e-01 -3.17370866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.59, Y:-44.50, Z:-3.17 [[ 9.08707759e-01 -4.11997369e-01 -6.71444554e-02 1.38594656e+02] [ 4.10857046e-01 9.11185001e-01 -3.06330208e-02 -4.44963893e+01] [ 7.38017446e-02 2.49691104e-04 9.97272902e-01 -3.17321224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.65, Y:-44.55, Z:-3.18 [[ 9.04849149e-01 -4.07581414e-01 -1.22985399e-01 1.38649444e+02] [ 4.13590126e-01 9.10065045e-01 2.69225105e-02 -4.45515380e+01] [ 1.00951598e-01 -7.52263573e-02 9.92043230e-01 -3.18180936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.62, Y:-44.41, Z:-3.15 [[ 9.08016020e-01 -4.17615331e-01 -3.32316591e-02 1.38619368e+02] [ 4.12861014e-01 9.05489494e-01 -9.81557918e-02 -4.44078571e+01] [ 7.10822817e-02 7.54069749e-02 9.94616055e-01 -3.14868792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:-44.46, Z:-3.16 [[ 9.06780758e-01 -4.16830970e-01 -6.32502925e-02 1.38680417e+02] [ 4.15838964e-01 9.08983985e-01 -2.87414496e-02 -4.44586379e+01] [ 6.94738293e-02 -2.39742699e-04 9.97583746e-01 -3.16079788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:-44.45, Z:-3.16 [[ 9.05739743e-01 -4.19125928e-01 -6.29997973e-02 1.38711818e+02] [ 4.18150002e-01 9.07928001e-01 -2.85888277e-02 -4.44468429e+01] [ 6.91815989e-02 -4.49327909e-04 9.97603982e-01 -3.15793055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:-44.50, Z:-3.17 [[ 9.00526771e-01 -4.19980321e-01 -1.12552496e-01 1.38767059e+02] [ 4.24719250e-01 9.05083541e-01 2.09127158e-02 -4.45013681e+01] [ 9.30864823e-02 -6.66356720e-02 9.93425686e-01 -3.16551368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:-44.45, Z:-3.16 [[ 8.99257990e-01 -4.27111980e-01 -9.43950451e-02 1.38776767e+02] [ 4.26650531e-01 9.04041600e-01 -2.60405503e-02 -4.44486927e+01] [ 9.64592786e-02 -1.68565232e-02 9.95194185e-01 -3.15516603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:-44.36, Z:-3.13 [[ 8.99627764e-01 -4.35914748e-01 -2.54601465e-02 1.38770702e+02] [ 4.31560724e-01 8.96496883e-01 -1.00243107e-01 -4.43569357e+01] [ 6.65223907e-02 7.91938830e-02 9.94637170e-01 -3.13423398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:-44.42, Z:-3.15 [[ 8.98659665e-01 -4.34472635e-01 -6.03683376e-02 1.38836717e+02] [ 4.33618719e-01 9.00683496e-01 -2.72772123e-02 -4.44188454e+01] [ 6.62239677e-02 -1.66391074e-03 9.97803396e-01 -3.14873431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:-44.47, Z:-3.15 [[ 8.96096596e-01 -4.29772085e-01 -1.10936221e-01 1.38892218e+02] [ 4.34875494e-01 9.00126285e-01 2.56120097e-02 -4.44718802e+01] [ 8.88492820e-02 -7.11942788e-02 9.93497448e-01 -3.15267283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-44.35, Z:-3.13 [[ 8.97776221e-01 -4.39248713e-01 -3.25334493e-02 1.38872317e+02] [ 4.35093163e-01 8.95917827e-01 -8.95834050e-02 -4.43485053e+01] [ 6.84966925e-02 6.62707694e-02 9.95447833e-01 -3.12988474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.93, Y:-44.40, Z:-3.14 [[ 8.98477435e-01 -4.34795044e-01 -6.07582830e-02 1.38931045e+02] [ 4.33935617e-01 9.00527711e-01 -2.73810573e-02 -4.43972167e+01] [ 6.66196655e-02 -1.76392088e-03 9.97776883e-01 -3.13971729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:-44.39, Z:-3.14 [[ 8.98248843e-01 -4.35127683e-01 -6.17488167e-02 1.38964852e+02] [ 4.34243258e-01 9.00366855e-01 -2.77906406e-02 -4.43923392e+01] [ 6.76890649e-02 -1.85109660e-03 9.97704748e-01 -3.13903702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.00, Y:-44.38, Z:-3.14 [[ 8.98453220e-01 -4.34811756e-01 -6.09962914e-02 1.38997007e+02] [ 4.33950409e-01 9.00519496e-01 -2.74167640e-02 -4.43825789e+01] [ 6.68494810e-02 -1.83668572e-03 9.97761381e-01 -3.13712740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.03, Y:-44.38, Z:-3.13 [[ 8.98867908e-01 -4.34113204e-01 -5.98515631e-02 1.39029961e+02] [ 4.33284641e-01 9.00856564e-01 -2.68676438e-02 -4.43763494e+01] [ 6.55812724e-02 -1.78230030e-03 9.97845639e-01 -3.13441475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.06, Y:-44.37, Z:-3.13 [[ 8.99210718e-01 -4.33557312e-01 -5.87208760e-02 1.39064028e+02] [ 4.32760766e-01 9.01124316e-01 -2.63265344e-02 -4.43712251e+01] [ 6.43288707e-02 -1.73898943e-03 9.97927238e-01 -3.13271549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:-44.37, Z:-3.13 [[ 8.99808245e-01 -4.31898362e-01 -6.17165092e-02 1.39098182e+02] [ 4.31017252e-01 9.01920604e-01 -2.76288167e-02 -4.43666015e+01] [ 6.75962320e-02 -1.74024311e-03 9.97711241e-01 -3.13258234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:-44.36, Z:-3.13 [[ 9.00213766e-01 -4.31093215e-01 -6.14313854e-02 1.39129322e+02] [ 4.30219241e-01 9.02305827e-01 -2.74881719e-02 -4.43562466e+01] [ 6.72798614e-02 -1.68373326e-03 9.97732722e-01 -3.13055761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:-44.35, Z:-3.13 [[ 9.01734168e-01 -4.28241186e-01 -5.90336936e-02 1.39161283e+02] [ 4.27430220e-01 9.03663324e-01 -2.63818700e-02 -4.43465977e+01] [ 6.46443871e-02 -1.44335104e-03 9.97907320e-01 -3.12571237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:-44.34, Z:-3.12 [[ 9.03069428e-01 -4.25632292e-01 -5.74696488e-02 1.39191874e+02] [ 4.24860580e-01 9.04895343e-01 -2.56496840e-02 -4.43356701e+01] [ 6.29213513e-02 -1.25314293e-03 9.98017702e-01 -3.12105102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:-44.33, Z:-3.12 [[ 9.04922455e-01 -4.21942466e-01 -5.54968988e-02 1.39223817e+02] [ 4.21217864e-01 9.06622068e-01 -2.47373731e-02 -4.43270140e+01] [ 6.07524613e-02 -9.90880736e-04 9.98152371e-01 -3.11700393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:-44.31, Z:-3.11 [[ 9.05928129e-01 -4.19715966e-01 -5.59708308e-02 1.39254096e+02] [ 4.18976774e-01 9.07655074e-01 -2.49144276e-02 -4.43147808e+01] [ 6.12591916e-02 -8.79797325e-04 9.98121504e-01 -3.11439659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:-44.30, Z:-3.11 [[ 9.07167691e-01 -4.17145877e-01 -5.51007973e-02 1.39285999e+02] [ 4.16426715e-01 9.08839256e-01 -2.44948639e-02 -4.43043490e+01] [ 6.02956991e-02 -7.24494885e-04 9.98180296e-01 -3.11316397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:-44.29, Z:-3.11 [[ 9.07575407e-01 -4.16087101e-01 -5.63773500e-02 1.39317451e+02] [ 4.15334337e-01 9.09324493e-01 -2.50270968e-02 -4.42943007e+01] [ 6.16787573e-02 -7.01471727e-04 9.98095806e-01 -3.11104144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.35, Y:-44.29, Z:-3.11 [[ 9.08005295e-01 -4.15109850e-01 -5.66586010e-02 1.39350166e+02] [ 4.14349802e-01 9.09771050e-01 -2.51172776e-02 -4.42870667e+01] [ 6.19727842e-02 -6.69859046e-04 9.98077615e-01 -3.10731185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.41, Y:-44.35, Z:-3.10 [[ 9.05087461e-01 -4.07139807e-01 -1.22694195e-01 1.39409979e+02] [ 4.14783766e-01 9.08862239e-01 4.38618001e-02 -4.43538363e+01] [ 9.36542362e-02 -9.05903256e-02 9.91474799e-01 -3.10387349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.37, Y:-44.19, Z:-3.09 [[ 9.08834646e-01 -4.16745964e-01 -1.85037075e-02 1.39371199e+02] [ 4.12792303e-01 9.04840785e-01 -1.04238513e-01 -4.41868670e+01] [ 6.01838888e-02 8.70973839e-02 9.94380181e-01 -3.09025677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.44, Y:-44.25, Z:-3.10 [[ 9.10453141e-01 -4.09621161e-01 -5.73200032e-02 1.39437092e+02] [ 4.08836431e-01 9.12255653e-01 -2.53455544e-02 -4.42534173e+01] [ 6.26725724e-02 -3.58565873e-04 9.98034078e-01 -3.09899305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.47, Y:-44.24, Z:-3.10 [[ 9.10917062e-01 -4.08448703e-01 -5.83074921e-02 1.39467536e+02] [ 4.07636615e-01 9.12781221e-01 -2.57455434e-02 -4.42419325e+01] [ 6.37377176e-02 -3.16213925e-04 9.97966634e-01 -3.09660279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.50, Y:-44.23, Z:-3.09 [[ 9.12643812e-01 -4.04719760e-01 -5.72991112e-02 1.39497972e+02] [ 4.03930395e-01 9.14440762e-01 -2.52651565e-02 -4.42298489e+01] [ 6.26219510e-02 -8.67638599e-05 9.98037316e-01 -3.09374915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:-44.25, Z:-3.09 [[ 9.10220290e-01 -4.00259189e-01 -1.06261970e-01 1.39542027e+02] [ 4.02408881e-01 9.15459094e-01 -1.31924913e-03 -4.42546701e+01] [ 9.78065282e-02 -4.15599530e-02 9.94337294e-01 -3.09160408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.57, Y:-44.25, Z:-3.09 [[ 9.11874511e-01 -3.97633929e-01 -1.01843678e-01 1.39568044e+02] [ 4.00325291e-01 9.16349138e-01 6.62702973e-03 -4.42523799e+01] [ 9.06892349e-02 -4.68136196e-02 9.94778341e-01 -3.08908492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:-44.12, Z:-3.08 [[ 9.15284275e-01 -4.02417141e-01 -1.77522263e-02 1.39544773e+02] [ 3.98606703e-01 9.11205628e-01 -1.04004803e-01 -4.41218766e+01] [ 5.80292441e-02 8.81178046e-02 9.94418352e-01 -3.07634278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:-44.18, Z:-3.08 [[ 9.17608462e-01 -3.94089213e-01 -5.18498121e-02 1.39606957e+02] [ 3.93428281e-01 9.19072032e-01 -2.28207850e-02 -4.41807905e+01] [ 5.66471373e-02 5.41362985e-04 9.98394115e-01 -3.08138517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:-44.17, Z:-3.08 [[ 9.18671207e-01 -3.91775435e-01 -5.05492008e-02 1.39636842e+02] [ 3.91145482e-01 9.20060651e-01 -2.22173589e-02 -4.41670773e+01] [ 5.52125460e-02 6.38356396e-04 9.98474420e-01 -3.07828786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:-44.19, Z:-3.08 [[ 9.16239637e-01 -3.88113772e-01 -9.93610956e-02 1.39679481e+02] [ 3.90201552e-01 9.20727858e-01 1.72065678e-03 -4.41915872e+01] [ 9.08167181e-02 -4.03473876e-02 9.95049955e-01 -3.07500200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.68, Y:-44.11, Z:-3.07 [[ 9.19674826e-01 -3.91005011e-01 -3.62394125e-02 1.39675626e+02] [ 3.88544658e-01 9.19463793e-01 -6.01613020e-02 -4.41085034e+01] [ 5.68441982e-02 4.12482048e-02 9.97530612e-01 -3.07346076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:-44.13, Z:-3.08 [[ 9.19857568e-01 -3.88514599e-01 -5.40227802e-02 1.39720071e+02] [ 3.87791946e-01 9.21442175e-01 -2.37007452e-02 -4.41296380e+01] [ 5.89869536e-02 8.51710803e-04 9.98258390e-01 -3.07612116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:-44.16, Z:-3.07 [[ 9.15814777e-01 -3.87303270e-01 -1.06204856e-01 1.39766190e+02] [ 3.90405040e-01 9.20596122e-01 9.31046585e-03 -4.41621821e+01] [ 9.41658044e-02 -4.99895732e-02 9.94300681e-01 -3.07032432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:-44.07, Z:-3.06 [[ 9.17448692e-01 -3.96792904e-01 -2.90394317e-02 1.39755809e+02] [ 3.94309561e-01 9.16571029e-01 -6.64644121e-02 -4.40653403e+01] [ 5.29893089e-02 4.95271624e-02 9.97366128e-01 -3.06175490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.80, Y:-44.10, Z:-3.06 [[ 9.16889216e-01 -3.96029866e-01 -4.97444650e-02 1.39804798e+02] [ 3.95430573e-01 9.18237581e-01 -2.17808800e-02 -4.40953516e+01] [ 5.43031162e-02 3.00171668e-04 9.98524452e-01 -3.06348800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:-44.08, Z:-3.06 [[ 9.16237400e-01 -3.97584909e-01 -4.93484296e-02 1.39835299e+02] [ 3.96999056e-01 9.17565370e-01 -2.15764002e-02 -4.40825522e+01] [ 5.38588612e-02 1.77824900e-04 9.98548542e-01 -3.06199190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:-44.07, Z:-3.06 [[ 9.15287306e-01 -4.00019380e-01 -4.72614425e-02 1.39865723e+02] [ 3.99486767e-01 9.16506681e-01 -2.06355853e-02 -4.40702823e+01] [ 5.15700618e-02 7.16841704e-06 9.98669379e-01 -3.06131900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-44.06, Z:-3.06 [[ 9.14321163e-01 -4.02167894e-01 -4.77262591e-02 1.39896453e+02] [ 4.01629259e-01 9.15565926e-01 -2.08080198e-02 -4.40577518e+01] [ 5.20648541e-02 -1.43049195e-04 9.98643695e-01 -3.05724144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-44.04, Z:-3.06 [[ 9.14413495e-01 -4.01956428e-01 -4.77387768e-02 1.39927101e+02] [ 4.01419007e-01 9.15658781e-01 -2.07792574e-02 -4.40443597e+01] [ 5.20647863e-02 -1.62418981e-04 9.98643696e-01 -3.05503518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:-44.03, Z:-3.05 [[ 9.14272844e-01 -4.02045093e-01 -4.96478611e-02 1.39958265e+02] [ 4.01464496e-01 9.15619850e-01 -2.15997407e-02 -4.40325846e+01] [ 5.41426369e-02 -1.83797206e-04 9.98533195e-01 -3.05155532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:-44.02, Z:-3.05 [[ 9.13914650e-01 -4.02645224e-01 -5.13501278e-02 1.39990420e+02] [ 4.02026901e-01 9.15356082e-01 -2.23072573e-02 -4.40242023e+01] [ 5.59855624e-02 -2.57203448e-04 9.98431545e-01 -3.05112566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:-44.01, Z:-3.05 [[ 9.13777922e-01 -4.02852377e-01 -5.21523883e-02 1.40020983e+02] [ 4.02216800e-01 9.15264918e-01 -2.26224835e-02 -4.40118036e+01] [ 5.68467726e-02 -3.04640787e-04 9.98382868e-01 -3.05049391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:-44.00, Z:-3.05 [[ 9.14095340e-01 -4.02074566e-01 -5.25904301e-02 1.40050805e+02] [ 4.01428876e-01 9.15606881e-01 -2.27793231e-02 -4.39979321e+01] [ 5.73111461e-02 -2.88844115e-04 9.98356324e-01 -3.04911378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.08, Y:-43.98, Z:-3.04 [[ 9.15323772e-01 -3.99398710e-01 -5.16048797e-02 1.40080125e+02] [ 3.98774506e-01 9.16777317e-01 -2.23213839e-02 -4.39835628e+01] [ 5.62253151e-02 -1.47417106e-04 9.98418095e-01 -3.04374076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.11, Y:-43.97, Z:-3.04 [[ 9.16138856e-01 -3.97587790e-01 -5.11228478e-02 1.40111149e+02] [ 3.96974135e-01 9.17564137e-01 -2.20814704e-02 -4.39727983e+01] [ 5.56878147e-02 -6.47552381e-05 9.98448228e-01 -3.03785166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-44.02, Z:-3.03 [[ 9.11943224e-01 -3.93368134e-01 -1.16709326e-01 1.40162046e+02] [ 3.98082272e-01 9.17146735e-01 1.92969262e-02 -4.40173518e+01] [ 9.94487818e-02 -6.40576149e-02 9.92978631e-01 -3.03300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.14, Y:-43.90, Z:-3.03 [[ 9.16085593e-01 -4.00192362e-01 -2.51646433e-02 1.40143280e+02] [ 3.97257720e-01 9.14320719e-01 -7.87650124e-02 -4.38961865e+01] [ 5.45297111e-02 6.21586443e-02 9.96575543e-01 -3.02865034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.20, Y:-43.94, Z:-3.03 [[ 9.16358136e-01 -3.97357279e-01 -4.89383260e-02 1.40197074e+02] [ 3.96797258e-01 9.17663982e-01 -2.10891399e-02 -4.39378476e+01] [ 5.32888624e-02 -9.33886054e-05 9.98579135e-01 -3.03184967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-43.96, Z:-3.03 [[ 9.13992016e-01 -3.94172645e-01 -9.61588247e-02 1.40238279e+02] [ 3.95682336e-01 9.18380232e-01 -3.63845483e-03 -4.39567707e+01] [ 8.97445431e-02 -3.47228297e-02 9.95359353e-01 -3.02953706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:-43.89, Z:-3.03 [[ 9.16316782e-01 -3.98746855e-01 -3.69391614e-02 1.40239634e+02] [ 3.96699495e-01 9.16457243e-01 -5.23032735e-02 -4.38851486e+01] [ 5.47089278e-02 3.32726206e-02 9.97947827e-01 -3.02611941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:-43.90, Z:-3.03 [[ 9.16870219e-01 -3.96025257e-01 -5.01297999e-02 1.40282124e+02] [ 3.95438300e-01 9.18239616e-01 -2.15536171e-02 -4.39004411e+01] [ 5.45669450e-02 -6.13732523e-05 9.98510113e-01 -3.02563525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:-43.89, Z:-3.02 [[ 9.18039515e-01 -3.93540001e-01 -4.82671305e-02 1.40312123e+02] [ 3.92994005e-01 9.19307492e-01 -2.07231186e-02 -4.38901745e+01] [ 5.25277107e-02 5.59488064e-05 9.98619465e-01 -3.02244245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:-43.88, Z:-3.02 [[ 9.17976083e-01 -3.93565716e-01 -4.92538158e-02 1.40342956e+02] [ 3.92998632e-01 9.19296485e-01 -2.11198750e-02 -4.38784533e+01] [ 5.35909184e-02 3.08579511e-05 9.98562974e-01 -3.02078913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:-43.87, Z:-3.02 [[ 9.18106245e-01 -3.93143470e-01 -5.01909809e-02 1.40373107e+02] [ 3.92555743e-01 9.19477140e-01 -2.14890076e-02 -4.38662255e+01] [ 5.45977226e-02 2.64342469e-05 9.98508432e-01 -3.02016273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:-43.86, Z:-3.02 [[ 9.17946644e-01 -3.93470234e-01 -5.05483312e-02 1.40402002e+02] [ 3.92876354e-01 9.19337356e-01 -2.16100885e-02 -4.38571760e+01] [ 5.49738957e-02 -2.23358015e-05 9.98487792e-01 -3.01991239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:-43.85, Z:-3.02 [[ 9.18288191e-01 -3.92696598e-01 -5.03605069e-02 1.40430762e+02] [ 3.92105963e-01 9.19668082e-01 -2.15297911e-02 -4.38462908e+01] [ 5.47696266e-02 2.38978721e-05 9.98499017e-01 -3.01661666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.48, Y:-43.90, Z:-3.01 [[ 9.16233473e-01 -3.85604863e-01 -1.08743331e-01 1.40484231e+02] [ 3.91737118e-01 9.19148351e-01 4.13320625e-02 -4.39042690e+01] [ 8.40134089e-02 -8.04686181e-02 9.93210224e-01 -3.01037819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:-43.78, Z:-3.00 [[ 9.18098008e-01 -3.91364410e-01 -6.26892890e-02 1.40467963e+02] [ 3.86929183e-01 9.19271935e-01 -7.22835839e-02 -4.37832999e+01] [ 8.59177262e-02 4.21070990e-02 9.95412044e-01 -3.00445706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:-43.78, Z:-3.00 [[ 9.20112765e-01 -3.90312596e-01 -3.23817470e-02 1.40496630e+02] [ 3.88407805e-01 9.19985619e-01 -5.25912283e-02 -4.37768371e+01] [ 5.03177604e-02 3.58125371e-02 9.98090970e-01 -3.00450755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.54, Y:-43.80, Z:-3.00 [[ 9.20768629e-01 -3.87276299e-01 -4.69276143e-02 1.40539635e+02] [ 3.86756104e-01 9.21963643e-01 -2.00687822e-02 -4.37980544e+01] [ 5.10377179e-02 3.29163763e-04 9.98696672e-01 -3.00345017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:-43.79, Z:-3.00 [[ 9.20673654e-01 -3.87636683e-01 -4.58020244e-02 1.40567654e+02] [ 3.87141818e-01 9.21812190e-01 -1.95831459e-02 -4.37863677e+01] [ 4.98120101e-02 2.97807497e-04 9.98758567e-01 -3.00215795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.60, Y:-43.77, Z:-3.00 [[ 9.20145899e-01 -3.88996536e-01 -4.48689103e-02 1.40596280e+02] [ 3.88522955e-01 9.21239189e-01 -1.91903360e-02 -4.37716539e+01] [ 4.87999728e-02 2.25307342e-04 9.98808546e-01 -3.00055398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:-43.76, Z:-3.00 [[ 9.19867824e-01 -3.89663271e-01 -4.47852851e-02 1.40626655e+02] [ 3.89193409e-01 9.20957386e-01 -1.91306956e-02 -4.37577291e+01] [ 4.86998686e-02 1.67573499e-04 9.98813443e-01 -2.99815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:-43.74, Z:-3.00 [[ 9.19355507e-01 -3.90853317e-01 -4.49348007e-02 1.40656837e+02] [ 3.90383123e-01 9.20452974e-01 -1.91661018e-02 -4.37445702e+01] [ 4.88515054e-02 7.86734328e-05 9.98806049e-01 -2.99524585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-43.76, Z:-2.99 [[ 9.16090764e-01 -3.91343081e-01 -8.73401733e-02 1.40696282e+02] [ 3.92618584e-01 9.19697187e-01 -2.78076355e-03 -4.37591469e+01] [ 8.14147442e-02 -3.17439433e-02 9.96174664e-01 -2.99099644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-43.69, Z:-2.99 [[ 9.17463994e-01 -3.96353881e-01 -3.41089377e-02 1.40700489e+02] [ 3.94633747e-01 9.17594892e-01 -4.77893181e-02 -4.36936678e+01] [ 5.02396687e-02 3.03844408e-02 9.98274893e-01 -2.98812838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.75, Y:-43.74, Z:-2.99 [[ 9.15515370e-01 -3.92962392e-01 -8.60939390e-02 1.40754108e+02] [ 3.94444829e-01 9.18919597e-01 2.26033913e-04 -4.37379997e+01] [ 7.90245849e-02 -3.41662466e-02 9.96286998e-01 -2.98681996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:-43.67, Z:-2.98 [[ 9.15966197e-01 -4.00238493e-01 -2.85495176e-02 1.40758379e+02] [ 3.98690259e-01 9.15836355e-01 -4.78523630e-02 -4.36735050e+01] [ 4.52990438e-02 3.24487324e-02 9.98446331e-01 -2.98280948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.80, Y:-43.69, Z:-2.98 [[ 9.15953225e-01 -3.99226356e-01 -4.05956489e-02 1.40801605e+02] [ 3.98852750e-01 9.16852321e-01 -1.72715227e-02 -4.36901503e+01] [ 4.41154619e-02 -3.71779321e-04 9.99026370e-01 -2.98212412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:-43.68, Z:-2.98 [[ 9.15353536e-01 -4.00506762e-01 -4.14998475e-02 1.40832902e+02] [ 4.00118828e-01 9.16293684e-01 -1.76297497e-02 -4.36800153e+01] [ 4.50868822e-02 -4.67416591e-04 9.98982960e-01 -2.98165587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:-43.67, Z:-2.98 [[ 9.14753984e-01 -4.01703384e-01 -4.31223797e-02 1.40863949e+02] [ 4.01287120e-01 9.15769657e-01 -1.82916169e-02 -4.36684824e+01] [ 4.68379713e-02 -5.72126114e-04 9.98902336e-01 -2.97927982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:-43.69, Z:-2.97 [[ 9.11945521e-01 -4.00308359e-01 -9.00476779e-02 1.40906823e+02] [ 4.02470531e-01 9.15409892e-01 6.49618549e-03 -4.36942419e+01] [ 7.98300578e-02 -4.21657040e-02 9.95916269e-01 -2.97470844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.91, Y:-43.62, Z:-2.97 [[ 9.14047839e-01 -4.04990512e-01 -2.23435275e-02 1.40906895e+02] [ 4.03434265e-01 9.13465769e-01 -5.31138573e-02 -4.36158601e+01] [ 4.19206557e-02 3.95344619e-02 9.98338462e-01 -2.97041273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:-43.64, Z:-2.97 [[ 9.14521915e-01 -4.02807217e-01 -3.73632721e-02 1.40952303e+02] [ 4.02497232e-01 9.15284661e-01 -1.58103716e-02 -4.36390512e+01] [ 4.05665616e-02 -5.79682345e-04 9.99176670e-01 -2.96992995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:-43.68, Z:-2.97 [[ 9.12445959e-01 -4.01023941e-01 -8.13767193e-02 1.41001901e+02] [ 4.04693990e-01 9.13802414e-01 3.44662458e-02 -4.36846279e+01] [ 6.05404529e-02 -6.43812559e-02 9.96087299e-01 -2.96593163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.99, Y:-43.57, Z:-2.97 [[ 9.13223558e-01 -4.07207304e-01 -1.43158855e-02 1.40988019e+02] [ 4.05166013e-01 9.11246059e-01 -7.39670348e-02 -4.35685536e+01] [ 4.31652110e-02 6.17481284e-02 9.97157928e-01 -2.96522975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-43.61, Z:-2.97 [[ 9.13774733e-01 -4.04346184e-01 -3.89858957e-02 1.41041803e+02] [ 4.04012012e-01 9.14605733e-01 -1.64513267e-02 -4.36125549e+01] [ 4.23087549e-02 -7.17963550e-04 9.99104326e-01 -2.96683510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:-43.67, Z:-2.96 [[ 9.11763921e-01 -4.00113379e-01 -9.27137289e-02 1.41095370e+02] [ 4.04751164e-01 9.13660786e-01 3.74227634e-02 -4.36668704e+01] [ 6.97355501e-02 -7.16467152e-02 9.94989297e-01 -2.95964556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:-43.54, Z:-2.96 [[ 9.13851499e-01 -4.05949948e-01 -8.94860410e-03 1.41074842e+02] [ 4.04057120e-01 9.11328687e-01 -7.88534588e-02 -4.35355721e+01] [ 4.01656771e-02 6.84446043e-02 9.96846054e-01 -2.95797893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.13, Y:-43.59, Z:-2.96 [[ 9.14117216e-01 -4.03776071e-01 -3.68048845e-02 1.41130202e+02] [ 4.03479386e-01 9.14857590e-01 -1.54911649e-02 -4.35868243e+01] [ 3.99261896e-02 -6.89271678e-04 9.99202394e-01 -2.95799579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.16, Y:-43.58, Z:-2.96 [[ 9.14260708e-01 -4.03498270e-01 -3.62836625e-02 1.41159347e+02] [ 4.03209899e-01 9.14980161e-01 -1.52670674e-02 -4.35794168e+01] [ 3.93590666e-02 -6.71852029e-04 9.99224906e-01 -2.95748026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:-43.57, Z:-2.96 [[ 9.15547324e-01 -4.00515614e-01 -3.68828042e-02 1.41187922e+02] [ 4.00215141e-01 9.16289768e-01 -1.55210012e-02 -4.35730030e+01] [ 4.00117394e-02 -5.50845582e-04 9.99199058e-01 -2.95640473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:-43.56, Z:-2.96 [[ 9.16470083e-01 -3.98344765e-01 -3.74704721e-02 1.41214799e+02] [ 3.98032585e-01 9.17235651e-01 -1.57741095e-02 -4.35620899e+01] [ 4.06527868e-02 -4.57969443e-04 9.99173229e-01 -2.95506272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.24, Y:-43.55, Z:-2.95 [[ 9.18953226e-01 -3.92608395e-01 -3.71969971e-02 1.41241549e+02] [ 3.92295822e-01 9.19705719e-01 -1.56645750e-02 -4.35520516e+01] [ 4.03603346e-02 -1.97214775e-04 9.99185170e-01 -2.95364461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:-43.54, Z:-2.95 [[ 9.20052377e-01 -3.90014895e-01 -3.73095724e-02 1.41269543e+02] [ 3.89698057e-01 9.20808544e-01 -1.57178009e-02 -4.35431035e+01] [ 4.04851495e-02 -7.82677793e-05 9.99180137e-01 -2.95182428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:-43.53, Z:-2.95 [[ 9.20868717e-01 -3.87965230e-01 -3.85199575e-02 1.41296482e+02] [ 3.87625473e-01 9.21674010e-01 -1.62330674e-02 -4.35347631e+01] [ 4.18007094e-02 1.72072141e-05 9.99125968e-01 -2.94960010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:141.32, Y:-43.52, Z:-2.95 [[ 9.21848355e-01 -3.85673758e-01 -3.80967655e-02 1.41322349e+02] [ 3.85339100e-01 9.22635213e-01 -1.60636728e-02 -4.35237320e+01] [ 4.13447544e-02 1.28097005e-04 9.99144932e-01 -2.94567163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:-43.51, Z:-2.94 [[ 9.22205641e-01 -3.84872625e-01 -3.75475533e-02 1.41347293e+02] [ 3.84546531e-01 9.22969682e-01 -1.58408317e-02 -4.35111801e+01] [ 4.07519558e-02 1.69722947e-04 9.99169280e-01 -2.94390019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:-43.50, Z:-2.94 [[ 9.22285262e-01 -3.84610916e-01 -3.82666840e-02 1.41373350e+02] [ 3.84271595e-01 9.23078765e-01 -1.61534763e-02 -4.35005945e+01] [ 4.15359667e-02 1.93313374e-04 9.99136991e-01 -2.94432451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:141.41, Y:-43.53, Z:-2.94 [[ 9.19944924e-01 -3.82291352e-01 -8.69175427e-02 1.41414393e+02] [ 3.84553336e-01 9.23045255e-01 1.03048354e-02 -4.35295074e+01] [ 7.62893759e-02 -4.29043120e-02 9.96162211e-01 -2.94052640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:-43.44, Z:-2.94 [[ 9.22335890e-01 -3.85874342e-01 -1.99373431e-02 1.41411552e+02] [ 3.84396318e-01 9.21590469e-01 -5.39488412e-02 -4.34445041e+01] [ 3.91915390e-02 4.20951112e-02 9.98344642e-01 -2.94165710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:-43.51, Z:-2.94 [[ 9.20038943e-01 -3.82763529e-01 -8.37879678e-02 1.41465677e+02] [ 3.85141484e-01 9.22755846e-01 1.36998222e-02 -4.35088587e+01] [ 7.20720448e-02 -4.48745922e-02 9.96389428e-01 -2.93544386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:-43.42, Z:-2.94 [[ 9.22298119e-01 -3.86133487e-01 -1.63434643e-02 1.41460597e+02] [ 3.84787457e-01 9.21391896e-01 -5.45489367e-02 -4.34201547e+01] [ 3.61219067e-02 4.40216216e-02 9.98377336e-01 -2.93668689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:-43.45, Z:-2.93 [[ 9.22551445e-01 -3.84456928e-01 -3.30409103e-02 1.41503723e+02] [ 3.84202744e-01 9.23142909e-01 -1.39793509e-02 -4.34472823e+01] [ 3.58759404e-02 2.02261962e-04 9.99356231e-01 -2.93466626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.55, Y:-43.49, Z:-2.93 [[ 9.19553320e-01 -3.82675123e-01 -8.93389113e-02 1.41547914e+02] [ 3.86035756e-01 9.22189556e-01 2.32984694e-02 -4.34867201e+01] [ 7.34716663e-02 -5.59121991e-02 9.95728748e-01 -2.92842300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:-43.38, Z:-2.93 [[ 9.21698887e-01 -3.87751274e-01 -1.09595451e-02 1.41534666e+02] [ 3.86343234e-01 9.20152497e-01 -6.37046883e-02 -4.33785288e+01] [ 3.47860268e-02 5.44823942e-02 9.97908614e-01 -2.93005083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.58, Y:-43.41, Z:-2.93 [[ 9.21960744e-01 -3.85973538e-01 -3.18247323e-02 1.41580493e+02] [ 3.85738025e-01 9.22509839e-01 -1.34823040e-02 -4.34123358e+01] [ 3.45624413e-02 1.54145652e-04 9.99402528e-01 -2.92871869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.61, Y:-43.40, Z:-2.93 [[ 9.21585640e-01 -3.86880603e-01 -3.16750190e-02 1.41607175e+02] [ 3.86647665e-01 9.22129808e-01 -1.34238460e-02 -4.34008205e+01] [ 3.44019049e-02 1.24151575e-04 9.99408072e-01 -2.92625114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:-43.39, Z:-2.92 [[ 9.20911446e-01 -3.88487333e-01 -3.16180589e-02 1.41633772e+02] [ 3.88256006e-01 9.21454062e-01 -1.34047133e-02 -4.33896837e+01] [ 3.43421502e-02 6.86526605e-05 9.99410132e-01 -2.92390445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-43.38, Z:-2.92 [[ 9.19798810e-01 -3.91066026e-01 -3.22104529e-02 1.41660477e+02] [ 3.90827340e-01 9.20362626e-01 -1.36611712e-02 -4.33786974e+01] [ 3.49877169e-02 -2.31965991e-05 9.99387742e-01 -2.92225076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:-43.37, Z:-2.92 [[ 9.19759642e-01 -3.91158303e-01 -3.22084230e-02 1.41687446e+02] [ 3.90919506e-01 9.20323411e-01 -1.36659549e-02 -4.33672569e+01] [ 3.49877174e-02 -2.15070468e-05 9.99387742e-01 -2.92078487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:-43.36, Z:-2.92 [[ 9.18846794e-01 -3.93211187e-01 -3.32495287e-02 1.41714195e+02] [ 3.92957910e-01 9.19448178e-01 -1.41112990e-02 -4.33576673e+01] [ 3.61199393e-02 -9.95434325e-05 9.99347457e-01 -2.91987126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:-43.35, Z:-2.92 [[ 9.17747645e-01 -3.95839352e-01 -3.24109046e-02 1.41742014e+02] [ 3.95600157e-01 9.18319754e-01 -1.37603085e-02 -4.33491981e+01] [ 3.52104455e-02 -1.93268183e-04 9.99379901e-01 -2.91766303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-43.34, Z:-2.92 [[ 9.17193851e-01 -3.97074653e-01 -3.29721035e-02 1.41768593e+02] [ 3.96827706e-01 9.17786284e-01 -1.40039046e-02 -4.33374743e+01] [ 3.58219399e-02 -2.39949012e-04 9.99358160e-01 -2.91577515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:-43.33, Z:-2.91 [[ 9.16722801e-01 -3.98129855e-01 -3.33455391e-02 1.41795020e+02] [ 3.97877787e-01 9.17329025e-01 -1.41677828e-02 -4.33257057e+01] [ 3.62294482e-02 -2.79519751e-04 9.99343459e-01 -2.91339062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.82, Y:-43.32, Z:-2.91 [[ 9.16488512e-01 -3.98725554e-01 -3.26609933e-02 1.41822327e+02] [ 3.98483935e-01 9.17070252e-01 -1.38818542e-02 -4.33170620e+01] [ 3.54874754e-02 -2.92321258e-04 9.99370078e-01 -2.91340768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:-43.31, Z:-2.91 [[ 9.16428908e-01 -3.98814096e-01 -3.32471486e-02 1.41849611e+02] [ 3.98563592e-01 9.17031749e-01 -1.41362906e-02 -4.33084096e+01] [ 3.61264427e-02 -2.96197619e-04 9.99347183e-01 -2.91245387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:-43.30, Z:-2.91 [[ 9.16739580e-01 -3.98189516e-01 -3.21504444e-02 1.41876824e+02] [ 3.97954756e-01 9.17303135e-01 -1.36737108e-02 -4.33017652e+01] [ 3.49364318e-02 -2.59190368e-04 9.99389503e-01 -2.90984176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:-43.29, Z:-2.91 [[ 9.16593004e-01 -3.98708280e-01 -2.98156456e-02 1.41903844e+02] [ 3.98506419e-01 9.17077774e-01 -1.26881771e-02 -4.32921255e+01] [ 3.24021472e-02 -2.51831802e-04 9.99474881e-01 -2.90818937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:-43.28, Z:-2.91 [[ 9.16613053e-01 -3.98579317e-01 -3.09036879e-02 1.41931174e+02] [ 3.98362208e-01 9.17133831e-01 -1.31562438e-02 -4.32823300e+01] [ 3.35866244e-02 -2.51676526e-04 9.99435778e-01 -2.90630261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.96, Y:-43.28, Z:-2.91 [[ 9.16473167e-01 -3.98788196e-01 -3.23250369e-02 1.41958809e+02] [ 3.98550628e-01 9.17043021e-01 -1.37656758e-02 -4.32755139e+01] [ 3.51330386e-02 -2.67291272e-04 9.99382609e-01 -2.90518724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.99, Y:-43.27, Z:-2.90 [[ 9.16425415e-01 -3.98925156e-01 -3.19871740e-02 1.41985715e+02] [ 3.98692358e-01 9.16983452e-01 -1.36291142e-02 -4.32664429e+01] [ 3.47687057e-02 -2.62975193e-04 9.99395351e-01 -2.90358144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:-43.26, Z:-2.90 [[ 9.16516420e-01 -3.98708151e-01 -3.20852404e-02 1.42013354e+02] [ 3.98473528e-01 9.17077831e-01 -1.36784198e-02 -4.32597391e+01] [ 3.48783601e-02 -2.48622629e-04 9.99391534e-01 -2.90188691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.04, Y:-43.25, Z:-2.90 [[ 9.16635356e-01 -3.98528826e-01 -3.08933454e-02 1.42039502e+02] [ 3.98310985e-01 9.17155779e-01 -1.31770847e-02 -4.32505842e+01] [ 3.35854584e-02 -2.26577111e-04 9.99435824e-01 -2.89986763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:-43.24, Z:-2.90 [[ 9.16682681e-01 -3.98433923e-01 -3.07127267e-02 1.42066920e+02] [ 3.98218309e-01 9.17197014e-01 -1.31078521e-02 -4.32437981e+01] [ 3.33922342e-02 -2.14629062e-04 9.99442301e-01 -2.89873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:-43.24, Z:-2.90 [[ 9.16379286e-01 -3.99123295e-01 -3.08155782e-02 1.42093574e+02] [ 3.98906443e-01 9.16897235e-01 -1.31571380e-02 -4.32352178e+01] [ 3.35060387e-02 -2.35603956e-04 9.99438487e-01 -2.89646310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.12, Y:-43.23, Z:-2.89 [[ 9.16530816e-01 -3.98711114e-01 -3.16340098e-02 1.42120350e+02] [ 3.98482073e-01 9.17076550e-01 -1.35143658e-02 -4.32268503e+01] [ 3.43991364e-02 -2.19253100e-04 9.99408151e-01 -2.89467645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.15, Y:-43.22, Z:-2.89 [[ 9.16935153e-01 -3.97792688e-01 -3.14786127e-02 1.42148590e+02] [ 3.97565094e-01 9.17475311e-01 -1.34554697e-02 -4.32206625e+01] [ 3.42333374e-02 -1.77004461e-04 9.99413852e-01 -2.89338408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.17, Y:-43.21, Z:-2.89 [[ 9.17212425e-01 -3.97068319e-01 -3.25287248e-02 1.42174937e+02] [ 3.96824537e-01 9.17789044e-01 -1.39125125e-02 -4.32109372e+01] [ 3.53787252e-02 -1.47466855e-04 9.99373966e-01 -2.89147639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-43.20, Z:-2.89 [[ 9.18008300e-01 -3.95139596e-01 -3.35478846e-02 1.42200712e+02] [ 3.94878705e-01 9.18621084e-01 -1.43566470e-02 -4.31997295e+01] [ 3.64906737e-02 -6.78241311e-05 9.99333991e-01 -2.89072439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.23, Y:-43.19, Z:-2.89 [[ 9.18624319e-01 -3.93659164e-01 -3.40855361e-02 1.42227157e+02] [ 3.93388509e-01 9.19256473e-01 -1.45951375e-02 -4.31895060e+01] [ 3.70788593e-02 -1.40998658e-06 9.99312343e-01 -2.88874362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-43.18, Z:-2.89 [[ 9.19118892e-01 -3.92474863e-01 -3.44084958e-02 1.42254067e+02] [ 3.92197911e-01 9.19762730e-01 -1.47417528e-02 -4.31806832e+01] [ 3.74334194e-02 5.44832796e-05 9.99299122e-01 -2.88656208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:-43.17, Z:-2.88 [[ 9.20664177e-01 -3.89039116e-01 -3.20318528e-02 1.42280954e+02] [ 3.88796789e-01 9.21221217e-01 -1.37304540e-02 -4.31728378e+01] [ 3.48501061e-02 1.87255589e-04 9.99392533e-01 -2.88277013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:-43.16, Z:-2.88 [[ 9.21048745e-01 -3.88060552e-01 -3.28362179e-02 1.42306140e+02] [ 3.87804985e-01 9.21633849e-01 -1.40834125e-02 -4.31610769e+01] [ 3.57281867e-02 2.37460465e-04 9.99361516e-01 -2.88133206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:-43.15, Z:-2.88 [[ 9.21384849e-01 -3.87099778e-01 -3.46946963e-02 1.42331663e+02] [ 3.86813438e-01 9.22037783e-01 -1.48893204e-02 -4.31478901e+01] [ 3.77534735e-02 2.98419501e-04 9.99287039e-01 -2.88383014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:-43.14, Z:-2.88 [[ 9.21408191e-01 -3.87092184e-01 -3.41553328e-02 1.42357909e+02] [ 3.86814382e-01 9.22040970e-01 -1.46657347e-02 -4.31383814e+01] [ 3.71696075e-02 3.01354125e-04 9.99308926e-01 -2.88293745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.38, Y:-43.13, Z:-2.88 [[ 9.21612846e-01 -3.86691684e-01 -3.31557556e-02 1.42384969e+02] [ 3.86429378e-01 9.22209002e-01 -1.42440699e-02 -4.31303725e+01] [ 3.60845996e-02 3.15159783e-04 9.99348689e-01 -2.88037418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-43.12, Z:-2.88 [[ 9.22136569e-01 -3.85556264e-01 -3.17886062e-02 1.42411773e+02] [ 3.85314232e-01 9.22684260e-01 -1.36637851e-02 -4.31213183e+01] [ 3.45990045e-02 3.51273578e-04 9.99401213e-01 -2.87502464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:-43.11, Z:-2.87 [[ 9.22108848e-01 -3.85571697e-01 -3.23996775e-02 1.42436813e+02] [ 3.85320000e-01 9.22677806e-01 -1.39342831e-02 -4.31089917e+01] [ 3.52671285e-02 3.64681986e-04 9.99377855e-01 -2.87285728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.50, Y:-43.19, Z:-2.86 [[ 9.20013885e-01 -3.77399543e-01 -1.05565316e-01 1.42497971e+02] [ 3.85446239e-01 9.20079377e-01 6.98937473e-02 -4.31875785e+01] [ 7.07506020e-02 -1.04992972e-01 9.91953037e-01 -2.85947206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-43.00, Z:-2.88 [[ 9.22305335e-01 -3.86340221e-01 9.70069346e-03 1.42450662e+02] [ 3.85072575e-01 9.16573298e-01 -1.07761313e-01 -4.29973001e+01] [ 3.27411327e-02 1.03124304e-01 9.94129466e-01 -2.87554814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-43.08, Z:-2.87 [[ 9.22352672e-01 -3.85139452e-01 -3.05475165e-02 1.42514600e+02] [ 3.84915084e-01 9.22858313e-01 -1.31496284e-02 -4.30753782e+01] [ 3.32554702e-02 3.70394986e-04 9.99446815e-01 -2.87185963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.54, Y:-43.07, Z:-2.87 [[ 9.22448266e-01 -3.85068451e-01 -2.84865628e-02 1.42540455e+02] [ 3.84872634e-01 9.22887942e-01 -1.22842299e-02 -4.30656203e+01] [ 3.10201747e-02 3.67868099e-04 9.99518691e-01 -2.86853629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:-43.06, Z:-2.87 [[ 9.22138604e-01 -3.85736303e-01 -2.94601257e-02 1.42566407e+02] [ 3.85526962e-01 9.22609003e-01 -1.27118172e-02 -4.30557717e+01] [ 3.20835865e-02 3.64384646e-04 9.99485123e-01 -2.86644641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:-43.05, Z:-2.86 [[ 9.21798402e-01 -3.86596141e-01 -2.88293267e-02 1.42592655e+02] [ 3.86395941e-01 9.22249052e-01 -1.24444063e-02 -4.30456605e+01] [ 3.13987786e-02 3.31699016e-04 9.99506882e-01 -2.86440942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:-43.03, Z:-2.86 [[ 9.22097249e-01 -3.85868566e-01 -2.90191793e-02 1.42618040e+02] [ 3.85665122e-01 9.22553693e-01 -1.25338649e-02 -4.30329231e+01] [ 3.16081754e-02 3.65757013e-04 9.99500270e-01 -2.86290474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:-43.02, Z:-2.86 [[ 9.22338907e-01 -3.85345227e-01 -2.82842035e-02 1.42643317e+02] [ 3.85151572e-01 9.22772406e-01 -1.22210390e-02 -4.30197678e+01] [ 3.08092016e-02 3.78234312e-04 9.99525212e-01 -2.86223548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-43.01, Z:-2.86 [[ 9.23139902e-01 -3.83367723e-01 -2.90156994e-02 1.42668101e+02] [ 3.83162716e-01 9.23595677e-01 -1.25442329e-02 -4.30063367e+01] [ 3.16078286e-02 4.62347745e-04 9.99500241e-01 -2.86056334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.69, Y:-43.00, Z:-2.86 [[ 9.23281731e-01 -3.83013966e-01 -2.91744259e-02 1.42694444e+02] [ 3.82806314e-01 9.23742425e-01 -1.26197509e-02 -4.29954680e+01] [ 3.17831958e-02 4.83431036e-04 9.99494670e-01 -2.85958170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:-43.08, Z:-2.84 [[ 9.21547841e-01 -3.73486347e-01 -1.06101484e-01 1.42756913e+02] [ 3.81810716e-01 9.21354551e-01 7.29819720e-02 -4.30779701e+01] [ 7.04993147e-02 -1.07767062e-01 9.91673387e-01 -2.84271674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.71, Y:-42.88, Z:-2.86 [[ 9.23821435e-01 -3.82524432e-01 1.51332267e-02 1.42705724e+02] [ 3.81820038e-01 9.17818765e-01 -1.08729822e-01 -4.28806017e+01] [ 2.77022540e-02 1.06225109e-01 9.93956142e-01 -2.85722385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:-42.96, Z:-2.85 [[ 9.24692301e-01 -3.79816692e-01 -2.61424853e-02 1.42768727e+02] [ 3.79648169e-01 9.25061609e-01 -1.13264318e-02 -4.29569752e+01] [ 2.84853773e-02 5.48517589e-04 9.99594059e-01 -2.85331635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.79, Y:-42.94, Z:-2.85 [[ 9.25337724e-01 -3.78201205e-01 -2.67197530e-02 1.42791783e+02] [ 3.78024296e-01 9.25723213e-01 -1.15829294e-02 -4.29394168e+01] [ 2.91157734e-02 6.17405690e-04 9.99575855e-01 -2.85113884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.82, Y:-42.93, Z:-2.85 [[ 9.25778102e-01 -3.77083942e-01 -2.72507982e-02 1.42816262e+02] [ 3.76899255e-01 9.26178843e-01 -1.18195720e-02 -4.29260226e+01] [ 2.96960835e-02 6.71495394e-04 9.99558749e-01 -2.85016235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:-42.91, Z:-2.85 [[ 9.25887945e-01 -3.76737651e-01 -2.82887819e-02 1.42840937e+02] [ 3.76538251e-01 9.26319724e-01 -1.22765745e-02 -4.29121585e+01] [ 3.08295045e-02 7.14923857e-04 9.99524402e-01 -2.84917694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:-42.90, Z:-2.85 [[ 9.26089583e-01 -3.76258687e-01 -2.80621633e-02 1.42866209e+02] [ 3.76062056e-01 9.26514364e-01 -1.21845566e-02 -4.28993379e+01] [ 3.05845427e-02 7.30876129e-04 9.99531916e-01 -2.84832705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:-42.88, Z:-2.85 [[ 9.25968384e-01 -3.76635565e-01 -2.69852153e-02 1.42888850e+02] [ 3.76453729e-01 9.26361250e-01 -1.17228070e-02 -4.28807611e+01] [ 2.94132839e-02 6.96263735e-04 9.99567093e-01 -2.84590648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-42.87, Z:-2.84 [[ 9.25803510e-01 -3.77067132e-01 -2.66127474e-02 1.42912319e+02] [ 3.76890286e-01 9.26185682e-01 -1.15669791e-02 -4.28653792e+01] [ 2.90098732e-02 6.78663901e-04 9.99578895e-01 -2.84448104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.96, Y:-42.92, Z:-2.83 [[ 9.23241553e-01 -3.75308321e-01 -8.22721032e-02 1.42961835e+02] [ 3.79858956e-01 9.23762009e-01 4.86921308e-02 -4.29180011e+01] [ 5.77252816e-02 -7.62063937e-02 9.95419699e-01 -2.83469323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.93, Y:-42.77, Z:-2.84 [[ 9.24801502e-01 -3.80383079e-01 7.13407471e-03 1.42933499e+02] [ 3.79725936e-01 9.21722882e-01 -7.89629160e-02 -4.27725122e+01] [ 2.34605172e-02 7.57340165e-02 9.96852027e-01 -2.84047705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:-42.82, Z:-2.84 [[ 9.25254275e-01 -3.78640057e-01 -2.31567164e-02 1.42986917e+02] [ 3.78506391e-01 9.25543838e-01 -1.00754806e-02 -4.28240623e+01] [ 2.52475367e-02 5.57416345e-04 9.99681075e-01 -2.84042142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.01, Y:-42.81, Z:-2.84 [[ 9.24782243e-01 -3.79739242e-01 -2.39981265e-02 1.43012860e+02] [ 3.79595864e-01 9.25093402e-01 -1.04488365e-02 -4.28055075e+01] [ 2.61683417e-02 5.53308863e-04 9.99657397e-01 -2.83875170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:-42.79, Z:-2.84 [[ 9.24525369e-01 -3.80369025e-01 -2.39216777e-02 1.43040314e+02] [ 3.80226817e-01 9.24834646e-01 -1.04137348e-02 -4.27893263e+01] [ 2.60846584e-02 5.32098612e-04 9.99659596e-01 -2.83717060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:-42.77, Z:-2.83 [[ 9.23817498e-01 -3.82215023e-01 -2.17464314e-02 1.43067700e+02] [ 3.82097861e-01 9.24073309e-01 -9.47332859e-03 -4.27714733e+01] [ 2.37161453e-02 4.42361793e-04 9.99718635e-01 -2.83210867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.10, Y:-42.76, Z:-2.83 [[ 9.23532148e-01 -3.82905393e-01 -2.17217014e-02 1.43097603e+02] [ 3.82788934e-01 9.23787469e-01 -9.45219638e-03 -4.27569924e+01] [ 2.36855325e-02 4.14580319e-04 9.99719372e-01 -2.83062312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.14, Y:-42.79, Z:-2.83 [[ 9.20676292e-01 -3.83381068e-01 -7.33084020e-02 1.43143293e+02] [ 3.85920016e-01 9.22225601e-01 2.37840812e-02 -4.27875914e+01] [ 5.84885186e-02 -5.01886194e-02 9.97025675e-01 -2.82532060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.15, Y:-42.73, Z:-2.83 [[ 9.19915220e-01 -3.88773889e-01 -5.10965003e-02 1.43148006e+02] [ 3.87759865e-01 9.21308594e-01 -2.88576222e-02 -4.27267856e+01] [ 5.82947348e-02 6.73339377e-03 9.98276708e-01 -2.82977354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:-42.68, Z:-2.83 [[ 9.20494173e-01 -3.90726505e-01 -4.82453666e-03 1.43161210e+02] [ 3.90067416e-01 9.19534180e-01 -4.80031469e-02 -4.26836740e+01] [ 2.31924282e-02 4.23047224e-02 9.98835533e-01 -2.82992265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:-42.70, Z:-2.83 [[ 9.20220793e-01 -3.90888021e-01 -2.00061697e-02 1.43205813e+02] [ 3.90791298e-01 9.20438222e-01 -8.69713640e-03 -4.27032037e+01] [ 2.18140497e-02 1.85048716e-04 9.99762028e-01 -2.82712300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.24, Y:-42.69, Z:-2.82 [[ 9.19932011e-01 -3.91557552e-01 -2.01935248e-02 1.43236126e+02] [ 3.91459459e-01 9.20153606e-01 -8.76548782e-03 -4.26893500e+01] [ 2.20133376e-02 1.58706547e-04 9.99757665e-01 -2.82422744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.27, Y:-42.68, Z:-2.82 [[ 9.19721324e-01 -3.92102130e-01 -1.91991248e-02 1.43266503e+02] [ 3.92013811e-01 9.19921683e-01 -8.32277152e-03 -4.26775341e+01] [ 2.09250676e-02 1.28308362e-04 9.99781039e-01 -2.82273953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-42.70, Z:-2.82 [[ 9.17735187e-01 -3.90946723e-01 -7.01625671e-02 1.43310537e+02] [ 3.93036039e-01 9.19339127e-01 1.83913431e-02 -4.27045454e+01] [ 5.73131578e-02 -4.44548002e-02 9.97366017e-01 -2.81909580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-42.62, Z:-2.82 [[ 9.18865670e-01 -3.94554185e-01 -3.58824432e-03 1.43305857e+02] [ 3.93929697e-01 9.17853526e-01 -4.86240563e-02 -4.26186496e+01] [ 2.24783076e-02 4.32654600e-02 9.98810706e-01 -2.82201961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.35, Y:-42.64, Z:-2.82 [[ 9.18214960e-01 -3.95607268e-01 -1.93952689e-02 1.43351980e+02] [ 3.95518341e-01 9.18419778e-01 -8.38769087e-03 -4.26425390e+01] [ 2.11312301e-02 3.05186267e-05 9.99776710e-01 -2.82263764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.38, Y:-42.63, Z:-2.82 [[ 9.18224867e-01 -3.95633472e-01 -1.83643565e-02 1.43382306e+02] [ 3.95553969e-01 9.18408490e-01 -7.93108801e-03 -4.26300706e+01] [ 2.00037848e-02 1.84281377e-05 9.99799904e-01 -2.82067466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:-42.62, Z:-2.82 [[ 9.18318302e-01 -3.95416252e-01 -1.83707458e-02 1.43413031e+02] [ 3.95337002e-01 9.18502035e-01 -7.91625329e-03 -4.26167717e+01] [ 2.00037826e-02 7.00471194e-06 9.99799904e-01 -2.81939585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:-42.61, Z:-2.82 [[ 9.18338449e-01 -3.95341523e-01 -1.89624123e-02 1.43443848e+02] [ 3.95257067e-01 9.18534202e-01 -8.17131603e-03 -4.26060945e+01] [ 2.06480848e-02 9.00621789e-06 9.99786806e-01 -2.81619753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93232058799998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:143.47, Y:-42.59, Z:-2.82 [[ 9.18836681e-01 -3.94164701e-01 -1.93220653e-02 1.43474363e+02] [ 3.94077017e-01 9.19039818e-01 -8.31367023e-03 -4.25935236e+01] [ 2.10347028e-02 2.45232893e-05 9.99778746e-01 -2.81616137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:143.51, Y:-42.58, Z:-2.81 [[ 9.20136882e-01 -3.91236868e-01 -1.67878485e-02 1.43505444e+02] [ 3.91170335e-01 9.20290013e-01 -7.21535068e-03 -4.25832468e+01] [ 1.82726005e-02 7.22019323e-05 9.99833039e-01 -2.81491118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99232058799998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:143.54, Y:-42.57, Z:-2.81 [[ 9.21066349e-01 -3.89124629e-01 -1.47920059e-02 1.43536102e+02] [ 3.89072812e-01 9.21185114e-01 -6.35076885e-03 -4.25710252e+01] [ 1.60974162e-02 9.43121318e-05 9.99870424e-01 -2.81270458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:143.57, Y:-42.56, Z:-2.81 [[ 9.21803551e-01 -3.87428027e-01 -1.33318104e-02 1.43565909e+02] [ 3.87385850e-01 9.21899947e-01 -5.71755819e-03 -4.25579650e+01] [ 1.45057376e-02 1.05910755e-04 9.99894781e-01 -2.81033916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052320588 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:143.60, Y:-42.54, Z:-2.81 [[ 9.23008354e-01 -3.84483056e-01 -1.51115024e-02 1.43595352e+02] [ 3.84428675e-01 9.23132035e-01 -6.46839189e-03 -4.25416162e+01] [ 1.64368991e-02 1.61084894e-04 9.99864892e-01 -2.80962040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:143.63, Y:-42.53, Z:-2.81 [[ 9.23613575e-01 -3.82966057e-01 -1.65820377e-02 1.43625260e+02] [ 3.82900558e-01 9.23762394e-01 -7.08530492e-03 -4.25277762e+01] [ 1.80312941e-02 1.94812309e-04 9.99837404e-01 -2.81020097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.66, Y:-42.51, Z:-2.81 [[ 9.25281731e-01 -3.78845058e-01 -1.81697552e-02 1.43655515e+02] [ 3.78765885e-01 9.25460068e-01 -7.75022097e-03 -4.25144550e+01] [ 1.97515158e-02 2.89054463e-04 9.99804878e-01 -2.81057636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.69, Y:-42.50, Z:-2.81 [[ 9.26132629e-01 -3.76683074e-01 -1.97031691e-02 1.43685524e+02] [ 3.76589790e-01 9.26342129e-01 -8.38990652e-03 -4.25000997e+01] [ 2.14122114e-02 3.50153875e-04 9.99770671e-01 -2.80967515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:143.72, Y:-42.48, Z:-2.81 [[ 9.26972216e-01 -3.74642619e-01 -1.91159456e-02 1.43715073e+02] [ 3.74554616e-01 9.27169223e-01 -8.12848665e-03 -4.24846392e+01] [ 2.07689940e-02 3.74915623e-04 9.99784231e-01 -2.80721588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:143.77, Y:-42.53, Z:-2.80 [[ 9.26649019e-01 -3.69363599e-01 -6.99437356e-02 1.43766479e+02] [ 3.73258050e-01 9.26137196e-01 5.42984652e-02 -4.25340331e+01] [ 4.47216186e-02 -7.64226818e-02 9.96072061e-01 -2.79944527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:143.74, Y:-42.39, Z:-2.80 [[ 9.28241702e-01 -3.71637477e-01 1.59037548e-02 1.43738897e+02] [ 3.71726193e-01 9.25194416e-01 -7.63867174e-02 -4.23875584e+01] [ 1.36741017e-02 7.68171787e-02 9.96951423e-01 -2.80030854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:143.79, Y:-42.43, Z:-2.80 [[ 9.30241935e-01 -3.66624284e-01 -1.53810209e-02 1.43794450e+02] [ 3.66566453e-01 9.30368984e-01 -6.52598078e-03 -4.24332155e+01] [ 1.67026079e-02 4.32574707e-04 9.99860408e-01 -2.80249530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:143.82, Y:-42.42, Z:-2.80 [[ 9.30493290e-01 -3.65968139e-01 -1.57974315e-02 1.43822591e+02] [ 3.65907313e-01 9.30627276e-01 -6.68671192e-03 -4.24164079e+01] [ 1.71486441e-02 4.41544861e-04 9.99852854e-01 -2.80043910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:143.85, Y:-42.40, Z:-2.80 [[ 9.30826008e-01 -3.65103870e-01 -1.61897360e-02 1.43851668e+02] [ 3.65039834e-01 9.30966671e-01 -6.85395446e-03 -4.23994728e+01] [ 1.75745100e-02 4.69940512e-04 9.99845446e-01 -2.79933676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:143.88, Y:-42.38, Z:-2.80 [[ 9.30675584e-01 -3.65493292e-01 -1.60502919e-02 1.43880082e+02] [ 3.65430581e-01 9.30813865e-01 -6.78517490e-03 -4.23818766e+01] [ 1.74197701e-02 4.49529123e-04 9.99848163e-01 -2.79717367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:143.91, Y:-42.37, Z:-2.80 [[ 9.30446228e-01 -3.66097951e-01 -1.55597997e-02 1.43909150e+02] [ 3.66039248e-01 9.30576228e-01 -6.56900064e-03 -4.23670837e+01] [ 1.68844774e-02 4.16604481e-04 9.99857360e-01 -2.79619611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412320588 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:143.95, Y:-42.38, Z:-2.79 [[ 9.27937636e-01 -3.66634472e-01 -6.71632945e-02 1.43949217e+02] [ 3.68451193e-01 9.29499320e-01 1.65750711e-02 -4.23841580e+01] [ 5.63512441e-02 -4.01270283e-02 9.97604310e-01 -2.79173931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:143.95, Y:-42.32, Z:-2.79 [[ 9.28690097e-01 -3.69089430e-01 -3.61620893e-02 1.43954526e+02] [ 3.68046595e-01 9.29242125e-01 -3.24156798e-02 -4.23212449e+01] [ 4.55676215e-02 1.67947869e-02 9.98820067e-01 -2.79155366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:143.98, Y:-42.30, Z:-2.79 [[ 9.29371098e-01 -3.69097887e-01 -6.00937239e-03 1.43977678e+02] [ 3.68804902e-01 9.29087759e-01 -2.79084100e-02 -4.23007302e+01] [ 1.58841695e-02 2.37209836e-02 9.99592421e-01 -2.79167194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:144.03, Y:-42.36, Z:-2.79 [[ 9.28693514e-01 -3.65620513e-01 -6.20483554e-02 1.44034135e+02] [ 3.68583096e-01 9.28473969e-01 4.56354053e-02 -4.23594995e+01] [ 4.09250425e-02 -6.52512798e-02 9.97029293e-01 -2.79039918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532320588 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:144.02, Y:-42.23, Z:-2.78 [[ 9.29580945e-01 -3.68353736e-01 1.39568185e-02 1.44015631e+02] [ 3.68449496e-01 9.27344765e-01 -6.53961431e-02 -4.22311880e+01] [ 1.11461310e-02 6.59333913e-02 9.97761771e-01 -2.78444883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:144.07, Y:-42.27, Z:-2.79 [[ 9.29591325e-01 -3.68408112e-01 -1.16375529e-02 1.44067641e+02] [ 3.68375617e-01 9.29664128e-01 -4.90033381e-03 -4.22705819e+01] [ 1.26243382e-02 2.68317068e-04 9.99920274e-01 -2.78838388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:144.10, Y:-42.26, Z:-2.79 [[ 9.29030564e-01 -3.69734548e-01 -1.40916970e-02 1.44097669e+02] [ 3.69687246e-01 9.29137384e-01 -5.92125164e-03 -4.22563016e+01] [ 1.52824138e-02 2.91503098e-04 9.99883175e-01 -2.78747326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:144.13, Y:-42.24, Z:-2.79 [[ 9.28384840e-01 -3.71377293e-01 -1.34348022e-02 1.44127608e+02] [ 3.71334581e-01 9.28482012e-01 -5.63765248e-03 -4.22418302e+01] [ 1.45676683e-02 2.45104468e-04 9.99893856e-01 -2.78608967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65232058799998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:144.16, Y:-42.23, Z:-2.79 [[ 9.26706421e-01 -3.75546068e-01 -1.34298521e-02 1.44156306e+02] [ 3.75503945e-01 9.26803713e-01 -5.62725563e-03 -4.22256578e+01] [ 1.45601305e-02 1.71851485e-04 9.99893981e-01 -2.78552276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:144.19, Y:-42.21, Z:-2.78 [[ 9.26264672e-01 -3.76637131e-01 -1.33502060e-02 1.44185836e+02] [ 3.76595740e-01 9.26360864e-01 -5.58558562e-03 -4.22114633e+01] [ 1.44708473e-02 1.46099932e-04 9.99895281e-01 -2.78483746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71232058799998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:144.22, Y:-42.20, Z:-2.78 [[ 9.25379732e-01 -3.78781171e-01 -1.40419543e-02 1.44216462e+02] [ 3.78735770e-01 9.25486257e-01 -5.86544673e-03 -4.21978054e+01] [ 1.52173565e-02 1.09575144e-04 9.99884203e-01 -2.78384809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:144.25, Y:-42.18, Z:-2.78 [[ 9.25284662e-01 -3.79024525e-01 -1.37369484e-02 1.44246381e+02] [ 3.78981224e-01 9.25386622e-01 -5.72988588e-03 -4.21836510e+01] [ 1.48837556e-02 9.57299838e-05 9.99889226e-01 -2.78261341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77232058799999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:144.28, Y:-42.17, Z:-2.78 [[ 9.25611978e-01 -3.78203233e-01 -1.43101596e-02 1.44276101e+02] [ 3.78156295e-01 9.25722585e-01 -5.95930406e-03 -4.21679145e+01] [ 1.55010660e-02 1.04526299e-04 9.99879846e-01 -2.78080420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:144.31, Y:-42.15, Z:-2.78 [[ 9.25714893e-01 -3.77970324e-01 -1.37975303e-02 1.44305041e+02] [ 3.77926780e-01 9.25817706e-01 -5.73793625e-03 -4.21504347e+01] [ 1.49427675e-02 9.72368234e-05 9.99888346e-01 -2.77748554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:144.34, Y:-42.14, Z:-2.78 [[ 9.25825470e-01 -3.77713348e-01 -1.34099480e-02 1.44335484e+02] [ 3.77672302e-01 9.25922577e-01 -5.56900818e-03 -4.21371813e+01] [ 1.45200624e-02 9.13636659e-05 9.99894574e-01 -2.77709967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:144.37, Y:-42.13, Z:-2.78 [[ 9.25599980e-01 -3.78285771e-01 -1.28278284e-02 1.44366462e+02] [ 3.78248366e-01 9.25688862e-01 -5.32008132e-03 -4.21251755e+01] [ 1.38870890e-02 7.21620073e-05 9.99903567e-01 -2.77780745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892320588 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:144.43, Y:-42.21, Z:-2.78 [[ 9.23418645e-01 -3.73966539e-01 -8.62961986e-02 1.44429506e+02] [ 3.80591639e-01 9.21251675e-01 8.02829729e-02 -4.22070901e+01] [ 4.94773720e-02 -1.06978406e-01 9.93029511e-01 -2.77632797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:144.40, Y:-42.04, Z:-2.77 [[ 9.24773775e-01 -3.80062216e-01 -1.86058113e-02 1.44398403e+02] [ 3.77324540e-01 9.22238231e-01 -8.42783355e-02 -4.20406798e+01] [ 4.91900015e-02 7.09179652e-02 9.96268531e-01 -2.76564614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952320588 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:144.47, Y:-42.14, Z:-2.77 [[ 9.23601969e-01 -3.78715621e-01 -5.94464603e-02 1.44468994e+02] [ 3.81136488e-01 9.23805174e-01 3.63177401e-02 -4.21394525e+01] [ 4.11628521e-02 -5.62003514e-02 9.97570619e-01 -2.77222476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:144.45, Y:-42.01, Z:-2.76 [[ 9.23127915e-01 -3.83525682e-01 2.72562533e-02 1.44447025e+02] [ 3.84426850e-01 9.19332443e-01 -8.39276835e-02 -4.20062728e+01] [ 7.13086412e-03 8.79540231e-02 9.96099011e-01 -2.75857133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012320588 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:144.51, Y:-42.07, Z:-2.77 [[ 9.24074831e-01 -3.82167552e-01 -5.80254676e-03 1.44508418e+02] [ 3.82159969e-01 9.24093048e-01 -2.40754092e-03 -4.20676231e+01] [ 6.28217714e-03 7.24687749e-06 9.99980267e-01 -2.76671315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:144.54, Y:-42.05, Z:-2.77 [[ 9.24663531e-01 -3.80735606e-01 -6.14437045e-03 1.44538594e+02] [ 3.80727102e-01 9.24683945e-01 -2.54483231e-03 -4.20543216e+01] [ 6.65050898e-03 1.37852787e-05 9.99977885e-01 -2.76667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072320588 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:144.57, Y:-42.04, Z:-2.77 [[ 9.24741179e-01 -3.80523123e-01 -7.47692156e-03 1.44569714e+02] [ 3.80510585e-01 9.24771406e-01 -3.08910167e-03 -4.20429662e+01] [ 8.08991787e-03 1.15717233e-05 9.99967276e-01 -2.76803321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:144.60, Y:-42.03, Z:-2.77 [[ 9.24611036e-01 -3.80851620e-01 -6.81730458e-03 1.44601264e+02] [ 3.80841227e-01 9.24636168e-01 -2.81359157e-03 -4.20317498e+01] [ 7.37508729e-03 5.16717454e-06 9.99972804e-01 -2.76766594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132320588 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:144.63, Y:-42.02, Z:-2.77 [[ 9.24364986e-01 -3.81455684e-01 -6.39802479e-03 1.44632970e+02] [ 3.81446566e-01 9.24387128e-01 -2.63739821e-03 -4.20210104e+01] [ 6.92030229e-03 -2.58603094e-06 9.99976054e-01 -2.76593487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:144.66, Y:-42.01, Z:-2.76 [[ 9.24657599e-01 -3.80748568e-01 -6.23323256e-03 1.44663480e+02] [ 3.80739921e-01 9.24678608e-01 -2.56594570e-03 -4.20085547e+01] [ 6.74071696e-03 -6.19283718e-07 9.99977281e-01 -2.76480225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192320588 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:144.69, Y:-42.00, Z:-2.76 [[ 9.25083218e-01 -3.79715299e-01 -6.10986961e-03 1.44693786e+02] [ 3.79706992e-01 9.25103395e-01 -2.51177527e-03 -4.19951058e+01] [ 6.60602062e-03 3.64094231e-06 9.99978180e-01 -2.76319222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:144.72, Y:-41.98, Z:-2.76 [[ 9.26356150e-01 -3.76607476e-01 -5.57600252e-03 1.44723845e+02] [ 3.76600513e-01 9.26372932e-01 -2.29014663e-03 -4.19814075e+01] [ 6.02794415e-03 2.15660040e-05 9.99981832e-01 -2.76196897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:144.77, Y:-42.00, Z:-2.76 [[ 9.27743975e-01 -3.69410827e-01 -5.31672541e-02 1.44766815e+02] [ 3.70791684e-01 9.28528963e-01 1.86411488e-02 -4.20004406e+01] [ 4.24810931e-02 -3.70081892e-02 9.98411614e-01 -2.76059357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:144.77, Y:-41.92, Z:-2.76 [[ 9.29247165e-01 -3.69331092e-01 9.70827382e-03 1.44768104e+02] [ 3.69437211e-01 9.28589166e-01 -3.51896041e-02 -4.19239388e+01] [ 3.98161703e-03 3.62864375e-02 9.99333498e-01 -2.75567102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:144.81, Y:-41.94, Z:-2.76 [[ 9.30230167e-01 -3.66956564e-01 -3.83626963e-03 1.44811086e+02] [ 3.66953183e-01 9.30238075e-01 -1.57652641e-03 -4.19404958e+01] [ 4.14716079e-03 5.88010786e-05 9.99991399e-01 -2.75722622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.84, Y:-41.93, Z:-2.76 [[ 9.31058914e-01 -3.64837501e-01 -4.78502851e-03 1.44840240e+02] [ 3.64832244e-01 9.31071206e-01 -1.96017484e-03 -4.19254618e+01] [ 5.17034756e-03 7.93055663e-05 9.99986631e-01 -2.75646599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:144.89, Y:-41.98, Z:-2.76 [[ 9.30526632e-01 -3.61997152e-01 -5.54819677e-02 1.44893479e+02] [ 3.64944899e-01 9.29225072e-01 5.79308754e-02 -4.19783618e+01] [ 3.05844235e-02 -7.41540835e-02 9.96777691e-01 -2.75595770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:144.87, Y:-41.84, Z:-2.75 [[ 9.30164852e-01 -3.66161045e-01 2.68223246e-02 1.44871680e+02] [ 3.67141878e-01 9.27592089e-01 -6.91357914e-02 -4.18391471e+01] [ 4.34657538e-04 7.41552818e-02 9.97246612e-01 -2.74515198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:144.93, Y:-41.89, Z:-2.75 [[ 9.30518451e-01 -3.66241039e-01 -1.70711586e-03 1.44927709e+02] [ 3.66240363e-01 9.30520016e-01 -7.04446591e-04 -4.18894358e+01] [ 1.84650273e-03 3.02858183e-05 9.99998295e-01 -2.75097711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:144.96, Y:-41.88, Z:-2.75 [[ 9.30506466e-01 -3.66272696e-01 -1.42430945e-03 1.44957783e+02] [ 3.66272223e-01 9.30507556e-01 -5.88851283e-04 -4.18761525e+01] [ 1.54101085e-03 2.62449392e-05 9.99998812e-01 -2.75058993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:144.99, Y:-41.86, Z:-2.75 [[ 9.30176389e-01 -3.67110854e-01 -1.22746244e-03 1.44988183e+02] [ 3.67110503e-01 9.30177198e-01 -5.08253901e-04 -4.18635927e+01] [ 1.32834309e-03 2.21514264e-05 9.99999118e-01 -2.75098418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.02, Y:-41.85, Z:-2.75 [[ 9.30112215e-01 -3.67271445e-01 -1.71839528e-03 1.45019367e+02] [ 3.67270767e-01 9.30113802e-01 -7.05850011e-04 -4.18513536e+01] [ 1.85754172e-03 2.54033640e-05 9.99998274e-01 -2.75034929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.05, Y:-41.84, Z:-2.75 [[ 9.30484435e-01 -3.66331361e-01 2.24644934e-04 1.45050286e+02] [ 3.66331352e-01 9.30484462e-01 7.91001874e-05 -4.18384805e+01] [-2.38005500e-04 8.69298914e-06 9.99999972e-01 -2.74793958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.10, Y:-41.88, Z:-2.75 [[ 9.30804976e-01 -3.63179481e-01 -4.12645248e-02 1.45099876e+02] [ 3.64932920e-01 9.29753801e-01 4.88040328e-02 -4.18788897e+01] [ 2.06412255e-02 -6.04858201e-02 9.97955613e-01 -2.74837266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:-41.77, Z:-2.74 [[ 9.30589768e-01 -3.65331671e-01 2.31398724e-02 1.45088152e+02] [ 3.66060710e-01 9.28979352e-01 -5.47441331e-02 -4.17650628e+01] [-1.49669801e-03 5.94149283e-02 9.98232251e-01 -2.74019979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:-41.80, Z:-2.75 [[ 9.32158576e-01 -3.62048725e-01 1.05391851e-03 1.45140331e+02] [ 3.62048489e-01 9.32159172e-01 4.13475248e-04 -4.18045909e+01] [-1.13211799e-03 -3.85489600e-06 9.99999359e-01 -2.74610883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.17, Y:-41.79, Z:-2.75 [[ 9.33038258e-01 -3.59776416e-01 7.34122663e-04 1.45170903e+02] [ 3.59776304e-01 9.33038547e-01 2.84235431e-04 -4.17924180e+01] [-7.87225948e-04 -1.08259346e-06 9.99999690e-01 -2.74577620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.20, Y:-41.78, Z:-2.74 [[ 9.34330762e-01 -3.56407108e-01 -3.35930367e-05 1.45201293e+02] [ 3.56407107e-01 9.34330762e-01 -2.41000841e-05 -4.17796689e+01] [ 3.99764488e-05 1.05446528e-05 9.99999999e-01 -2.74467119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.23, Y:-41.77, Z:-2.74 [[ 9.34413712e-01 -3.56189575e-01 -3.56395583e-05 1.45232374e+02] [ 3.56189575e-01 9.34413713e-01 -1.90002890e-05 -4.17671296e+01] [ 4.00697968e-05 5.05969144e-06 9.99999999e-01 -2.74404173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:-41.76, Z:-2.74 [[ 9.35118088e-01 -3.54334042e-01 1.24456585e-03 1.45262980e+02] [ 3.54333707e-01 9.35118916e-01 4.87533558e-04 -4.17552811e+01] [-1.33656681e-03 -1.49098155e-05 9.99999107e-01 -2.74268079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.29, Y:-41.74, Z:-2.74 [[ 9.35583626e-01 -3.53103857e-01 9.71749237e-04 1.45294306e+02] [ 3.53103655e-01 9.35584131e-01 3.77746951e-04 -4.17434254e+01] [-1.04253707e-03 -1.02856550e-05 9.99999457e-01 -2.74095345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:-41.73, Z:-2.74 [[ 9.36265390e-01 -3.51292964e-01 -6.11090288e-04 1.45325521e+02] [ 3.51292872e-01 9.36265589e-01 -2.54500133e-04 -4.17312653e+01] [ 6.61546914e-04 2.36080037e-05 9.99999781e-01 -2.74136014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.36, Y:-41.72, Z:-2.74 [[ 9.36701498e-01 -3.50128684e-01 -4.55304148e-04 1.45355935e+02] [ 3.50128632e-01 9.36701609e-01 -1.92093826e-04 -4.17182145e+01] [ 4.93741686e-04 2.05195558e-05 9.99999878e-01 -2.74135740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.39, Y:-41.71, Z:-2.74 [[ 9.36770225e-01 -3.49940229e-01 1.83897710e-03 1.45386349e+02] [ 3.49939488e-01 9.36772029e-01 7.20871024e-04 -4.17062139e+01] [-1.97496408e-03 -3.17598070e-05 9.99998049e-01 -2.74050673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-41.69, Z:-2.74 [[ 9.37012867e-01 -3.49294203e-01 6.68620629e-04 1.45416979e+02] [ 3.49294110e-01 9.37013105e-01 2.54945607e-04 -4.16945813e+01] [-7.15557314e-04 -5.34206625e-06 9.99999744e-01 -2.73885082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.45, Y:-41.68, Z:-2.74 [[ 9.37436927e-01 -3.48152362e-01 -1.39289616e-03 1.45448650e+02] [ 3.48151910e-01 9.37437961e-01 -5.63149180e-04 -4.16840748e+01] [ 1.50181545e-03 4.29773777e-05 9.99998871e-01 -2.73881890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-41.67, Z:-2.74 [[ 9.37822498e-01 -3.47111693e-01 -1.56016502e-03 1.45479239e+02] [ 3.47111128e-01 9.37823795e-01 -6.28538419e-04 -4.16723429e+01] [ 1.68133291e-03 4.79068326e-05 9.99998585e-01 -2.73860788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-41.70, Z:-2.74 [[ 9.38181286e-01 -3.44711128e-01 -3.14660555e-02 1.45524762e+02] [ 3.45755185e-01 9.37555686e-01 3.79827264e-02 -4.17015366e+01] [ 1.64081108e-02 -4.65142350e-02 9.98782859e-01 -2.73801813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.52, Y:-41.61, Z:-2.73 [[ 9.38177496e-01 -3.45710865e-01 1.75209545e-02 1.45523847e+02] [ 3.46150704e-01 9.37203673e-01 -4.27663917e-02 -4.16091417e+01] [-1.63589668e-03 4.61873570e-02 9.98931455e-01 -2.73208115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.57, Y:-41.64, Z:-2.74 [[ 9.38604358e-01 -3.44994262e-01 -9.04424598e-04 1.45570315e+02] [ 3.44994068e-01 9.38604794e-01 -3.67042610e-04 -4.16357859e+01] [ 9.75524857e-04 3.24866721e-05 9.99999524e-01 -2.73555204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:-41.62, Z:-2.74 [[ 9.38637907e-01 -3.44904132e-01 -1.35122235e-04 1.45601526e+02] [ 3.44904127e-01 9.38637917e-01 -6.32648789e-05 -4.16246627e+01] [ 1.48651171e-04 1.27785971e-05 9.99999989e-01 -2.73604880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-41.61, Z:-2.74 [[ 9.38570982e-01 -3.45086169e-01 -2.18337805e-04 1.45632453e+02] [ 3.45086156e-01 9.38571007e-01 -9.59429802e-05 -4.16133866e+01] [ 2.38034129e-04 1.47039430e-05 9.99999972e-01 -2.73515105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-41.60, Z:-2.73 [[ 9.38259333e-01 -3.45925168e-01 2.28094921e-03 1.45663343e+02] [ 3.45924035e-01 9.38262104e-01 8.86396497e-04 -4.16005204e+01] [-2.44675507e-03 -4.26346309e-05 9.99997006e-01 -2.73312476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-41.59, Z:-2.73 [[ 9.38520564e-01 -3.45218441e-01 1.83826087e-03 1.45694066e+02] [ 3.45217710e-01 9.38522364e-01 7.11413567e-04 -4.15873618e+01] [-1.97084202e-03 -3.30760530e-05 9.99998057e-01 -2.73242405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-41.57, Z:-2.73 [[ 9.38532994e-01 -3.45188669e-01 7.76321451e-04 1.45724865e+02] [ 3.45188544e-01 9.38533315e-01 2.94153885e-04 -4.15746316e+01] [-8.30142133e-04 -8.09585510e-06 9.99999655e-01 -2.73354616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:-41.56, Z:-2.73 [[ 9.38721010e-01 -3.44676952e-01 8.15418592e-04 1.45755328e+02] [ 3.44676814e-01 9.38721364e-01 3.08887260e-04 -4.15617617e+01] [-8.71917172e-04 -8.90307842e-06 9.99999620e-01 -2.73274003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:-41.55, Z:-2.73 [[ 9.38792361e-01 -3.44473117e-01 2.67843392e-03 1.45786141e+02] [ 3.44471563e-01 9.38796181e-01 1.03612860e-03 -4.15486364e+01] [-2.87142198e-03 -5.00652996e-05 9.99995876e-01 -2.73115501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.82, Y:-41.54, Z:-2.73 [[ 9.38896329e-01 -3.44184187e-01 3.30575929e-03 1.45815965e+02] [ 3.44181816e-01 9.38902147e-01 1.27911395e-03 -4.15353161e+01] [-3.54403529e-03 -6.31731567e-05 9.99993718e-01 -2.72926346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-41.52, Z:-2.73 [[ 9.39267801e-01 -3.43171554e-01 3.04684661e-03 1.45846119e+02] [ 3.43169543e-01 9.39272740e-01 1.17626943e-03 -4.15215981e+01] [-3.26548217e-03 -5.92470374e-05 9.99994667e-01 -2.72849212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.88, Y:-41.51, Z:-2.73 [[ 9.39669354e-01 -3.42074322e-01 2.58136533e-03 1.45876893e+02] [ 3.42072883e-01 9.39672898e-01 9.93465235e-04 -4.15090648e+01] [-2.76547799e-03 -5.05137564e-05 9.99996175e-01 -2.72855585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.91, Y:-41.50, Z:-2.73 [[ 9.39010210e-01 -3.43873200e-01 3.32379977e-03 1.45907687e+02] [ 3.43870823e-01 9.39016091e-01 1.28004517e-03 -4.14958947e+01] [-3.56127469e-03 -5.90177218e-05 9.99993657e-01 -2.72765176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-41.48, Z:-2.73 [[ 9.38490609e-01 -3.45282323e-01 3.93626448e-03 1.45938721e+02] [ 3.45279004e-01 9.38498862e-01 1.51530949e-03 -4.14836923e+01] [-4.21738932e-03 -6.29942478e-05 9.99991105e-01 -2.72692172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-41.47, Z:-2.73 [[ 9.38289976e-01 -3.45837569e-01 2.88047360e-03 1.45969462e+02] [ 3.45835808e-01 9.38294396e-01 1.10461814e-03 -4.14721861e+01] [-3.08475069e-03 -4.02812136e-05 9.99995241e-01 -2.72681724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-41.46, Z:-2.73 [[ 9.37366814e-01 -3.48308831e-01 4.94103079e-03 1.46000667e+02] [ 3.48303660e-01 9.37379835e-01 1.89879804e-03 -4.14605162e+01] [-5.29299075e-03 -5.88911603e-05 9.99985990e-01 -2.72621814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-41.45, Z:-2.73 [[ 9.36402108e-01 -3.50909761e-01 3.66503056e-03 1.46030406e+02] [ 3.50906955e-01 9.36409279e-01 1.40364420e-03 -4.14468840e+01] [-3.92452107e-03 -2.82906720e-05 9.99992299e-01 -2.72563722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-41.50, Z:-2.73 [[ 9.36257300e-01 -3.48700077e-01 -4.27846205e-02 1.46083942e+02] [ 3.50833664e-01 9.34388203e-01 6.19227410e-02 -4.14986887e+01] [ 1.83849801e-02 -7.29859035e-02 9.97163502e-01 -2.72638138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:-41.36, Z:-2.72 [[ 9.34925658e-01 -3.53447072e-01 3.14512635e-02 1.46066594e+02] [ 3.54784687e-01 9.32706993e-01 -6.46953724e-02 -4.13646716e+01] [-6.46842343e-03 7.16437903e-02 9.97409308e-01 -2.71697869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:-41.44, Z:-2.72 [[ 9.34764512e-01 -3.53538000e-01 -3.50169802e-02 1.46131526e+02] [ 3.54307030e-01 9.34941270e-01 1.87443600e-02 -4.14434276e+01] [ 2.61119764e-02 -2.99283248e-02 9.99210919e-01 -2.72265940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:-41.38, Z:-2.72 [[ 9.34653851e-01 -3.55155077e-01 1.69425577e-02 1.46142339e+02] [ 3.55490713e-01 9.34346552e-01 -2.49574365e-02 -4.13824624e+01] [-6.96646009e-03 2.93494860e-02 9.99544935e-01 -2.71927258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:-41.40, Z:-2.72 [[ 9.34526167e-01 -3.55825158e-01 7.02134840e-03 1.46183617e+02] [ 3.55814997e-01 9.34552544e-01 2.68911837e-03 -4.13983531e+01] [-7.51867498e-03 -1.47504279e-05 9.99971734e-01 -2.72019130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-41.41, Z:-2.72 [[ 9.34673947e-01 -3.53721715e-01 -3.55747280e-02 1.46224431e+02] [ 3.54500472e-01 9.34873215e-01 1.84793597e-02 -4.14132129e+01] [ 2.67213095e-02 -2.98834339e-02 9.99196153e-01 -2.71929370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:-41.38, Z:-2.72 [[ 9.35161068e-01 -3.53383973e-01 -2.43627713e-02 1.46245877e+02] [ 3.53315211e-01 9.35476513e-01 -7.21498759e-03 -4.13777119e+01] [ 2.53404613e-02 -1.86056216e-03 9.99677148e-01 -2.71751162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:-41.38, Z:-2.72 [[ 9.35014851e-01 -3.53337661e-01 -2.99954413e-02 1.46279754e+02] [ 3.53567405e-01 9.35405549e-01 2.55924505e-03 -4.13790214e+01] [ 2.71536246e-02 -1.29983425e-02 9.99546759e-01 -2.71557577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:-41.32, Z:-2.71 [[ 9.34339342e-01 -3.55413716e-01 2.62884939e-02 1.46290722e+02] [ 3.56199709e-01 9.33686331e-01 -3.67641390e-02 -4.13218711e+01] [-1.14787282e-02 4.37141353e-02 9.98978134e-01 -2.71306780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:-41.35, Z:-2.72 [[ 9.34355346e-01 -3.56234420e-01 8.78204975e-03 1.46337262e+02] [ 3.56218603e-01 9.34396617e-01 3.35692171e-03 -4.13500545e+01] [-9.40176864e-03 -8.22825347e-06 9.99955802e-01 -2.71806224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-41.38, Z:-2.72 [[ 9.34061237e-01 -3.54743208e-01 -4.10714252e-02 1.46381790e+02] [ 3.56048642e-01 9.33970429e-01 3.04729701e-02 -4.13758541e+01] [ 2.75494174e-02 -4.30870453e-02 9.98691412e-01 -2.71712113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-41.29, Z:-2.72 [[ 9.33552455e-01 -3.57588392e-01 2.47053702e-02 1.46383722e+02] [ 3.58290690e-01 9.32936884e-01 -3.54478879e-02 -4.12926465e+01] [-1.03727978e-02 4.19441669e-02 9.99066110e-01 -2.71562946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:-41.32, Z:-2.71 [[ 9.33333678e-01 -3.58791527e-01 1.25253837e-02 1.46430783e+02] [ 3.58759705e-01 9.33417719e-01 4.77863307e-03 -4.13234345e+01] [-1.34059481e-02 3.35437717e-05 9.99910136e-01 -2.71459633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:-41.31, Z:-2.71 [[ 9.33202987e-01 -3.59114889e-01 1.29877513e-02 1.46462496e+02] [ 3.59080809e-01 9.33293359e-01 4.94757556e-03 -4.13137918e+01] [-1.38981300e-02 4.65599356e-05 9.99903415e-01 -2.71346885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:-41.30, Z:-2.71 [[ 9.33999667e-01 -3.57080093e-01 1.17656149e-02 1.46494255e+02] [ 3.57052059e-01 9.34073769e-01 4.47441927e-03 -4.13030550e+01] [-1.25876783e-02 2.18309112e-05 9.99920772e-01 -2.71412833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-41.29, Z:-2.72 [[ 9.34486395e-01 -3.55774700e-01 1.26309561e-02 1.46524981e+02] [ 3.55742368e-01 9.34571754e-01 4.79629140e-03 -4.12922316e+01] [-1.35109339e-02 1.12971683e-05 9.99908723e-01 -2.71501380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:-41.31, Z:-2.71 [[ 9.36099006e-01 -3.50135128e-01 -3.35267486e-02 1.46566544e+02] [ 3.51019372e-01 9.36020742e-01 2.55063054e-02 -4.13131110e+01] [ 2.24510786e-02 -3.56449653e-02 9.99112299e-01 -2.71459098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.59, Y:-41.28, Z:-2.71 [[ 9.36537895e-01 -3.49819704e-01 -2.28680292e-02 1.46585662e+02] [ 3.49845503e-01 9.36802629e-01 -2.99314506e-03 -4.12762844e+01] [ 2.24698910e-02 -5.19708339e-03 9.99734012e-01 -2.71268536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:-41.23, Z:-2.71 [[ 9.37512482e-01 -3.46840082e-01 2.77903548e-02 1.46600877e+02] [ 3.47656257e-01 9.37014465e-01 -3.37493626e-02 -4.12272367e+01] [-1.43343327e-02 4.13019394e-02 9.99043881e-01 -2.70975927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:-41.25, Z:-2.71 [[ 9.38367387e-01 -3.45346815e-01 1.42205352e-02 1.46646508e+02] [ 3.45304918e-01 9.38475124e-01 5.38106005e-03 -4.12539297e+01] [-1.52039505e-02 -1.38990507e-04 9.99884404e-01 -2.71146812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:-41.24, Z:-2.71 [[ 9.38885848e-01 -3.43971371e-01 1.33064437e-02 1.46677991e+02] [ 3.43934667e-01 9.38980125e-01 5.02683291e-03 -4.12449552e+01] [-1.42235728e-02 -1.43074987e-04 9.99898830e-01 -2.71109939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-41.23, Z:-2.71 [[ 9.39609370e-01 -3.42003588e-01 1.29529108e-02 1.46709818e+02] [ 3.41968733e-01 9.39698632e-01 4.88527524e-03 -4.12344554e+01] [-1.38426142e-02 -1.60759889e-04 9.99904174e-01 -2.71191296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.76, Y:-41.27, Z:-2.71 [[ 9.39594356e-01 -3.40086434e-01 -3.87771064e-02 1.46755210e+02] [ 3.41554529e-01 9.38962092e-01 4.11180448e-02 -4.12685681e+01] [ 2.24265437e-02 -5.18787791e-02 9.98401544e-01 -2.70947045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:-41.17, Z:-2.71 [[ 9.40423763e-01 -3.38262284e-01 3.43769276e-02 1.46753053e+02] [ 3.39515027e-01 9.39681331e-01 -4.15757371e-02 -4.11719676e+01] [-1.82398533e-02 5.07702946e-02 9.98543782e-01 -2.70982783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:-41.26, Z:-2.71 [[ 9.40852410e-01 -3.36505464e-01 -3.95071529e-02 1.46817826e+02] [ 3.38201342e-01 9.39761685e-01 4.96772403e-02 -4.12596853e+01] [ 2.04106458e-02 -6.01003234e-02 9.97983645e-01 -2.70638638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:-41.15, Z:-2.71 [[ 9.41204768e-01 -3.35558066e-01 3.91710183e-02 1.46810229e+02] [ 3.37209951e-01 9.40181566e-01 -4.84568995e-02 -4.11467071e+01] [-2.05677658e-02 5.88167220e-02 9.98056892e-01 -2.70730018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:-41.19, Z:-2.71 [[ 9.42514149e-01 -3.33608532e-01 1.92983447e-02 1.46859539e+02] [ 3.33530067e-01 9.42711617e-01 7.24575449e-03 -4.11852938e+01] [-2.06100192e-02 -3.92647927e-04 9.99787514e-01 -2.70871998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:-41.17, Z:-2.71 [[ 9.43399526e-01 -3.31172967e-01 1.79387915e-02 1.46890670e+02] [ 3.31104934e-01 9.43569977e-01 6.72462644e-03 -4.11734899e+01] [-1.91535196e-02 -4.04387012e-04 9.99816473e-01 -2.70949598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:-41.16, Z:-2.71 [[ 9.44710862e-01 -3.27400479e-01 1.81745175e-02 1.46922444e+02] [ 3.27330157e-01 9.44885548e-01 6.80220103e-03 -4.11629741e+01] [-1.93998828e-02 -4.77045553e-04 9.99811691e-01 -2.70849404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.95, Y:-41.15, Z:-2.71 [[ 9.45642113e-01 -3.24750646e-01 1.72629999e-02 1.46952761e+02] [ 3.24686947e-01 9.45799541e-01 6.45085745e-03 -4.11501472e+01] [-1.84222575e-02 -4.95131721e-04 9.99830173e-01 -2.70798429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:-41.14, Z:-2.71 [[ 9.46480418e-01 -3.22361091e-01 1.60669097e-02 1.46982386e+02] [ 3.22305734e-01 9.46616650e-01 5.99432924e-03 -4.11364289e+01] [-1.71415427e-02 -4.95058123e-04 9.99852950e-01 -2.70834474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.01, Y:-41.12, Z:-2.71 [[ 9.47686577e-01 -3.18725705e-01 1.74377638e-02 1.47012572e+02] [ 3.18660065e-01 9.47846805e-01 6.49596133e-03 -4.11222732e+01] [-1.85987585e-02 -5.99416428e-04 9.99826848e-01 -2.70798958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:-41.17, Z:-2.70 [[ 9.47594835e-01 -3.17300267e-01 -3.72097970e-02 1.47059845e+02] [ 3.18944161e-01 9.46291873e-01 5.29746443e-02 -4.11653188e+01] [ 1.84024597e-02 -6.20663468e-02 9.97902359e-01 -2.70171900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:-41.04, Z:-2.70 [[ 9.48736650e-01 -3.13553189e-01 3.97890202e-02 1.47050025e+02] [ 3.15313537e-01 9.47634363e-01 -5.06605121e-02 -4.10440002e+01] [-2.18206777e-02 6.06095013e-02 9.97923016e-01 -2.70197534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-41.08, Z:-2.71 [[ 9.49815083e-01 -3.12319219e-01 1.75503142e-02 1.47099153e+02] [ 3.12251957e-01 9.49976945e-01 6.52061526e-03 -4.10820564e+01] [-1.87089074e-02 -7.13258765e-04 9.99824719e-01 -2.70514395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:-41.07, Z:-2.71 [[ 9.50986736e-01 -3.08773571e-01 1.68258357e-02 1.47128644e+02] [ 3.08711255e-01 9.51135281e-01 6.24804456e-03 -4.10659543e+01] [-1.79328770e-02 -7.47482652e-04 9.99838914e-01 -2.70756804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:-41.05, Z:-2.71 [[ 9.51755173e-01 -3.06389633e-01 1.69553465e-02 1.47158719e+02] [ 3.06326166e-01 9.51905863e-01 6.28560503e-03 -4.10521217e+01] [-1.80657380e-02 -7.88490812e-04 9.99836490e-01 -2.70691119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:-41.04, Z:-2.71 [[ 9.51860286e-01 -3.06062811e-01 1.69573479e-02 1.47190089e+02] [ 3.05999388e-01 9.52010994e-01 6.28020411e-03 -4.10403124e+01] [-1.80657185e-02 -7.88938803e-04 9.99836490e-01 -2.70681644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.22, Y:-41.03, Z:-2.71 [[ 9.52615969e-01 -3.03706375e-01 1.68894245e-02 1.47219626e+02] [ 3.03643269e-01 9.52765325e-01 6.24509614e-03 -4.10254820e+01] [-1.79883336e-02 -8.20818237e-04 9.99837860e-01 -2.70732121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.25, Y:-41.01, Z:-2.71 [[ 9.53500162e-01 -3.01000530e-01 1.53662282e-02 1.47248307e+02] [ 3.00948085e-01 9.53623649e-01 5.67320867e-03 -4.10064533e+01] [-1.63612374e-02 -7.84968440e-04 9.99865838e-01 -2.70674182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:-40.99, Z:-2.71 [[ 9.53741207e-01 -3.00227095e-01 1.55370755e-02 1.47278286e+02] [ 3.00173518e-01 9.53867419e-01 5.72768374e-03 -4.09921742e+01] [-1.65399160e-02 -7.98909393e-04 9.99862887e-01 -2.70691281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-40.98, Z:-2.71 [[ 9.53643425e-01 -3.00490144e-01 1.64283509e-02 1.47307000e+02] [ 3.00430440e-01 9.53784558e-01 6.04716710e-03 -4.09755407e+01] [-1.74862215e-02 -8.31264461e-04 9.99846759e-01 -2.70644904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-40.96, Z:-2.71 [[ 9.53777602e-01 -3.00039849e-01 1.68634247e-02 1.47337070e+02] [ 2.99977038e-01 9.53926287e-01 6.19796540e-03 -4.09603277e+01] [-1.79461007e-02 -8.52840367e-04 9.99838592e-01 -2.70631577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:-40.94, Z:-2.71 [[ 9.52830143e-01 -3.03034735e-01 1.68721042e-02 1.47365516e+02] [ 3.02972387e-01 9.52979181e-01 6.19782267e-03 -4.09433146e+01] [-1.79569196e-02 -7.93690569e-04 9.99838447e-01 -2.70552312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.40, Y:-40.93, Z:-2.71 [[ 9.52241584e-01 -3.04861883e-01 1.71812947e-02 1.47396332e+02] [ 3.04797720e-01 9.52396267e-01 6.30078519e-03 -4.09299523e+01] [-1.82842702e-02 -7.63050219e-04 9.99832538e-01 -2.70577678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-40.92, Z:-2.71 [[ 9.51473146e-01 -3.07358550e-01 1.51516778e-02 1.47427173e+02] [ 3.07309111e-01 9.51593576e-01 5.54761081e-03 -4.09171304e+01] [-1.61233448e-02 -6.22154100e-04 9.99869817e-01 -2.70581903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-40.90, Z:-2.71 [[ 9.50064258e-01 -3.11696671e-01 1.49362335e-02 1.47457009e+02] [ 3.11649300e-01 9.50181510e-01 5.46003822e-03 -4.09033948e+01] [-1.58940086e-02 -5.32520459e-04 9.99873540e-01 -2.70566566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-40.89, Z:-2.71 [[ 9.49452055e-01 -3.13450042e-01 1.70254832e-02 1.47487824e+02] [ 3.13388950e-01 9.49604525e-01 6.21396082e-03 -4.08900271e+01] [-1.81152421e-02 -5.64259585e-04 9.99835746e-01 -2.70523728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:-40.88, Z:-2.70 [[ 9.48048770e-01 -3.17657648e-01 1.72380104e-02 1.47517772e+02] [ 3.17595902e-01 9.48205351e-01 6.28132659e-03 -4.08750225e+01] [-1.83404851e-02 -4.80282493e-04 9.99831684e-01 -2.70328117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-40.86, Z:-2.70 [[ 9.47421523e-01 -3.19502488e-01 1.76243489e-02 1.47548344e+02] [ 3.19438458e-01 9.47585332e-01 6.41162522e-03 -4.08631688e+01] [-1.87491047e-02 -4.44616892e-04 9.99824121e-01 -2.70339147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:-40.85, Z:-2.70 [[ 9.46182650e-01 -3.23183534e-01 1.70527641e-02 1.47580494e+02] [ 3.23124375e-01 9.46336241e-01 6.19333491e-03 -4.08539572e+01] [-1.81392325e-02 -3.49862305e-04 9.99835409e-01 -2.70486717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:-40.84, Z:-2.71 [[ 9.45839616e-01 -3.24214204e-01 1.65097293e-02 1.47611488e+02] [ 3.24159083e-01 9.45983644e-01 5.98624318e-03 -4.08436327e+01] [-1.75587589e-02 -3.10247256e-04 9.99845785e-01 -2.70563665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:-40.83, Z:-2.71 [[ 9.45359631e-01 -3.25630970e-01 1.61133262e-02 1.47642487e+02] [ 3.25578835e-01 9.45496906e-01 5.83288276e-03 -4.08319000e+01] [-1.71344674e-02 -2.68013911e-04 9.99853158e-01 -2.70546613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:-40.82, Z:-2.71 [[ 9.44026503e-01 -3.29480619e-01 1.60150713e-02 1.47672751e+02] [ 3.29429835e-01 9.44162320e-01 5.78767607e-03 -4.08196523e+01] [-1.70277540e-02 -1.87877304e-04 9.99855000e-01 -2.70578813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:-40.81, Z:-2.71 [[ 9.43404169e-01 -3.31366988e-01 1.35828046e-02 1.47704470e+02] [ 3.31330775e-01 9.43501937e-01 4.90033562e-03 -4.08089355e+01] [-1.44392119e-02 -1.22595882e-04 9.99895742e-01 -2.70662597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:-40.80, Z:-2.70 [[ 9.42628111e-01 -3.33483825e-01 1.55171808e-02 1.47736797e+02] [ 3.33436999e-01 9.42755816e-01 5.58912395e-03 -4.08017126e+01] [-1.64927949e-02 -9.44631463e-05 9.99863980e-01 -2.70440628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:-40.79, Z:-2.70 [[ 9.42484309e-01 -3.33870699e-01 1.59274453e-02 1.47768309e+02] [ 3.33821580e-01 9.42618878e-01 5.72738651e-03 -4.07908654e+01] [-1.69257172e-02 -8.10469625e-05 9.99856747e-01 -2.70398348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.83, Y:-40.87, Z:-2.70 [[ 9.42570056e-01 -3.31009475e-01 -4.46588948e-02 1.47827722e+02] [ 3.33766963e-01 9.38515345e-01 8.82528313e-02 -4.08651845e+01] [ 1.27005347e-02 -9.80901399e-02 9.95096488e-01 -2.70220699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-40.69, Z:-2.69 [[ 9.41925501e-01 -3.32118491e-01 4.97358855e-02 1.47797085e+02] [ 3.35295332e-01 9.38367853e-01 -8.39214682e-02 -4.06855472e+01] [-1.87986847e-02 9.57239812e-02 9.95230390e-01 -2.69434863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-40.76, Z:-2.70 [[ 9.43469771e-01 -3.30998030e-01 1.74669550e-02 1.47857390e+02] [ 3.30938680e-01 9.43631435e-01 6.26931968e-03 -4.07568905e+01] [-1.85575003e-02 -1.34422586e-04 9.99827786e-01 -2.70379109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:147.91, Y:-40.81, Z:-2.70 [[ 9.43566300e-01 -3.26821496e-01 -5.35756297e-02 1.47909386e+02] [ 3.29757990e-01 9.42123930e-01 6.05158491e-02 -4.08113996e+01] [ 3.06970025e-02 -7.47677077e-02 9.96728390e-01 -2.69965296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-40.67, Z:-2.69 [[ 9.44381989e-01 -3.25898623e-01 4.39630186e-02 1.47892803e+02] [ 3.28166755e-01 9.42575364e-01 -6.21149300e-02 -4.06711909e+01] [-2.11952881e-02 7.30874222e-02 9.97100290e-01 -2.69407033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:-40.72, Z:-2.70 [[ 9.45449742e-01 -3.25227782e-01 1.87530201e-02 1.47945134e+02] [ 3.25158567e-01 9.45635674e-01 6.71410669e-03 -4.07201095e+01] [-1.99171389e-02 -2.50145293e-04 9.99801603e-01 -2.70163705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.98, Y:-40.71, Z:-2.70 [[ 9.45654152e-01 -3.24665007e-01 1.81895162e-02 1.47975552e+02] [ 3.24599994e-01 9.45829041e-01 6.50153668e-03 -4.07080228e+01] [-1.93149941e-02 -2.43888297e-04 9.99813418e-01 -2.70148416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:-40.70, Z:-2.70 [[ 9.46139794e-01 -3.23228634e-01 1.85132735e-02 1.48006013e+02] [ 3.23161227e-01 9.46320865e-01 6.60623657e-03 -4.06953720e+01] [-1.96548218e-02 -2.67651115e-04 9.99806790e-01 -2.70166057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:-40.68, Z:-2.70 [[ 9.46548627e-01 -3.22015837e-01 1.87482447e-02 1.48036422e+02] [ 3.21946695e-01 9.46734239e-01 6.67881185e-03 -4.06826830e+01] [-1.99002883e-02 -2.85884783e-04 9.99801929e-01 -2.70119472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:-40.67, Z:-2.70 [[ 9.46889251e-01 -3.21005520e-01 1.88733116e-02 1.48067789e+02] [ 3.20935478e-01 9.47077276e-01 6.71211090e-03 -4.06710446e+01] [-2.00291092e-02 -2.98510397e-04 9.99799353e-01 -2.70056710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:-40.66, Z:-2.70 [[ 9.47176355e-01 -3.20066168e-01 2.03617341e-02 1.48098867e+02] [ 3.19984687e-01 9.47395133e-01 7.22925259e-03 -4.06593207e+01] [-2.16044470e-02 -3.31933993e-04 9.99766542e-01 -2.70094369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:-40.65, Z:-2.70 [[ 9.47389392e-01 -3.19478834e-01 1.96625401e-02 1.48129954e+02] [ 3.19402970e-01 9.47593357e-01 6.96936639e-03 -4.06470408e+01] [-2.08586574e-02 -3.22430086e-04 9.99782383e-01 -2.70104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:-40.70, Z:-2.70 [[ 9.47438522e-01 -3.18398643e-01 -3.13456711e-02 1.48180361e+02] [ 3.19854423e-01 9.44872073e-01 7.00707733e-02 -4.07031689e+01] [ 7.30721005e-03 -7.64138014e-02 9.97049415e-01 -2.70103831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:-40.56, Z:-2.69 [[ 9.46607344e-01 -3.18779581e-01 4.81052504e-02 1.48162945e+02] [ 3.21409995e-01 9.44786681e-01 -6.38258807e-02 -4.05586486e+01] [-2.51028124e-02 7.58795557e-02 9.96800954e-01 -2.69118186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:-40.61, Z:-2.70 [[ 9.46825910e-01 -3.20928758e-01 2.29222210e-02 1.48217452e+02] [ 3.20826608e-01 9.47103284e-01 8.10287091e-03 -4.06123367e+01] [-2.43101551e-02 -3.17949700e-04 9.99704414e-01 -2.69820066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:-40.60, Z:-2.70 [[ 9.46585853e-01 -3.21678024e-01 2.23264854e-02 1.48248582e+02] [ 3.21581636e-01 9.46849075e-01 7.87909165e-03 -4.06016861e+01] [-2.36743427e-02 -2.78448978e-04 9.99719685e-01 -2.69855426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:148.28, Y:-40.59, Z:-2.70 [[ 9.46669422e-01 -3.21492851e-01 2.14325251e-02 1.48279399e+02] [ 3.21404268e-01 9.46911970e-01 7.55096006e-03 -4.05910104e+01] [-2.27222943e-02 -2.59757933e-04 9.99741782e-01 -2.69913587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.31, Y:-40.58, Z:-2.70 [[ 9.46437991e-01 -3.22179750e-01 2.13386626e-02 1.48310583e+02] [ 3.22092401e-01 9.46678486e-01 7.50527547e-03 -4.05809065e+01] [-2.26189006e-02 -2.30256746e-04 9.99744133e-01 -2.69966341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.34, Y:-40.57, Z:-2.70 [[ 9.46514224e-01 -3.22013615e-01 2.04464232e-02 1.48342010e+02] [ 3.21933640e-01 9.46735014e-01 7.17946063e-03 -4.05694118e+01] [-2.16692288e-02 -2.13070172e-04 9.99765172e-01 -2.69919554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:-40.56, Z:-2.70 [[ 9.46737585e-01 -3.21367921e-01 2.02633984e-02 1.48373048e+02] [ 3.21289481e-01 9.46954388e-01 7.10321614e-03 -4.05586291e+01] [-2.14712598e-02 -2.14464934e-04 9.99769443e-01 -2.69888248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:-40.62, Z:-2.70 [[ 9.46798826e-01 -3.20328486e-01 -3.10103888e-02 1.48425317e+02] [ 3.21775371e-01 9.43954219e-01 7.35597930e-02 -4.06186873e+01] [ 5.70909022e-03 -7.96247050e-02 9.96808564e-01 -2.69942316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.41, Y:-40.47, Z:-2.69 [[ 9.46891930e-01 -3.18110220e-01 4.69207957e-02 1.48409579e+02] [ 3.20707787e-01 9.44864150e-01 -6.61683663e-02 -4.04720624e+01] [-2.32849442e-02 7.77021566e-02 9.96704664e-01 -2.69058904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.47, Y:-40.53, Z:-2.70 [[ 9.47705026e-01 -3.18554702e-01 1.94444402e-02 1.48465058e+02] [ 3.18482275e-01 9.47904447e-01 6.79707160e-03 -4.05295551e+01] [-2.05967105e-02 -2.48909355e-04 9.99787834e-01 -2.69958550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:148.50, Y:-40.52, Z:-2.70 [[ 9.47816915e-01 -3.18185874e-01 2.00210992e-02 1.48496405e+02] [ 3.18109260e-01 9.48028315e-01 6.98664882e-03 -4.05189312e+01] [-2.12036219e-02 -2.53166870e-04 9.99775146e-01 -2.70050226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.972320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.53, Y:-40.51, Z:-2.70 [[ 9.47579044e-01 -3.18827880e-01 2.10413487e-02 1.48528636e+02] [ 3.18743700e-01 9.47812600e-01 7.32996410e-03 -4.05104103e+01] [-2.22802523e-02 -2.38923052e-04 9.99751736e-01 -2.69888915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.56, Y:-40.50, Z:-2.70 [[ 9.47540125e-01 -3.18876419e-01 2.20350038e-02 1.48560509e+02] [ 3.18784422e-01 9.47796272e-01 7.66283786e-03 -4.05001216e+01] [-2.33281927e-02 -2.36430395e-04 9.99727833e-01 -2.69762479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.032320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:148.59, Y:-40.49, Z:-2.70 [[ 9.47707792e-01 -3.18345256e-01 2.24997771e-02 1.48592017e+02] [ 3.18249507e-01 9.47974810e-01 7.81099326e-03 -4.04916131e+01] [-2.38158145e-02 -2.41996212e-04 9.99716334e-01 -2.69788314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.63, Y:-40.51, Z:-2.70 [[ 9.47851572e-01 -3.17871555e-01 -2.31316246e-02 1.48631900e+02] [ 3.18468644e-01 9.47465947e-01 2.97657845e-02 -4.05134633e+01] [ 1.24547304e-02 -3.55802427e-02 9.99289210e-01 -2.69735084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.092320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.64, Y:-40.44, Z:-2.70 [[ 9.47823183e-01 -3.16874946e-01 3.49497168e-02 1.48641758e+02] [ 3.17791837e-01 9.47837884e-01 -2.47324452e-02 -4.04444050e+01] [-2.52895734e-02 3.45487197e-02 9.99082991e-01 -2.69712880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.69, Y:-40.49, Z:-2.70 [[ 9.48464222e-01 -3.16460300e-01 -1.63859103e-02 1.48691598e+02] [ 3.16819397e-01 9.48047532e-01 2.88331009e-02 -4.04932547e+01] [ 6.41009003e-03 -3.25385389e-02 9.99449926e-01 -2.69861839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.70, Y:-40.43, Z:-2.70 [[ 9.47906744e-01 -3.16662028e-01 3.46116270e-02 1.48701983e+02] [ 3.17488064e-01 9.48015625e-01 -2.16264584e-02 -4.04283412e+01] [-2.59640850e-02 3.14886442e-02 9.99166819e-01 -2.69752188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.74, Y:-40.45, Z:-2.70 [[ 9.48419204e-01 -3.16192908e-01 2.28704789e-02 1.48744356e+02] [ 3.16094240e-01 9.48694879e-01 7.90301180e-03 -4.04485136e+01] [-2.41959825e-02 -2.66141502e-04 9.99707199e-01 -2.69870708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:-40.44, Z:-2.70 [[ 9.48533091e-01 -3.15888063e-01 2.23541352e-02 1.48776708e+02] [ 3.15794028e-01 9.48796431e-01 7.71137150e-03 -4.04395587e+01] [-2.36454539e-02 -2.55188641e-04 9.99720375e-01 -2.69867453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:148.81, Y:-40.43, Z:-2.70 [[ 9.49044725e-01 -3.14243074e-01 2.37781456e-02 1.48808757e+02] [ 3.14136523e-01 9.49342509e-01 8.18811256e-03 -4.04304902e+01] [-2.51466621e-02 -3.01301041e-04 9.99683727e-01 -2.69807321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27232058799999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.84, Y:-40.42, Z:-2.70 [[ 9.49317555e-01 -3.13386525e-01 2.41881494e-02 1.48840529e+02] [ 3.13276360e-01 9.49625603e-01 8.31480507e-03 -4.04198064e+01] [-2.55754339e-02 -3.15815005e-04 9.99672845e-01 -2.69781246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.87, Y:-40.41, Z:-2.70 [[ 9.49019883e-01 -3.14171669e-01 2.56403023e-02 1.48871806e+02] [ 3.14048587e-01 9.49366143e-01 8.79836174e-03 -4.04099669e+01] [-2.71062309e-02 -2.97519517e-04 9.99632514e-01 -2.69924779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:148.90, Y:-40.40, Z:-2.70 [[ 9.49054011e-01 -3.14187300e-01 2.41417678e-02 1.48903265e+02] [ 3.14078548e-01 9.49360980e-01 8.27020312e-03 -4.03997999e+01] [-2.55176451e-02 -2.66458069e-04 9.99674336e-01 -2.70011833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:148.93, Y:-40.39, Z:-2.70 [[ 9.48593301e-01 -3.15645304e-01 2.32118697e-02 1.48934481e+02] [ 3.15545539e-01 9.48877231e-01 7.93808204e-03 -4.03902673e+01] [-2.45308330e-02 -2.05609529e-04 9.99699053e-01 -2.69953063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:148.97, Y:-40.38, Z:-2.70 [[ 9.47349354e-01 -3.19475410e-01 2.15560779e-02 1.48967264e+02] [ 3.19390646e-01 9.47594563e-01 7.35937256e-03 -4.03831518e+01] [-2.27775607e-02 -8.70872079e-05 9.99740554e-01 -2.69923680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.00, Y:-40.37, Z:-2.70 [[ 9.46552362e-01 -3.21752058e-01 2.26768457e-02 1.48999142e+02] [ 3.21659236e-01 9.46823961e-01 7.72807684e-03 -4.03744502e+01] [-2.39575055e-02 -2.08125108e-05 9.99712978e-01 -2.69907668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:-40.37, Z:-2.70 [[ 9.45394895e-01 -3.25021246e-01 2.42833570e-02 1.49031753e+02] [ 3.24916263e-01 9.45706711e-01 8.26068295e-03 -4.03677864e+01] [-2.56498311e-02 8.04501218e-05 9.99670986e-01 -2.69900563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:149.06, Y:-40.36, Z:-2.70 [[ 9.45047569e-01 -3.26039826e-01 2.41479491e-02 1.49063727e+02] [ 3.25936703e-01 9.45356027e-01 8.20050992e-03 -4.03592485e+01] [-2.55021021e-02 1.20830950e-04 9.99674761e-01 -2.69997912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.10, Y:-40.35, Z:-2.70 [[ 9.45051503e-01 -3.26147697e-01 2.24796846e-02 1.49097171e+02] [ 3.26058666e-01 9.45318816e-01 7.62121038e-03 -4.03541970e+01] [-2.37361091e-02 1.27259658e-04 9.99718251e-01 -2.70146420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.13, Y:-40.34, Z:-2.70 [[ 9.45126833e-01 -3.25929150e-01 2.24823867e-02 1.49128881e+02] [ 3.25840247e-01 9.45394189e-01 7.61323327e-03 -4.03433650e+01] [-2.37360924e-02 1.30195406e-04 9.99718251e-01 -2.70179795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:-40.34, Z:-2.70 [[ 9.45784847e-01 -3.23926330e-01 2.37224829e-02 1.49160549e+02] [ 3.23826991e-01 9.46082303e-01 8.02222502e-03 -4.03351107e+01] [-2.50420312e-02 9.46813977e-05 9.99686395e-01 -2.70169800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:-40.32, Z:-2.70 [[ 9.46429190e-01 -3.22109725e-01 2.27401103e-02 1.49192130e+02] [ 3.22018234e-01 9.46702341e-01 7.67693379e-03 -4.03249729e+01] [-2.40009307e-02 5.70559151e-05 9.99711935e-01 -2.70153890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.632320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-40.31, Z:-2.70 [[ 9.48237828e-01 -3.16798114e-01 2.19994563e-02 1.49222913e+02] [ 3.16711350e-01 9.48492989e-01 7.41416549e-03 -4.03126549e+01] [-2.32151237e-02 -6.29146817e-05 9.99730491e-01 -2.70104562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.25, Y:-40.30, Z:-2.70 [[ 9.49207369e-01 -3.13803719e-01 2.30780387e-02 1.49254225e+02] [ 3.13707690e-01 9.49487867e-01 7.76378306e-03 -4.03016202e+01] [-2.43486218e-02 -1.29681867e-04 9.99703520e-01 -2.70179572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:-40.29, Z:-2.70 [[ 9.49587053e-01 -3.12576163e-01 2.40950493e-02 1.49285901e+02] [ 3.12471456e-01 9.49892688e-01 8.09141730e-03 -4.02915647e+01] [-2.54168953e-02 -1.54489973e-04 9.99676927e-01 -2.70185283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:-40.28, Z:-2.70 [[ 9.49648993e-01 -3.12280819e-01 2.54456527e-02 1.49317443e+02] [ 3.12164349e-01 9.49989824e-01 8.52956957e-03 -4.02807854e+01] [-2.68367321e-02 -1.56871522e-04 9.99639818e-01 -2.70059421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:-40.27, Z:-2.70 [[ 9.48995566e-01 -3.14320611e-01 2.46975664e-02 1.49348791e+02] [ 3.14211959e-01 9.49316884e-01 8.26427610e-03 -4.02707419e+01] [-2.60434491e-02 -8.24906386e-05 9.99660808e-01 -2.70054477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.38, Y:-40.26, Z:-2.70 [[ 9.48515484e-01 -3.15776884e-01 2.45628943e-02 1.49380919e+02] [ 3.15670281e-01 9.48833473e-01 8.20457992e-03 -4.02614396e+01] [-2.58969130e-02 -2.83953524e-05 9.99664618e-01 -2.70220712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:-40.26, Z:-2.70 [[ 9.47572174e-01 -3.18661007e-01 2.37094545e-02 1.49413304e+02] [ 3.18562932e-01 9.47868746e-01 7.90566623e-03 -4.02552479e+01] [-2.49926784e-02 6.17639940e-05 9.99687632e-01 -2.70427686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:-40.25, Z:-2.71 [[ 9.47234679e-01 -3.19657157e-01 2.37858258e-02 1.49444683e+02] [ 3.19559114e-01 9.47533267e-01 7.91712843e-03 -4.02453467e+01] [-2.50686280e-02 1.01598805e-04 9.99685727e-01 -2.70508529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.48, Y:-40.23, Z:-2.70 [[ 9.47253811e-01 -3.19495746e-01 2.51532606e-02 1.49476407e+02] [ 3.19386444e-01 9.47587703e-01 8.35729860e-03 -4.02347161e+01] [-2.65050418e-02 1.17127522e-04 9.99648673e-01 -2.70473410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.51, Y:-40.23, Z:-2.70 [[ 9.46852247e-01 -3.20700896e-01 2.49350794e-02 1.49508202e+02] [ 3.20594280e-01 9.47180505e-01 8.27037826e-03 -4.02266225e+01] [-2.62703388e-02 1.63217572e-04 9.99654862e-01 -2.70422609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.54, Y:-40.22, Z:-2.71 [[ 9.46870944e-01 -3.20688853e-01 2.43736704e-02 1.49540791e+02] [ 3.20587341e-01 9.47184581e-01 8.07011564e-03 -4.02203295e+01] [-2.56743609e-02 1.72532191e-04 9.99670344e-01 -2.70589700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:-40.21, Z:-2.71 [[ 9.46716413e-01 -3.21160915e-01 2.41598901e-02 1.49572696e+02] [ 3.21061685e-01 9.47024619e-01 7.98536925e-03 -4.02117233e+01] [-2.54445992e-02 1.96934883e-04 9.99676214e-01 -2.70669010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.60, Y:-40.20, Z:-2.71 [[ 9.46737121e-01 -3.21072369e-01 2.45225773e-02 1.49604776e+02] [ 3.20970478e-01 9.47054639e-01 8.09089466e-03 -4.02032071e+01] [-2.58219833e-02 2.11073056e-04 9.99666535e-01 -2.70740123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.64, Y:-40.20, Z:-2.71 [[ 9.46788646e-01 -3.20860467e-01 2.52946714e-02 1.49637608e+02] [ 3.20752379e-01 9.47126449e-01 8.33077712e-03 -4.01967905e+01] [-2.66302693e-02 2.25840824e-04 9.99645326e-01 -2.70685057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-40.19, Z:-2.71 [[ 9.47108893e-01 -3.19968708e-01 2.45921001e-02 1.49669873e+02] [ 3.19866606e-01 9.47428088e-01 8.08528604e-03 -4.01878921e+01] [-2.58862849e-02 2.08545284e-04 9.99664872e-01 -2.70677213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.70, Y:-40.18, Z:-2.71 [[ 9.48308300e-01 -3.16433674e-01 2.41059895e-02 1.49701958e+02] [ 3.16334780e-01 9.48614629e-01 7.91149708e-03 -4.01786258e+01] [-2.53707584e-02 1.23024538e-04 9.99678103e-01 -2.70694470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.73, Y:-40.17, Z:-2.71 [[ 9.48868128e-01 -3.14779974e-01 2.37243418e-02 1.49733209e+02] [ 3.14684015e-01 9.49164664e-01 7.77244642e-03 -4.01681107e+01] [-2.49649174e-02 9.06444475e-05 9.99688324e-01 -2.70689837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.76, Y:-40.16, Z:-2.71 [[ 9.49960544e-01 -3.11268785e-01 2.62051314e-02 1.49764973e+02] [ 3.11150807e-01 9.50321916e-01 8.56924135e-03 -4.01578021e+01] [-2.75706480e-02 1.33066113e-05 9.99619857e-01 -2.70788660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:-40.15, Z:-2.71 [[ 9.50532474e-01 -3.09534396e-01 2.60091167e-02 1.49796847e+02] [ 3.09417945e-01 9.50888246e-01 8.48988227e-03 -4.01475620e+01] [-2.73596740e-02 -2.22213424e-05 9.99625654e-01 -2.70709112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-40.14, Z:-2.71 [[ 9.51061417e-01 -3.07825190e-01 2.69412971e-02 1.49828237e+02] [ 3.07700011e-01 9.51442930e-01 8.77807564e-03 -4.01370199e+01] [-2.83352194e-02 -5.86516693e-05 9.99598475e-01 -2.70616581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-40.12, Z:-2.71 [[ 9.52184388e-01 -3.04359076e-01 2.66541546e-02 1.49859053e+02] [ 3.04235629e-01 9.52557364e-01 8.66892899e-03 -4.01242074e+01] [-2.80280784e-02 -1.45275377e-04 9.99607126e-01 -2.70726478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:-40.15, Z:-2.71 [[ 9.52887074e-01 -3.02813027e-01 -1.76208556e-02 1.49898327e+02] [ 3.03259011e-01 9.52284262e-01 3.44768975e-02 -4.01453845e+01] [ 6.34000982e-03 -3.81962732e-02 9.99250143e-01 -2.70586920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:-40.07, Z:-2.71 [[ 9.52602972e-01 -3.01848290e-01 3.78838649e-02 1.49907319e+02] [ 3.02926324e-01 9.52635778e-01 -2.68461724e-02 -4.00699011e+01] [-2.79860539e-02 3.70497635e-02 9.98921466e-01 -2.70887664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:-40.09, Z:-2.71 [[ 9.53115532e-01 -3.01471628e-01 2.61847455e-02 1.49948930e+02] [ 3.01352174e-01 9.53475127e-01 8.48819265e-03 -4.00921017e+01] [-2.75254528e-02 -1.99398280e-04 9.99621083e-01 -2.70956728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:-40.08, Z:-2.71 [[ 9.53191344e-01 -3.01148142e-01 2.71303955e-02 1.49980199e+02] [ 3.01020238e-01 9.53577347e-01 8.77839543e-03 -4.00822788e+01] [-2.85145280e-02 -2.00692421e-04 9.99593358e-01 -2.70974699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.01, Y:-40.07, Z:-2.71 [[ 9.53641795e-01 -2.99730317e-01 2.70011969e-02 1.50011360e+02] [ 2.99603513e-01 9.54023944e-01 8.72062456e-03 -4.00712854e+01] [-2.83736239e-02 -2.26698614e-04 9.99597362e-01 -2.70963908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.04, Y:-40.06, Z:-2.71 [[ 9.54868205e-01 -2.95862880e-01 2.63033671e-02 1.50041289e+02] [ 2.95741504e-01 9.55230368e-01 8.47983582e-03 -4.00574736e+01] [-2.76346436e-02 -3.18128265e-04 9.99618040e-01 -2.71101257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.07, Y:-40.05, Z:-2.71 [[ 9.55616087e-01 -2.93484453e-01 2.57831478e-02 1.50071551e+02] [ 2.93367377e-01 9.55963777e-01 8.29697665e-03 -4.00450762e+01] [-2.70827890e-02 -3.64789941e-04 9.99633127e-01 -2.71269711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:-40.03, Z:-2.71 [[ 9.56231762e-01 -2.91530917e-01 2.51106041e-02 1.50102465e+02] [ 2.91419581e-01 9.56561325e-01 8.06597211e-03 -4.00323325e+01] [-2.63713130e-02 -3.95217008e-04 9.99652138e-01 -2.71273324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.13, Y:-40.02, Z:-2.71 [[ 9.56805382e-01 -2.89402973e-01 2.77377147e-02 1.50133186e+02] [ 2.89266709e-01 9.57207231e-01 8.89312244e-03 -4.00194999e+01] [-2.91244371e-02 -4.85389986e-04 9.99575676e-01 -2.70998764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-40.01, Z:-2.71 [[ 9.57144207e-01 -2.88270337e-01 2.78420394e-02 1.50163958e+02] [ 2.88133039e-01 9.57548932e-01 8.91040214e-03 -4.00088650e+01] [-2.92287197e-02 -5.06328356e-04 9.99572621e-01 -2.70901496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:-40.00, Z:-2.71 [[ 9.57175631e-01 -2.88208502e-01 2.73983533e-02 1.50194875e+02] [ 2.88075977e-01 9.57567556e-01 8.75257270e-03 -3.99963148e+01] [-2.87583401e-02 -4.84941912e-04 9.99586276e-01 -2.71095807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:-39.98, Z:-2.71 [[ 9.57320065e-01 -2.87987864e-01 2.45210917e-02 1.50225723e+02] [ 2.87881995e-01 9.57633964e-01 7.81975479e-03 -3.99836492e+01] [-2.57342247e-02 -4.26827363e-04 9.99668729e-01 -2.71419143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:-39.97, Z:-2.72 [[ 9.57394760e-01 -2.87682315e-01 2.51825194e-02 1.50256471e+02] [ 2.87570945e-01 9.57725795e-01 8.01578963e-03 -3.99713261e+01] [-2.64239493e-02 -4.32514094e-04 9.99650733e-01 -2.71567714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:-39.96, Z:-2.71 [[ 9.57386752e-01 -2.87502798e-01 2.74362387e-02 1.50287678e+02] [ 2.87371002e-01 9.57779687e-01 8.71657245e-03 -3.99605038e+01] [-2.87839111e-02 -4.60751586e-04 9.99585551e-01 -2.71479941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.32, Y:-39.95, Z:-2.71 [[ 9.57588008e-01 -2.86907882e-01 2.66284345e-02 1.50319053e+02] [ 2.86783932e-01 9.57958071e-01 8.44459919e-03 -3.99504466e+01] [-2.79317458e-02 -4.49839768e-04 9.99609731e-01 -2.71294591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:-39.94, Z:-2.71 [[ 9.57593737e-01 -2.86895444e-01 2.65563244e-02 1.50349308e+02] [ 2.86772593e-01 9.57961803e-01 8.40620660e-03 -3.99381001e+01] [-2.78516468e-02 -4.34104765e-04 9.99611973e-01 -2.71299709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:-39.93, Z:-2.71 [[ 9.57414582e-01 -2.87559337e-01 2.58252729e-02 1.50380848e+02] [ 2.87443806e-01 9.57762745e-01 8.15979942e-03 -3.99270321e+01] [-2.70809108e-02 -3.88996237e-04 9.99633169e-01 -2.71382265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:-39.92, Z:-2.72 [[ 9.57452071e-01 -2.87477139e-01 2.53461146e-02 1.50412778e+02] [ 2.87366220e-01 9.57787428e-01 7.99361784e-03 -3.99176418e+01] [-2.65741723e-02 -3.69888798e-04 9.99646776e-01 -2.71717216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:-39.91, Z:-2.72 [[ 9.57792113e-01 -2.86494441e-01 2.35627783e-02 1.50443872e+02] [ 2.86398617e-01 9.58081838e-01 7.41779241e-03 -3.99076091e+01] [-2.47002263e-02 -3.56355919e-04 9.99694839e-01 -2.71765622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.47, Y:-39.90, Z:-2.72 [[ 9.57991044e-01 -2.85662889e-01 2.54926186e-02 1.50474942e+02] [ 2.85550843e-01 9.58330089e-01 8.00981547e-03 -3.98971159e+01] [-2.67184505e-02 -3.93892730e-04 9.99642921e-01 -2.71712680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:-39.89, Z:-2.72 [[ 9.58377874e-01 -2.84287175e-01 2.63183016e-02 1.50505988e+02] [ 2.84167664e-01 9.58739076e-01 8.25363905e-03 -3.98862717e+01] [-2.75787879e-02 -4.31294750e-04 9.99619540e-01 -2.71519548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:-39.88, Z:-2.72 [[ 9.58689093e-01 -2.83307947e-01 2.55309762e-02 1.50537723e+02] [ 2.83195527e-01 9.59028895e-01 7.99201403e-03 -3.98765498e+01] [-2.67491449e-02 -4.31598424e-04 9.99642084e-01 -2.71688417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.57, Y:-39.87, Z:-2.72 [[ 9.59044770e-01 -2.82169387e-01 2.47702828e-02 1.50569046e+02] [ 2.82063559e-01 9.59364502e-01 7.73962528e-03 -3.98661063e+01] [-2.59476153e-02 -4.35853030e-04 9.99663209e-01 -2.71729680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.60, Y:-39.86, Z:-2.72 [[ 9.59159981e-01 -2.81709373e-01 2.55334960e-02 1.50599939e+02] [ 2.81597163e-01 9.59499676e-01 7.96299531e-03 -3.98552917e+01] [-2.67426316e-02 -4.47626396e-04 9.99642252e-01 -2.71671133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-39.84, Z:-2.72 [[ 9.58978971e-01 -2.82146130e-01 2.74389400e-02 1.50630993e+02] [ 2.82017197e-01 9.59371334e-01 8.54068620e-03 -3.98442127e+01] [-2.87338540e-02 -4.52085505e-04 9.99586995e-01 -2.71646935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-39.83, Z:-2.72 [[ 9.58908214e-01 -2.82504745e-01 2.61936251e-02 1.50662570e+02] [ 2.82387799e-01 9.59265815e-01 8.13799953e-03 -3.98346583e+01] [-2.74256726e-02 -4.06834449e-04 9.99623763e-01 -2.71747000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-39.82, Z:-2.72 [[ 9.58960997e-01 -2.82479924e-01 2.44723975e-02 1.50694138e+02] [ 2.82378193e-01 9.59273140e-01 7.58936529e-03 -3.98244346e+01] [-2.56195570e-02 -3.67433913e-04 9.99671698e-01 -2.71995077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:-39.81, Z:-2.72 [[ 9.58926798e-01 -2.82598907e-01 2.44387588e-02 1.50725070e+02] [ 2.82497858e-01 9.59238101e-01 7.56471481e-03 -3.98123808e+01] [-2.55803687e-02 -3.50110738e-04 9.99672708e-01 -2.72101305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:-39.80, Z:-2.72 [[ 9.58531288e-01 -2.83844602e-01 2.54953338e-02 1.50755970e+02] [ 2.83735470e-01 9.58870243e-01 7.87663089e-03 -3.97997383e+01] [-2.66824561e-02 -3.16066647e-04 9.99643910e-01 -2.72093492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.79, Y:-39.79, Z:-2.72 [[ 9.58366184e-01 -2.84237104e-01 2.72676828e-02 1.50787787e+02] [ 2.84112894e-01 9.58753969e-01 8.40781055e-03 -3.97910547e+01] [-2.85328109e-02 -3.10661019e-04 9.99592808e-01 -2.72100884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:-39.78, Z:-2.72 [[ 9.57626109e-01 -2.86748758e-01 2.69700659e-02 1.50820695e+02] [ 2.86628683e-01 9.58005794e-01 8.30037581e-03 -3.97843171e+01] [-2.82176019e-02 -2.18262134e-04 9.99601780e-01 -2.72029854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-39.77, Z:-2.72 [[ 9.57141232e-01 -2.88325278e-01 2.73714514e-02 1.50852551e+02] [ 2.88202702e-01 9.57532511e-01 8.40795225e-03 -3.97748178e+01] [-2.86332798e-02 -1.59071520e-04 9.99589971e-01 -2.72079753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:-39.77, Z:-2.72 [[ 9.56741712e-01 -2.89579571e-01 2.80885999e-02 1.50884164e+02] [ 2.89451510e-01 9.57153938e-01 8.61180548e-03 -3.97658324e+01] [-2.93789169e-02 -1.08985883e-04 9.99568341e-01 -2.72157888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:-39.76, Z:-2.72 [[ 9.55777580e-01 -2.92709911e-01 2.84627158e-02 1.50916913e+02] [ 2.92580298e-01 9.56201290e-01 8.70986021e-03 -3.97612018e+01] [-2.97655480e-02 2.94075549e-06 9.99556908e-01 -2.72139320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:-39.75, Z:-2.72 [[ 9.55788445e-01 -2.92684162e-01 2.83624709e-02 1.50949097e+02] [ 2.92555935e-01 9.56209172e-01 8.66279517e-03 -3.97536730e+01] [-2.96559177e-02 1.78096630e-05 9.99560166e-01 -2.72115795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:-39.75, Z:-2.72 [[ 9.56411217e-01 -2.90857658e-01 2.60654190e-02 1.50981470e+02] [ 2.90749084e-01 9.56766336e-01 7.94655681e-03 -3.97457296e+01] [-2.72498324e-02 -2.16793523e-05 9.99628654e-01 -2.72096461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:-39.74, Z:-2.72 [[ 9.57053718e-01 -2.88780719e-01 2.55710376e-02 1.51013150e+02] [ 2.88675878e-01 9.57395264e-01 7.78109505e-03 -3.97355003e+01] [-2.67286206e-02 -6.51842043e-05 9.99642724e-01 -2.72058818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.04, Y:-39.73, Z:-2.72 [[ 9.58434632e-01 -2.83940253e-01 2.79461951e-02 1.51044273e+02] [ 2.83813459e-01 9.58841953e-01 8.48699572e-03 -3.97251618e+01] [-2.92057840e-02 -2.02724335e-04 9.99573400e-01 -2.72039760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:-39.72, Z:-2.72 [[ 9.58985047e-01 -2.82078968e-01 2.79129961e-02 1.51075462e+02] [ 2.81952160e-01 9.59391159e-01 8.46065280e-03 -3.97157911e+01] [-2.91660539e-02 -2.43509986e-04 9.99574551e-01 -2.71993226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.11, Y:-39.71, Z:-2.72 [[ 9.59718575e-01 -2.79600484e-01 2.76374188e-02 1.51107469e+02] [ 2.79475601e-01 9.60116388e-01 8.36118125e-03 -3.97066217e+01] [-2.88729290e-02 -3.00396716e-04 9.99583045e-01 -2.72116400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:-39.70, Z:-2.72 [[ 9.59784293e-01 -2.79374519e-01 2.76403332e-02 1.51139516e+02] [ 2.79249820e-01 9.60182165e-01 8.35153897e-03 -3.96968489e+01] [-2.88729622e-02 -2.97117850e-04 9.99583045e-01 -2.72153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.17, Y:-39.69, Z:-2.72 [[ 9.60362375e-01 -2.77603650e-01 2.53045753e-02 1.51171639e+02] [ 2.77498817e-01 9.60695642e-01 7.63474930e-03 -3.96888501e+01] [-2.64294295e-02 -3.10136262e-04 9.99650634e-01 -2.72430314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:-39.68, Z:-2.72 [[ 9.60668299e-01 -2.76443410e-01 2.63715801e-02 1.51202189e+02] [ 2.76329540e-01 9.61030137e-01 7.94108007e-03 -3.96770437e+01] [-2.75391425e-02 -3.41497269e-04 9.99620668e-01 -2.72429061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-39.67, Z:-2.72 [[ 9.61059935e-01 -2.74872162e-01 2.84446002e-02 1.51233034e+02] [ 2.74739498e-01 9.61480699e-01 8.54833930e-03 -3.96656981e+01] [-2.96986346e-02 -4.00611236e-04 9.99558818e-01 -2.72377080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:-39.66, Z:-2.72 [[ 9.61301141e-01 -2.73996770e-01 2.87382593e-02 1.51264765e+02] [ 2.73861462e-01 9.61730522e-01 8.61989636e-03 -3.96555747e+01] [-3.00002849e-02 -4.16014498e-04 9.99549804e-01 -2.72411834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.30, Y:-39.65, Z:-2.72 [[ 9.61926835e-01 -2.71785934e-01 2.87953249e-02 1.51297451e+02] [ 2.71649597e-01 9.62357618e-01 8.62040026e-03 -3.96487987e+01] [-3.00543039e-02 -4.69955922e-04 9.99548157e-01 -2.72313637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:-39.64, Z:-2.72 [[ 9.62316887e-01 -2.70441894e-01 2.84146139e-02 1.51329452e+02] [ 2.70309036e-01 9.62736175e-01 8.49017340e-03 -3.96391754e+01] [-2.96518753e-02 -4.89510352e-04 9.99560167e-01 -2.72236719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:-39.63, Z:-2.72 [[ 9.62402300e-01 -2.69906290e-01 3.05353381e-02 1.51360981e+02] [ 2.69753161e-01 9.62886451e-01 9.10573236e-03 -3.96276930e+01] [-3.18597578e-02 -5.26373765e-04 9.99492210e-01 -2.72260887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:-39.62, Z:-2.72 [[ 9.62468711e-01 -2.69769323e-01 2.96393826e-02 1.51392800e+02] [ 2.69625509e-01 9.62924848e-01 8.82163189e-03 -3.96181513e+01] [-3.09203036e-02 -4.99011057e-04 9.99521729e-01 -2.72368130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:-39.61, Z:-2.72 [[ 9.62559443e-01 -2.69502614e-01 2.91146026e-02 1.51424859e+02] [ 2.69364236e-01 9.62999537e-01 8.64870036e-03 -3.96100076e+01] [-3.03681962e-02 -4.82455512e-04 9.99538664e-01 -2.72393447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:-39.60, Z:-2.72 [[ 9.63206349e-01 -2.67318521e-01 2.78269042e-02 1.51456906e+02] [ 2.67191663e-01 9.63608088e-01 8.25038572e-03 -3.96007476e+01] [-2.90197108e-02 -5.11707108e-04 9.99578709e-01 -2.72438018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:-39.59, Z:-2.73 [[ 9.63524449e-01 -2.66196979e-01 2.75645647e-02 1.51488221e+02] [ 2.66072499e-01 9.63918509e-01 8.15676119e-03 -3.95896620e+01] [-2.87412993e-02 -5.25066214e-04 9.99586746e-01 -2.72531300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:-39.58, Z:-2.73 [[ 9.64147010e-01 -2.64106618e-01 2.58502961e-02 1.51519756e+02] [ 2.63996780e-01 9.64493342e-01 7.63504737e-03 -3.95785622e+01] [-2.69489050e-02 -5.36913150e-04 9.99636668e-01 -2.72760210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-39.57, Z:-2.73 [[ 9.64519733e-01 -2.62690583e-01 2.63693570e-02 1.51551323e+02] [ 2.62576175e-01 9.64879956e-01 7.77327187e-03 -3.95699731e+01] [-2.74852293e-02 -5.73509217e-04 9.99622045e-01 -2.72799458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-39.56, Z:-2.73 [[ 9.64725647e-01 -2.61880480e-01 2.68894135e-02 1.51583075e+02] [ 2.61761628e-01 9.65100130e-01 7.91127224e-03 -3.95612698e+01] [-2.80227843e-02 -5.93590555e-04 9.99607108e-01 -2.72619603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:-39.55, Z:-2.73 [[ 9.64526516e-01 -2.62513041e-01 2.78478606e-02 1.51614295e+02] [ 2.62386293e-01 9.64928270e-01 8.17720717e-03 -3.95516807e+01] [-2.90178115e-02 -5.80236217e-04 9.99578726e-01 -2.72525837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-39.54, Z:-2.73 [[ 9.63975641e-01 -2.64489678e-01 2.82165446e-02 1.51646397e+02] [ 2.64360872e-01 9.64388380e-01 8.26928147e-03 -3.95429843e+01] [-2.93988474e-02 -5.12035555e-04 9.99567629e-01 -2.72633577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:-39.54, Z:-2.73 [[ 9.62850317e-01 -2.68422755e-01 2.94701922e-02 1.51679206e+02] [ 2.68284617e-01 9.63301132e-01 8.61941237e-03 -3.95364441e+01] [-3.07023159e-02 -3.92804717e-04 9.99528496e-01 -2.72740877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:151.71, Y:-39.52, Z:-2.73 [[ 9.62249153e-01 -2.70517994e-01 2.99429842e-02 1.51709783e+02] [ 2.70376945e-01 9.62714868e-01 8.74021026e-03 -3.95241207e+01] [-3.11909402e-02 -3.14367331e-04 9.99513395e-01 -2.72599477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:-39.51, Z:-2.73 [[ 9.62056033e-01 -2.71297226e-01 2.90861622e-02 1.51740854e+02] [ 2.71164996e-01 9.62495582e-01 8.47351006e-03 -3.95117767e+01] [-3.02941424e-02 -2.64842434e-04 9.99540992e-01 -2.72608717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-39.50, Z:-2.73 [[ 9.62371885e-01 -2.70307747e-01 2.78222360e-02 1.51772607e+02] [ 2.70186805e-01 9.62773935e-01 8.08951727e-03 -3.95009826e+01] [-2.89731828e-02 -2.67922933e-04 9.99580153e-01 -2.72671704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:-39.49, Z:-2.73 [[ 9.62034157e-01 -2.71481736e-01 2.80704030e-02 1.51804745e+02] [ 2.71359606e-01 9.62443567e-01 8.14527306e-03 -3.94949536e+01] [-2.92274717e-02 -2.18857406e-04 9.99572762e-01 -2.72755251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:-39.49, Z:-2.73 [[ 9.61877833e-01 -2.71793020e-01 3.03247168e-02 1.51836544e+02] [ 2.71651208e-01 9.62355709e-01 8.78124865e-03 -3.94869935e+01] [-3.15698464e-02 -2.08742464e-04 9.99501526e-01 -2.72765878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:-39.48, Z:-2.73 [[ 9.61285351e-01 -2.73789379e-01 3.11424206e-02 1.51868785e+02] [ 2.73641451e-01 9.61789665e-01 8.99984457e-03 -3.94781517e+01] [-3.24165201e-02 -1.29561593e-04 9.99474438e-01 -2.72634541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:-39.47, Z:-2.73 [[ 9.61108505e-01 -2.74493325e-01 3.03949888e-02 1.51900845e+02] [ 2.74353317e-01 9.61589001e-01 8.76644601e-03 -3.94685271e+01] [-3.16338178e-02 -8.65398289e-05 9.99499522e-01 -2.72692897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:-39.46, Z:-2.73 [[ 9.61124233e-01 -2.74415110e-01 3.06031955e-02 1.51931982e+02] [ 2.74273700e-01 9.61611326e-01 8.80882124e-03 -3.94589830e+01] [-3.18456531e-02 -7.27199072e-05 9.99492796e-01 -2.72743875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:-39.48, Z:-2.73 [[ 9.60896525e-01 -2.76526738e-01 -1.45200403e-02 1.51969323e+02] [ 2.76876487e-01 9.60253622e-01 3.53891535e-02 -3.94840651e+01] [ 4.15687409e-03 -3.80255723e-02 9.99268120e-01 -2.72650072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-39.44, Z:-2.73 [[ 9.61293927e-01 -2.75453597e-01 -6.26903811e-03 1.51988771e+02] [ 2.75404281e-01 9.61297505e-01 -7.71936405e-03 -3.94374481e+01] [ 8.15273729e-03 5.69405785e-03 9.99950554e-01 -2.72756742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-39.41, Z:-2.73 [[ 9.60879672e-01 -2.74050964e-01 4.00789867e-02 1.52015450e+02] [ 2.75062544e-01 9.61168149e-01 -2.22797371e-02 -3.94082981e+01] [-3.24168620e-02 3.24323745e-02 9.98948091e-01 -2.72788175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:-39.43, Z:-2.73 [[ 9.61115993e-01 -2.74227422e-01 3.24864289e-02 1.52055966e+02] [ 2.74070549e-01 9.61664869e-01 9.27434836e-03 -3.94295097e+01] [-3.37843380e-02 -1.01511455e-05 9.99429146e-01 -2.72784623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-39.47, Z:-2.73 [[ 9.60965564e-01 -2.76659635e-01 -2.15189073e-03 1.52099040e+02] [ 2.76327416e-01 9.59367737e-01 5.70675363e-02 -3.94741804e+01] [-1.37238292e-02 -5.54345636e-02 9.98368001e-01 -2.72531326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:-39.37, Z:-2.73 [[ 9.59911475e-01 -2.75810994e-01 4.99825445e-02 1.52103055e+02] [ 2.77969481e-01 9.59625600e-01 -4.30311005e-02 -3.93700471e+01] [-3.60960787e-02 5.51996692e-02 9.97822664e-01 -2.72837420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:-39.41, Z:-2.73 [[ 9.60268882e-01 -2.76527015e-01 3.76362104e-02 1.52148562e+02] [ 2.76319899e-01 9.61006137e-01 1.07013336e-02 -3.94107668e+01] [-3.91278370e-02 1.23476201e-04 9.99234205e-01 -2.73038780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:-39.41, Z:-2.73 [[ 9.60412161e-01 -2.76242314e-01 3.60370053e-02 1.52181219e+02] [ 2.76052988e-01 9.61088013e-01 1.02264417e-02 -3.94064398e+01] [-3.74597098e-02 1.26523988e-04 9.99298131e-01 -2.73006188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:-39.43, Z:-2.73 [[ 9.60979722e-01 -2.76407850e-01 1.08016310e-02 1.52218584e+02] [ 2.75814445e-01 9.60430234e-01 3.87318740e-02 -3.94314638e+01] [-2.10800070e-02 -3.42412996e-02 9.99191256e-01 -2.72836322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.24, Y:-39.39, Z:-2.73 [[ 9.61789616e-01 -2.73741085e-01 5.15290782e-03 1.52243153e+02] [ 2.73771048e-01 9.61773146e-01 -6.46753535e-03 -3.93909989e+01] [-3.18549822e-03 7.63112532e-03 9.99965809e-01 -2.72907221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:-39.39, Z:-2.73 [[ 9.61858647e-01 -2.73464380e-01 6.72125519e-03 1.52275952e+02] [ 2.73495065e-01 9.61864428e-01 -4.15602331e-03 -3.93867327e+01] [-5.32841194e-03 5.83573708e-03 9.99968776e-01 -2.72968940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:-39.37, Z:-2.73 [[ 9.60525856e-01 -2.74924013e-01 4.25072633e-02 1.52303948e+02] [ 2.75511716e-01 9.61259841e-01 -8.53298982e-03 -3.93698042e+01] [-3.85146014e-02 1.99074064e-02 9.99059718e-01 -2.73216518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-39.40, Z:-2.73 [[ 9.61728030e-01 -2.73982486e-01 3.57680248e-03 1.52347571e+02] [ 2.73847614e-01 9.61534350e-01 2.14284378e-02 -3.94021542e+01] [-9.31023510e-03 -1.96288304e-02 9.99763986e-01 -2.73153212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:152.37, Y:-39.37, Z:-2.74 [[ 9.60746494e-01 -2.74114579e-01 4.27477830e-02 1.52368723e+02] [ 2.74687247e-01 9.61500024e-01 -8.03867452e-03 -3.93669095e+01] [-3.88984765e-02 1.94653992e-02 9.99053556e-01 -2.73540359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-39.43, Z:-2.73 [[ 9.62053473e-01 -2.72850579e-01 -2.38243998e-03 1.52418268e+02] [ 2.72560738e-01 9.60548758e-01 5.52876846e-02 -3.94260574e+01] [-1.27968270e-02 -5.38390686e-02 9.98467624e-01 -2.72879992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:-39.33, Z:-2.74 [[ 9.61492871e-01 -2.69790890e-01 5.23864060e-02 1.52422611e+02] [ 2.71984874e-01 9.61449188e-01 -4.04930563e-02 -3.93258831e+01] [-3.94422098e-02 5.31820949e-02 9.97805581e-01 -2.73609851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:-39.37, Z:-2.73 [[ 9.63014593e-01 -2.66481647e-01 3.98801269e-02 1.52468173e+02] [ 2.66245274e-01 9.63839974e-01 1.12231271e-02 -3.93670509e+01] [-4.14288179e-02 -1.90139907e-04 9.99141440e-01 -2.73290730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-39.41, Z:-2.73 [[ 9.64378876e-01 -2.64431760e-01 7.01621690e-03 1.52511659e+02] [ 2.63524860e-01 9.62699388e-01 6.13558243e-02 -3.94110318e+01] [-2.29789363e-02 -5.73213133e-02 9.98091296e-01 -2.72702849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:-39.31, Z:-2.74 [[ 9.63715888e-01 -2.59650703e-01 6.19128437e-02 1.52516174e+02] [ 2.62452196e-01 9.64015109e-01 -4.23522764e-02 -3.93073019e+01] [-4.86881184e-02 5.70647234e-02 9.97182573e-01 -2.73523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:-39.35, Z:-2.73 [[ 9.64364923e-01 -2.60521190e-01 4.61411406e-02 1.52562552e+02] [ 2.60200124e-01 9.65468015e-01 1.29386498e-02 -3.93513607e+01] [-4.79185879e-02 -4.71649557e-04 9.98851133e-01 -2.73396973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-39.34, Z:-2.74 [[ 9.65020487e-01 -2.58362986e-01 4.45424254e-02 1.52594956e+02] [ 2.58062635e-01 9.66047764e-01 1.24657630e-02 -3.93438872e+01] [-4.62508022e-02 -5.34981038e-04 9.98929716e-01 -2.73514802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:-39.34, Z:-2.74 [[ 9.65952703e-01 -2.55207836e-01 4.24774675e-02 1.52627317e+02] [ 2.54932675e-01 9.66886013e-01 1.18646513e-02 -3.93367729e+01] [-4.40988212e-02 -6.31797536e-04 9.99026974e-01 -2.73734098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:-39.33, Z:-2.74 [[ 9.66938472e-01 -2.51084668e-01 4.45699514e-02 1.52659331e+02] [ 2.50778514e-01 9.67964767e-01 1.24235994e-02 -3.93281308e+01] [-4.62615180e-02 -8.35670064e-04 9.98929013e-01 -2.73794905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:-39.32, Z:-2.74 [[ 9.67729498e-01 -2.48077504e-01 4.42399330e-02 1.52690602e+02] [ 2.47773851e-01 9.68739724e-01 1.23071746e-02 -3.93191161e+01] [-4.59101136e-02 -9.48517353e-04 9.98945125e-01 -2.73886045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:152.72, Y:-39.31, Z:-2.74 [[ 9.68464440e-01 -2.45387912e-01 4.31439646e-02 1.52722814e+02] [ 2.45097504e-01 9.69424426e-01 1.19789354e-02 -3.93110245e+01] [-4.47642991e-02 -1.02669494e-03 9.98997049e-01 -2.74015541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:-39.30, Z:-2.74 [[ 9.69185336e-01 -2.42311006e-01 4.43301272e-02 1.52755314e+02] [ 2.42002310e-01 9.70197913e-01 1.22837917e-02 -3.93034276e+01] [-4.59854948e-02 -1.17727759e-03 9.98941414e-01 -2.74072770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:-39.29, Z:-2.74 [[ 9.69485422e-01 -2.40977318e-01 4.50327497e-02 1.52786680e+02] [ 2.40658470e-01 9.70529960e-01 1.24537842e-02 -3.92934525e+01] [-4.67067123e-02 -1.23624958e-03 9.98907881e-01 -2.74059073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:-39.28, Z:-2.74 [[ 9.69486253e-01 -2.40899402e-01 4.54299797e-02 1.52817707e+02] [ 2.40575982e-01 9.70549315e-01 1.25389095e-02 -3.92801657e+01] [-4.71126515e-02 -1.22693836e-03 9.98888829e-01 -2.74151530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:-39.27, Z:-2.74 [[ 9.69805570e-01 -2.39673276e-01 4.50985190e-02 1.52849407e+02] [ 2.39354377e-01 9.70852795e-01 1.24230831e-02 -3.92694218e+01] [-4.67615043e-02 -1.25344727e-03 9.98905296e-01 -2.74379616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:-39.26, Z:-2.74 [[ 9.69844409e-01 -2.39487385e-01 4.52505816e-02 1.52880638e+02] [ 2.39167276e-01 9.70898680e-01 1.24405074e-02 -3.92597684e+01] [-4.69130745e-02 -1.24289823e-03 9.98898202e-01 -2.74391873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:-39.25, Z:-2.74 [[ 9.69548231e-01 -2.40537571e-01 4.60206922e-02 1.52911337e+02] [ 2.40208840e-01 9.70639102e-01 1.26272619e-02 -3.92476289e+01] [-4.77068142e-02 -1.18816233e-03 9.98860675e-01 -2.74328556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:-39.31, Z:-2.73 [[ 9.70100212e-01 -2.42538795e-01 -8.97279200e-03 1.52959028e+02] [ 2.42442773e-01 9.66673600e-01 8.22414332e-02 -3.93084678e+01] [-1.12729770e-02 -8.19578204e-02 9.96572042e-01 -2.73354235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:-39.15, Z:-2.75 [[ 9.68074916e-01 -2.41341958e-01 6.77127539e-02 1.52949365e+02] [ 2.45609928e-01 9.67258468e-01 -6.39282370e-02 -3.91531870e+01] [-5.00671686e-02 7.85182473e-02 9.95654641e-01 -2.74867138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:-39.21, Z:-2.75 [[ 9.68263712e-01 -2.45328088e-01 4.77442401e-02 1.52999998e+02] [ 2.44982027e-01 9.69439646e-01 1.30605875e-02 -3.92140017e+01] [-4.94892882e-02 -9.49612172e-04 9.98774203e-01 -2.74738443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:-39.20, Z:-2.75 [[ 9.67255998e-01 -2.48934515e-01 4.94716354e-02 1.53031210e+02] [ 2.48569074e-01 9.68520016e-01 1.35053638e-02 -3.92012065e+01] [-5.12762203e-02 -7.66025595e-04 9.98684216e-01 -2.74616791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-39.19, Z:-2.75 [[ 9.66873936e-01 -2.50420746e-01 4.94392667e-02 1.53062200e+02] [ 2.50059131e-01 9.68136878e-01 1.34691023e-02 -3.91902223e+01] [-5.12369199e-02 -6.60183880e-04 9.98686308e-01 -2.74666146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-39.18, Z:-2.75 [[ 9.65457371e-01 -2.55714068e-01 5.00237916e-02 1.53093725e+02] [ 2.55352397e-01 9.66752392e-01 1.36002035e-02 -3.91819031e+01] [-5.18383836e-02 -3.56721645e-04 9.98655423e-01 -2.74766389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:-39.17, Z:-2.75 [[ 9.65516575e-01 -2.55489425e-01 5.00289620e-02 1.53126011e+02] [ 2.55128438e-01 9.66811787e-01 1.35811635e-02 -3.91730386e+01] [-5.18384338e-02 -3.49027525e-04 9.98655424e-01 -2.74854990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:-39.17, Z:-2.75 [[ 9.64791525e-01 -2.58230450e-01 4.99434494e-02 1.53157979e+02] [ 2.57875411e-01 9.66083331e-01 1.35377388e-02 -3.91655953e+01] [-5.17453903e-02 -1.81908097e-04 9.98660293e-01 -2.75109516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:-39.24, Z:-2.74 [[ 9.65015751e-01 -2.62161388e-01 -4.00080446e-03 1.53207441e+02] [ 2.61421599e-01 9.60899705e-01 9.12715990e-02 -3.92367031e+01] [-2.00835173e-02 -8.91244273e-02 9.95818000e-01 -2.74106925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:-39.07, Z:-2.75 [[ 9.62825642e-01 -2.59576419e-01 7.47453399e-02 1.53196904e+02] [ 2.64714716e-01 9.61801225e-01 -6.97461287e-02 -3.90730392e+01] [-5.37857092e-02 8.69395525e-02 9.94760580e-01 -2.75414154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:-39.15, Z:-2.75 [[ 9.62026575e-01 -2.68322376e-01 5.00796569e-02 1.53250672e+02] [ 2.67981799e-01 9.63329088e-01 1.35212184e-02 -3.91451490e+01] [-5.18712357e-02 4.12665071e-04 9.98653696e-01 -2.75385209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:-39.20, Z:-2.75 [[ 9.62256604e-01 -2.72111559e-01 4.18653450e-03 1.53297012e+02] [ 2.71102815e-01 9.59806770e-01 7.26238771e-02 -3.92032267e+01] [-2.37800606e-02 -6.87478241e-02 9.97350613e-01 -2.74502883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:-39.14, Z:-2.75 [[ 9.62163913e-01 -2.70911230e-01 2.91154688e-02 1.53310603e+02] [ 2.70795696e-01 9.62604297e-01 7.91566526e-03 -3.91374499e+01] [-3.01711180e-02 2.68176164e-04 9.99544712e-01 -2.75297051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.32, Y:-39.07, Z:-2.76 [[ 9.60388427e-01 -2.68802699e-01 7.34791028e-02 1.53324824e+02] [ 2.72798595e-01 9.60717126e-01 -5.10248054e-02 -3.90718164e+01] [-5.68770270e-02 6.90486285e-02 9.95990608e-01 -2.75853058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:-39.13, Z:-2.76 [[ 9.60950216e-01 -2.71276492e-01 5.46236951e-02 1.53373834e+02] [ 2.70878938e-01 9.62501227e-01 1.46965838e-02 -3.91271161e+01] [-5.65622113e-02 6.73723224e-04 9.98398849e-01 -2.75651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-39.12, Z:-2.76 [[ 9.61780536e-01 -2.68368625e-01 5.43735438e-02 1.53406607e+02] [ 2.67971785e-01 9.63316148e-01 1.45987013e-02 -3.91219218e+01] [-5.62967461e-02 5.29828860e-04 9.98413940e-01 -2.75715526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:-39.11, Z:-2.76 [[ 9.62252627e-01 -2.66723353e-01 5.41159342e-02 1.53438766e+02] [ 2.66329380e-01 9.63773023e-01 1.44989995e-02 -3.91146202e+01] [-5.60226993e-02 4.60962867e-04 9.98429389e-01 -2.75924837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:-39.11, Z:-2.76 [[ 9.63776315e-01 -2.61216783e-01 5.38609978e-02 1.53471586e+02] [ 2.60819617e-01 9.65280148e-01 1.44001232e-02 -3.91106460e+01] [-5.57525058e-02 1.69507186e-04 9.98444605e-01 -2.76145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:-39.10, Z:-2.76 [[ 9.64563240e-01 -2.58185134e-01 5.43892761e-02 1.53504521e+02] [ 2.57777084e-01 9.66095459e-01 1.45099668e-02 -3.91044139e+01] [-5.62914904e-02 2.45284254e-05 9.98414377e-01 -2.76262266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.54, Y:-39.10, Z:-2.76 [[ 9.65303750e-01 -2.55298434e-01 5.48760383e-02 1.53536693e+02] [ 2.54880187e-01 9.66862295e-01 1.46079966e-02 -3.90965885e+01] [-5.67869709e-02 -1.14338966e-04 9.98386311e-01 -2.76383437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.57, Y:-39.09, Z:-2.77 [[ 9.67028787e-01 -2.48469996e-01 5.58389255e-02 1.53568668e+02] [ 2.48027406e-01 9.68639467e-01 1.48320153e-02 -3.90882151e+01] [-5.77730979e-02 -4.93401899e-04 9.98329618e-01 -2.76549180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.60, Y:-39.08, Z:-2.77 [[ 9.67958578e-01 -2.44448837e-01 5.74539656e-02 1.53600407e+02] [ 2.43975117e-01 9.69661922e-01 1.52282146e-02 -3.90800483e+01] [-5.94334421e-02 -7.22942951e-04 9.98232009e-01 -2.76683501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:-39.07, Z:-2.77 [[ 9.69774664e-01 -2.37297836e-01 5.68052650e-02 1.53632271e+02] [ 2.36824323e-01 9.71436301e-01 1.50250809e-02 -3.90728930e+01] [-5.87481157e-02 -1.11807436e-03 9.98272212e-01 -2.76915679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-39.06, Z:-2.77 [[ 9.70835592e-01 -2.33120688e-01 5.59731917e-02 1.53663872e+02] [ 2.32655776e-01 9.72446913e-01 1.47746806e-02 -3.90639428e+01] [-5.78752412e-02 -1.32129943e-03 9.98322949e-01 -2.77073046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.71, Y:-39.10, Z:-2.76 [[ 9.72829283e-01 -2.31409442e-01 7.27022768e-03 1.53707121e+02] [ 2.30686111e-01 9.71500701e-01 5.45005204e-02 -3.90997078e+01] [-1.96749663e-02 -5.13425616e-02 9.98487274e-01 -2.76302338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:153.72, Y:-39.04, Z:-2.77 [[ 9.74103726e-01 -2.24661147e-01 2.54813539e-02 1.53724074e+02] [ 2.24635470e-01 9.74435054e-01 3.90282142e-03 -3.90408889e+01] [-2.57067368e-02 1.92226302e-03 9.99667679e-01 -2.76976266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:153.76, Y:-39.04, Z:-2.77 [[ 9.74685010e-01 -2.22538228e-01 2.15839645e-02 1.53757335e+02] [ 2.22210951e-01 9.74857935e-01 1.65620230e-02 -3.90432481e+01] [-2.47269823e-02 -1.13465623e-02 9.99629847e-01 -2.76825636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:153.77, Y:-38.97, Z:-2.78 [[ 9.72540622e-01 -2.19430083e-01 7.75575806e-02 1.53768904e+02] [ 2.23021898e-01 9.73948444e-01 -4.10568180e-02 -3.89722835e+01] [-6.65279839e-02 5.72264621e-02 9.96142138e-01 -2.77757977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.82, Y:-39.02, Z:-2.78 [[ 9.73344193e-01 -2.20611875e-01 6.27015310e-02 1.53815091e+02] [ 2.20005244e-01 9.75359032e-01 1.65061052e-02 -3.90163559e+01] [-6.47979474e-02 -2.27145603e-03 9.97895819e-01 -2.77622114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:153.85, Y:-39.01, Z:-2.78 [[ 9.73577352e-01 -2.19592634e-01 6.26595087e-02 1.53846153e+02] [ 2.18986833e-01 9.75588929e-01 1.64623231e-02 -3.90064374e+01] [-6.47449279e-02 -2.30573755e-03 9.97899182e-01 -2.77799108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:153.88, Y:-38.99, Z:-2.78 [[ 9.74599747e-01 -2.14636700e-01 6.39251197e-02 1.53875941e+02] [ 2.13997730e-01 9.76690347e-01 1.67611691e-02 -3.89911639e+01] [-6.60326094e-02 -2.65560069e-03 9.97813932e-01 -2.77917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:153.92, Y:-39.02, Z:-2.77 [[ 9.77169114e-01 -2.11855372e-01 1.60569336e-02 1.53917811e+02] [ 2.10534554e-01 9.75689912e-01 6.08637559e-02 -3.90236127e+01] [-2.85609017e-02 -5.60936430e-02 9.98016923e-01 -2.77114114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:153.92, Y:-38.92, Z:-2.78 [[ 9.75272426e-01 -2.06505775e-01 7.87341073e-02 1.53920580e+02] [ 2.09741539e-01 9.77121960e-01 -3.52301251e-02 -3.89171733e+01] [-6.96576009e-02 5.08727825e-02 9.96272944e-01 -2.78350497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:153.99, Y:-39.07, Z:-2.76 [[ 9.77102217e-01 -2.12550539e-01 -9.67090327e-03 1.53989987e+02] [ 2.11986270e-01 9.68596314e-01 1.29934608e-01 -3.90702414e+01] [-1.82504697e-02 -1.29009492e-01 9.91475401e-01 -2.76152252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-38.83, Z:-2.79 [[ 9.74851086e-01 -2.00751510e-01 9.67687531e-02 1.53962183e+02] [ 2.10450134e-01 9.72125341e-01 -1.03358898e-01 -3.88315082e+01] [-7.33219023e-02 1.21124531e-01 9.89925627e-01 -2.78502447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.02, Y:-38.93, Z:-2.79 [[ 9.75792414e-01 -2.08208802e-01 6.69197928e-02 1.54023071e+02] [ 2.07499340e-01 9.78079322e-01 1.74603306e-02 -3.89331464e+01] [-6.90882601e-02 -3.15184532e-03 9.97605572e-01 -2.78553582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.05, Y:-38.92, Z:-2.79 [[ 9.74967422e-01 -2.11626116e-01 6.82122692e-02 1.54054292e+02] [ 2.10899782e-01 9.77346302e-01 1.77619873e-02 -3.89219403e+01] [-7.04259094e-02 -2.93140623e-03 9.97512706e-01 -2.78536504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:-38.91, Z:-2.79 [[ 9.74704468e-01 -2.13363457e-01 6.65374653e-02 1.54086185e+02] [ 2.12678770e-01 9.76969153e-01 1.72920349e-02 -3.89122647e+01] [-6.86945395e-02 -2.70351735e-03 9.97634077e-01 -2.78759906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.12, Y:-38.90, Z:-2.79 [[ 9.74247602e-01 -2.15578837e-01 6.60861233e-02 1.54117016e+02] [ 2.14910376e-01 9.76483230e-01 1.71473253e-02 -3.89020645e+01] [-6.82285916e-02 -2.50314693e-03 9.97666574e-01 -2.79103060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.15, Y:-38.89, Z:-2.79 [[ 9.74096188e-01 -2.16505019e-01 6.52854768e-02 1.54148450e+02] [ 2.15856216e-01 9.76278586e-01 1.69179657e-02 -3.88929991e+01] [-6.73996375e-02 -2.38744997e-03 9.97723203e-01 -2.79255510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.18, Y:-38.88, Z:-2.79 [[ 9.73788363e-01 -2.17498993e-01 6.65613473e-02 1.54179839e+02] [ 2.16829317e-01 9.76057766e-01 1.72129242e-02 -3.88841584e+01] [-6.87115136e-02 -2.32929375e-03 9.97633852e-01 -2.79462260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.21, Y:-38.88, Z:-2.80 [[ 9.72785655e-01 -2.22194533e-01 6.57089014e-02 1.54211686e+02] [ 2.21554947e-01 9.75000427e-01 1.69579712e-02 -3.88760154e+01] [-6.78341754e-02 -1.93833896e-03 9.97694727e-01 -2.79672761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.24, Y:-38.87, Z:-2.80 [[ 9.72229125e-01 -2.24785129e-01 6.51319778e-02 1.54243338e+02] [ 2.24164865e-01 9.74406859e-01 1.67745617e-02 -3.88675818e+01] [-6.72357180e-02 -1.70841647e-03 9.97735656e-01 -2.79849845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:154.29, Y:-38.95, Z:-2.79 [[ 9.71481854e-01 -2.37090472e-01 3.33395194e-03 1.54289835e+02] [ 2.35588410e-01 9.66728663e-01 9.96684111e-02 -3.89463486e+01] [-2.68534575e-02 -9.60406124e-02 9.95015122e-01 -2.78541228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:-38.89, Z:-2.79 [[ 9.71575491e-01 -2.36151880e-01 1.65334318e-02 1.54307512e+02] [ 2.35294910e-01 9.71006222e-01 4.22282135e-02 -3.88853144e+01] [-2.60263371e-02 -3.71376649e-02 9.98971183e-01 -2.79344895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:154.30, Y:-38.74, Z:-2.80 [[ 9.68352820e-01 -2.30366291e-01 9.60426362e-02 1.54303727e+02] [ 2.39449163e-01 9.66038221e-01 -9.71300886e-02 -3.87381900e+01] [-7.04053591e-02 1.17053524e-01 9.90626851e-01 -2.79861348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:154.36, Y:-38.84, Z:-2.80 [[ 9.68335147e-01 -2.40727136e-01 6.61625945e-02 1.54363798e+02] [ 2.40131364e-01 9.70592698e-01 1.69334485e-02 -3.88382177e+01] [-6.82932717e-02 -5.09539277e-04 9.97665159e-01 -2.79887897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:154.40, Y:-38.83, Z:-2.80 [[ 9.67890544e-01 -2.42360564e-01 6.67027134e-02 1.54396157e+02] [ 2.41761507e-01 9.70186182e-01 1.70336941e-02 -3.88322131e+01] [-6.88423465e-02 -3.60602874e-04 9.97627486e-01 -2.80120577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612320588 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:154.44, Y:-38.92, Z:-2.79 [[ 9.67343726e-01 -2.53329274e-01 8.39017393e-03 1.54442688e+02] [ 2.51045917e-01 9.62139620e-01 1.06128687e-01 -3.89214423e+01] [-3.49580220e-02 -1.00556601e-01 9.94317005e-01 -2.78838134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:154.43, Y:-38.73, Z:-2.80 [[ 9.65921083e-01 -2.39600585e-01 9.79184466e-02 1.54431217e+02] [ 2.47278404e-01 9.65993810e-01 -7.55602463e-02 -3.87341338e+01] [-7.64843341e-02 9.71983521e-02 9.92321836e-01 -2.80389347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:154.49, Y:-38.82, Z:-2.80 [[ 9.66118739e-01 -2.47332795e-01 7.37636081e-02 1.54486241e+02] [ 2.46626303e-01 9.68930579e-01 1.86815192e-02 -3.88151146e+01] [-7.60923679e-02 1.43480167e-04 9.97100763e-01 -2.80335300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:154.52, Y:-38.81, Z:-2.81 [[ 9.66153495e-01 -2.47489269e-01 7.27769562e-02 1.54519165e+02] [ 2.46805096e-01 9.68890615e-01 1.83907741e-02 -3.88095972e+01] [-7.50644291e-02 1.93413008e-04 9.97178667e-01 -2.80513789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732320588 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:154.56, Y:-38.88, Z:-2.79 [[ 9.66346989e-01 -2.56247916e-01 2.25943234e-02 1.54558745e+02] [ 2.53746778e-01 9.63962550e-01 7.99298076e-02 -3.88757769e+01] [-4.22619283e-02 -7.15066921e-02 9.96544391e-01 -2.79394069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:154.56, Y:-38.76, Z:-2.81 [[ 9.67638659e-01 -2.46958837e-01 5.18339536e-02 1.54563933e+02] [ 2.48997745e-01 9.67782568e-01 -3.73767826e-02 -3.87607392e+01] [-4.09334700e-02 4.90737573e-02 9.97956020e-01 -2.80639130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792320588 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:154.60, Y:-38.77, Z:-2.81 [[ 9.66210640e-01 -2.43249084e-01 8.52460133e-02 1.54604842e+02] [ 2.44420390e-01 9.69663318e-01 -3.42382189e-03 -3.87746650e+01] [-8.18270905e-02 2.41439969e-02 9.96354051e-01 -2.80777418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:154.64, Y:-38.79, Z:-2.81 [[ 9.67064184e-01 -2.42348983e-01 7.78063965e-02 1.54642216e+02] [ 2.41571744e-01 9.70189141e-01 1.93939085e-02 -3.87899736e+01] [-8.01870150e-02 4.06726063e-05 9.96779836e-01 -2.80812497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852320588 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:154.68, Y:-38.82, Z:-2.81 [[ 9.68131070e-01 -2.48868467e-01 2.80484935e-02 1.54675241e+02] [ 2.47484766e-01 9.67838539e-01 4.51647356e-02 -3.88189877e+01] [-3.83864915e-02 -3.67838090e-02 9.98585714e-01 -2.80529111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:154.71, Y:-38.83, Z:-2.82 [[ 9.54166500e-01 -2.97212114e-01 3.50891707e-02 1.54706804e+02] [ 2.95668729e-01 9.54312861e-01 4.32084055e-02 -3.88334540e+01] [-4.63281084e-02 -3.08532426e-02 9.98449690e-01 -2.81783701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912320588 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:154.72, Y:-38.72, Z:-2.82 [[ 9.68125855e-01 -2.31366178e-01 9.59271611e-02 1.54717446e+02] [ 2.36259334e-01 9.70734031e-01 -4.30925562e-02 -3.87157277e+01] [-8.31495998e-02 6.43827050e-02 9.94455133e-01 -2.81592893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:154.76, Y:-38.77, Z:-2.81 [[ 9.69122303e-01 -2.32971621e-01 8.07848176e-02 1.54764137e+02] [ 2.32127230e-01 9.72483426e-01 1.98225851e-02 -3.87676998e+01] [-8.31799960e-02 -4.58153332e-04 9.96534434e-01 -2.81350446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972320588 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:154.80, Y:-38.76, Z:-2.81 [[ 9.69467647e-01 -2.31518304e-01 8.08192848e-02 1.54796622e+02] [ 2.30671948e-01 9.72830399e-01 1.97855503e-02 -3.87602674e+01] [-8.32041741e-02 -5.38709026e-04 9.96532375e-01 -2.81439059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:154.83, Y:-38.75, Z:-2.81 [[ 9.69673656e-01 -2.29814069e-01 8.31774918e-02 1.54829019e+02] [ 2.28915339e-01 9.73234329e-01 2.03152085e-02 -3.87519590e+01] [-8.56199112e-02 -6.58518825e-04 9.96327656e-01 -2.81473154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032320588 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:154.86, Y:-38.74, Z:-2.82 [[ 9.70643110e-01 -2.26666785e-01 8.04619308e-02 1.54860308e+02] [ 2.25818735e-01 9.73971983e-01 1.96080244e-02 -3.87425003e+01] [-8.28121542e-02 -8.62582408e-04 9.96564801e-01 -2.81569219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:154.89, Y:-38.73, Z:-2.82 [[ 9.70946878e-01 -2.25124126e-01 8.11251388e-02 1.54892122e+02] [ 2.24260423e-01 9.74329621e-01 1.97244208e-02 -3.87345508e+01] [-8.34830687e-02 -9.58206876e-04 9.96508735e-01 -2.81890525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092320588 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:154.92, Y:-38.73, Z:-2.82 [[ 9.71140435e-01 -2.24574738e-01 8.03270984e-02 1.54924213e+02] [ 2.23729765e-01 9.74456402e-01 1.94862047e-02 -3.87287249e+01] [-8.26513646e-02 -9.52278433e-04 9.96578068e-01 -2.82076798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:154.96, Y:-38.72, Z:-2.82 [[ 9.71069170e-01 -2.25134168e-01 7.96195578e-02 1.54955824e+02] [ 2.24309516e-01 9.74327397e-01 1.92708013e-02 -3.87213546e+01] [-8.19140324e-02 -8.53856576e-04 9.96639033e-01 -2.82275834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15232058799998 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:154.99, Y:-38.71, Z:-2.82 [[ 9.70686883e-01 -2.27022741e-01 7.89154615e-02 1.54987926e+02] [ 2.26222395e-01 9.73889243e-01 1.90570335e-02 -3.87140422e+01] [-8.11812991e-02 -6.45967803e-04 9.96699142e-01 -2.82360737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:155.02, Y:-38.71, Z:-2.82 [[ 9.69675506e-01 -2.31062278e-01 7.96218356e-02 1.55019925e+02] [ 2.30264761e-01 9.72938925e-01 1.91829914e-02 -3.87081288e+01] [-8.18996488e-02 -2.67173926e-04 9.96640545e-01 -2.82433131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21232058799998 meters Centerline goodness : 0.875406 Centerline is valid? [True, False] Translation: X:155.00, Y:-38.71, Z:-2.82 [[ 9.71439399e-01 -2.17468161e-01 9.49373116e-02 1.55001459e+02] [ 2.15999848e-01 9.76057653e-01 2.56032114e-02 -3.87138639e+01] [-9.82321728e-02 -4.36552338e-03 9.95153949e-01 -2.82286959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters Centerline goodness : 0.999163 Centerline is valid? [False, True] Translation: X:154.99, Y:-38.72, Z:-2.82 [[ 9.73001255e-01 -2.03201600e-01 1.09442535e-01 1.54985309e+02] [ 2.00917975e-01 9.79097565e-01 3.16216138e-02 -3.87173752e+01] [-1.13580482e-01 -8.77889728e-03 9.93490013e-01 -2.82274699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27232058799999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:155.02, Y:-38.70, Z:-2.83 [[ 9.73034955e-01 -2.02050403e-01 1.11259207e-01 1.55015198e+02] [ 2.00763971e-01 9.79375107e-01 2.27646195e-02 -3.87025988e+01] [-1.13564098e-01 1.86069659e-04 9.93530654e-01 -2.82675208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:155.05, Y:-38.69, Z:-2.83 [[ 9.73042764e-01 -2.02218633e-01 1.10884645e-01 1.55046940e+02] [ 2.00946840e-01 9.79340372e-01 2.26451842e-02 -3.86948350e+01] [-1.13173088e-01 2.47186310e-04 9.93575257e-01 -2.83038436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332320588 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:155.08, Y:-38.69, Z:-2.83 [[ 9.72962036e-01 -2.02079676e-01 1.11842212e-01 1.55079224e+02] [ 2.00792083e-01 9.79369040e-01 2.27776642e-02 -3.86874776e+01] [-1.14137703e-01 2.95228122e-04 9.93464895e-01 -2.83278150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:155.11, Y:-38.72, Z:-2.83 [[ 9.74260401e-01 -2.13907107e-01 7.11366257e-02 1.55111126e+02] [ 2.10256091e-01 9.76072472e-01 5.54518284e-02 -3.87201403e+01] [-8.12960424e-02 -3.90676118e-02 9.95924031e-01 -2.83136331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:155.13, Y:-38.66, Z:-2.84 [[ 9.74775887e-01 -2.06370102e-01 8.49903049e-02 1.55131518e+02] [ 2.07351658e-01 9.78262488e-01 -2.79169766e-03 -3.86586173e+01] [-8.25667042e-02 2.03441602e-02 9.96377867e-01 -2.83562263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:155.17, Y:-38.66, Z:-2.84 [[ 9.70783427e-01 -2.09620114e-01 1.16785896e-01 1.55167956e+02] [ 2.10381630e-01 9.77601488e-01 5.90769755e-03 -3.86552206e+01] [-1.15408438e-01 1.88345123e-02 9.93139544e-01 -2.83941383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452320588 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:155.20, Y:-38.66, Z:-2.84 [[ 9.70131301e-01 -2.14416276e-01 1.13450075e-01 1.55203100e+02] [ 2.13210233e-01 9.76740186e-01 2.28036170e-02 -3.86649123e+01] [-1.15700714e-01 2.06621439e-03 9.93281972e-01 -2.84200332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:155.24, Y:-38.70, Z:-2.84 [[ 9.71488097e-01 -2.23189661e-01 7.99828227e-02 1.55237784e+02] [ 2.19168330e-01 9.74075054e-01 5.60627586e-02 -3.86951392e+01] [-9.04219005e-02 -3.69346010e-02 9.95218426e-01 -2.83862587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:155.27, Y:-38.68, Z:-2.84 [[ 9.69606318e-01 -2.28552607e-01 8.73343818e-02 1.55266787e+02] [ 2.25478615e-01 9.73267157e-01 4.37085238e-02 -3.86797689e+01] [-9.49893826e-02 -2.26880254e-02 9.95219710e-01 -2.84280095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:155.28, Y:-38.60, Z:-2.85 [[ 9.66473446e-01 -2.21420075e-01 1.30008575e-01 1.55283510e+02] [ 2.27946349e-01 9.72951980e-01 -3.74820910e-02 -3.85954749e+01] [-1.18192813e-01 6.58604256e-02 9.90804150e-01 -2.85479328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:155.33, Y:-38.65, Z:-2.85 [[ 9.65624394e-01 -2.32944883e-01 1.15352550e-01 1.55327821e+02] [ 2.31859140e-01 9.72479047e-01 2.29312361e-02 -3.86499184e+01] [-1.17519652e-01 4.60258196e-03 9.93059891e-01 -2.85326477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:155.37, Y:-38.69, Z:-2.85 [[ 9.67679385e-01 -2.39509822e-01 7.89408241e-02 1.55365111e+02] [ 2.34614197e-01 9.69812405e-01 6.64836621e-02 -3.86920608e+01] [-9.24812806e-02 -4.58142312e-02 9.94659876e-01 -2.84609021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:155.38, Y:-38.62, Z:-2.86 [[ 9.67590764e-01 -2.35027808e-01 9.23582273e-02 1.55381490e+02] [ 2.37117589e-01 9.71404492e-01 -1.21886368e-02 -3.86213345e+01] [-8.68525282e-02 3.36933726e-02 9.95651242e-01 -2.85930192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:155.42, Y:-38.63, Z:-2.87 [[ 9.63631834e-01 -2.37383509e-01 1.22730425e-01 1.55418451e+02] [ 2.38738053e-01 9.71076707e-01 3.76441264e-03 -3.86271421e+01] [-1.20074267e-01 2.56729150e-02 9.92432905e-01 -2.86680530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:155.46, Y:-38.67, Z:-2.86 [[ 9.66496049e-01 -2.42918217e-01 8.29224166e-02 1.55455583e+02] [ 2.40057267e-01 9.69804275e-01 4.30369147e-02 -3.86667885e+01] [-9.08729647e-02 -2.16888793e-02 9.95626284e-01 -2.86081342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:155.48, Y:-38.62, Z:-2.87 [[ 9.63624836e-01 -2.37690908e-01 1.22189227e-01 1.55481793e+02] [ 2.39621072e-01 9.70865825e-01 -1.13624189e-03 -3.86203883e+01] [-1.18359270e-01 3.03740245e-02 9.92506172e-01 -2.87398933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752320588 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:155.53, Y:-38.71, Z:-2.85 [[ 9.66653408e-01 -2.45935520e-01 7.13926393e-02 1.55532186e+02] [ 2.38583300e-01 9.66174742e-01 9.78998334e-02 -3.87125135e+01] [-9.30548112e-02 -7.76021161e-02 9.92632215e-01 -2.85277079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:-38.57, Z:-2.88 [[ 9.64618211e-01 -2.26473880e-01 1.34986250e-01 1.55533771e+02] [ 2.35478553e-01 9.70335893e-01 -5.47549554e-02 -3.85653589e+01] [-1.18581437e-01 8.46039941e-02 9.89333416e-01 -2.88274904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:155.60, Y:-38.72, Z:-2.86 [[ 9.67809768e-01 -2.41065715e-01 7.23296166e-02 1.55595425e+02] [ 2.32490877e-01 9.66366539e-01 1.09925905e-01 -3.87183505e+01] [-9.63962882e-02 -8.95713888e-02 9.91304556e-01 -2.85685252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:155.59, Y:-38.55, Z:-2.89 [[ 9.65839639e-01 -2.19508494e-01 1.37730942e-01 1.55591965e+02] [ 2.30039576e-01 9.70961996e-01 -6.56855752e-02 -3.85466158e+01] [-1.19312969e-01 9.51252999e-02 9.88289225e-01 -2.89141519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:155.65, Y:-38.66, Z:-2.88 [[ 9.70010671e-01 -2.28619981e-01 8.25360649e-02 1.55646214e+02] [ 2.24864020e-01 9.72981692e-01 5.23717338e-02 -3.86556075e+01] [-9.22793049e-02 -3.22417493e-02 9.95211033e-01 -2.87711068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:155.68, Y:-38.65, Z:-2.88 [[ 9.69925232e-01 -2.27811730e-01 8.57138248e-02 1.55676726e+02] [ 2.24081690e-01 9.73234768e-01 5.10047382e-02 -3.86514468e+01] [-9.50391520e-02 -3.02638838e-02 9.95013395e-01 -2.87855774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:-38.56, Z:-2.90 [[ 9.66494443e-01 -2.18398890e-01 1.34871854e-01 1.55688562e+02] [ 2.25862814e-01 9.73227968e-01 -4.25829881e-02 -3.85564889e+01] [-1.21960983e-01 7.16187577e-02 9.89947611e-01 -2.89809366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.73, Y:-38.61, Z:-2.89 [[ 9.66395314e-01 -2.25821008e-01 1.22820885e-01 1.55733290e+02] [ 2.24607925e-01 9.74158095e-01 2.38177520e-02 -3.86128593e+01] [-1.25025508e-01 4.56918019e-03 9.92143006e-01 -2.89336766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:-38.61, Z:-2.90 [[ 9.66919144e-01 -2.23223801e-01 1.23444331e-01 1.55765251e+02] [ 2.21985614e-01 9.74757649e-01 2.38728482e-02 -3.86073972e+01] [-1.25657294e-01 4.31975166e-03 9.92064305e-01 -2.89828661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:-38.60, Z:-2.90 [[ 9.67167120e-01 -2.22268011e-01 1.23226185e-01 1.55797162e+02] [ 2.21034709e-01 9.74976334e-01 2.37656292e-02 -3.86024111e+01] [-1.25424953e-01 4.25192884e-03 9.92093999e-01 -2.90250712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.83, Y:-38.60, Z:-2.91 [[ 9.67560737e-01 -2.19645064e-01 1.24828950e-01 1.55830456e+02] [ 2.18366245e-01 9.75571530e-01 2.40077790e-02 -3.85996558e+01] [-1.27052760e-01 4.02944485e-03 9.91887776e-01 -2.90509916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-38.68, Z:-2.89 [[ 9.71112882e-01 -2.26329634e-01 7.55954137e-02 1.55876614e+02] [ 2.17873676e-01 9.70211476e-01 1.05928061e-01 -3.86758745e+01] [-9.73181971e-02 -8.63978537e-02 9.91496132e-01 -2.88692573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:-38.59, Z:-2.91 [[ 9.71250666e-01 -2.15398852e-01 1.01368029e-01 1.55887000e+02] [ 2.15180629e-01 9.76484874e-01 1.32131572e-02 -3.85850329e+01] [-1.01830446e-01 8.97914860e-03 9.94761245e-01 -2.90922172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.90, Y:-38.51, Z:-2.92 [[ 9.68465593e-01 -2.02856599e-01 1.44649905e-01 1.55904002e+02] [ 2.12282430e-01 9.75777997e-01 -5.28532888e-02 -3.85133463e+01] [-1.30424556e-01 8.18932249e-02 9.88070309e-01 -2.92226871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-38.62, Z:-2.90 [[ 9.72565753e-01 -2.14240723e-01 9.06463936e-02 1.55956772e+02] [ 2.09510455e-01 9.76028614e-01 5.89365200e-02 -3.86162347e+01] [-1.01100077e-01 -3.83282738e-02 9.94137676e-01 -2.90436697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.98, Y:-38.58, Z:-2.92 [[ 9.73328411e-01 -2.07285590e-01 9.83081351e-02 1.55979748e+02] [ 2.06279426e-01 9.78280383e-01 2.04032002e-02 -3.85768671e+01] [-1.00402209e-01 4.19931258e-04 9.94946843e-01 -2.91527272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-38.53, Z:-2.93 [[ 9.69125572e-01 -2.00898261e-01 1.42952841e-01 1.56003190e+02] [ 2.05092137e-01 9.78626497e-01 -1.50796055e-02 -3.85328217e+01] [-1.36867971e-01 4.39325349e-02 9.89614617e-01 -2.92668920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:156.05, Y:-38.61, Z:-2.91 [[ 9.73657444e-01 -2.09234281e-01 9.06211731e-02 1.56049938e+02] [ 2.03963764e-01 9.76879777e-01 6.40678058e-02 -3.86059837e+01] [-1.01931173e-01 -4.38966605e-02 9.93822479e-01 -2.91330544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-38.56, Z:-2.93 [[ 9.74410366e-01 -2.01829298e-01 9.89412626e-02 1.56070023e+02] [ 2.01338609e-01 9.79406475e-01 1.50239950e-02 -3.85559808e+01] [-9.99359956e-02 5.28115974e-03 9.94979852e-01 -2.92595806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:-38.56, Z:-2.93 [[ 9.74544117e-01 -2.01856592e-01 9.75586036e-02 1.56102211e+02] [ 2.00430560e-01 9.79406368e-01 2.43054778e-02 -3.85592717e+01] [-1.00455739e-01 -4.13303490e-03 9.94932944e-01 -2.92628367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-38.55, Z:-2.93 [[ 9.74441536e-01 -2.00101899e-01 1.02092717e-01 1.56130911e+02] [ 1.99366794e-01 9.79769395e-01 1.74589523e-02 -3.85469250e+01] [-1.03520889e-01 3.34116935e-03 9.94621668e-01 -2.92991226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:156.16, Y:-38.54, Z:-2.93 [[ 9.74596078e-01 -1.98710344e-01 1.03328037e-01 1.56160815e+02] [ 1.97380876e-01 9.80056099e-01 2.30397944e-02 -3.85440809e+01] [-1.05845518e-01 -2.05951488e-03 9.94380453e-01 -2.93152854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:-38.53, Z:-2.94 [[ 9.74777934e-01 -1.95653063e-01 1.07367864e-01 1.56190028e+02] [ 1.94650765e-01 9.80671937e-01 1.98401764e-02 -3.85336992e+01] [-1.09174442e-01 1.55947062e-03 9.94021383e-01 -2.93541864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-38.48, Z:-2.95 [[ 9.69998904e-01 -1.88047613e-01 1.54078620e-01 1.56210696e+02] [ 1.93552692e-01 9.80856329e-01 -2.14060035e-02 -3.84836148e+01] [-1.47103641e-01 5.05861315e-02 9.87826686e-01 -2.94889956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.26, Y:-38.56, Z:-2.94 [[ 9.74617427e-01 -1.99059533e-01 1.02450838e-01 1.56256870e+02] [ 1.93377638e-01 9.79113290e-01 6.27873713e-02 -3.85609774e+01] [-1.12809402e-01 -4.13819652e-02 9.92754538e-01 -2.93576558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.27, Y:-38.48, Z:-2.95 [[ 9.70063185e-01 -1.88012737e-01 1.53716062e-01 1.56271744e+02] [ 1.92286042e-01 9.81248977e-01 -1.32862174e-02 -3.84782000e+01] [-1.48335750e-01 4.24459234e-02 9.88025733e-01 -2.95446177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.31, Y:-38.51, Z:-2.95 [[ 9.70517424e-01 -1.92110997e-01 1.45565431e-01 1.56311479e+02] [ 1.90163048e-01 9.81372503e-01 2.73134807e-02 -3.85080820e+01] [-1.48101131e-01 1.17295707e-03 9.88971526e-01 -2.95194548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-38.50, Z:-2.96 [[ 9.70411709e-01 -1.92303283e-01 1.46015626e-01 1.56343125e+02] [ 1.90357520e-01 9.81334700e-01 2.73170609e-02 -3.85000641e+01] [-1.48543361e-01 1.28637678e-03 9.88905059e-01 -2.95578632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:-38.49, Z:-2.96 [[ 9.69602373e-01 -1.94228872e-01 1.48816611e-01 1.56375002e+02] [ 1.92242650e-01 9.80954776e-01 2.77577157e-02 -3.84922593e+01] [-1.51373715e-01 1.69495266e-03 9.88475152e-01 -2.95942368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-38.48, Z:-2.96 [[ 9.69158209e-01 -1.95271576e-01 1.50337548e-01 1.56406539e+02] [ 1.93269785e-01 9.80747250e-01 2.79574984e-02 -3.84845211e+01] [-1.52902441e-01 1.96046659e-03 9.88239343e-01 -2.96385494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:-38.51, Z:-2.96 [[ 9.73277696e-01 -2.01702652e-01 1.09756850e-01 1.56444081e+02] [ 1.95912216e-01 9.78702552e-01 6.13165430e-02 -3.85136065e+01] [-1.19787018e-01 -3.81753161e-02 9.92065379e-01 -2.95891159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:-38.44, Z:-2.98 [[ 9.67686200e-01 -1.96572435e-01 1.57932570e-01 1.56460787e+02] [ 2.00802620e-01 9.79568494e-01 -1.11298156e-02 -3.84363455e+01] [-1.52517954e-01 4.24834428e-02 9.87387174e-01 -2.97743637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-38.56, Z:-2.95 [[ 9.71350388e-01 -2.15300831e-01 1.00617966e-01 1.56514180e+02] [ 2.03261094e-01 9.72027175e-01 1.17677948e-01 -3.85550686e+01] [-1.23139558e-01 -9.38548029e-02 9.87941256e-01 -2.95268263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.52, Y:-38.42, Z:-2.98 [[ 9.72141126e-01 -1.98803568e-01 1.24172350e-01 1.56518250e+02] [ 2.03710017e-01 9.78630125e-01 -2.80233457e-02 -3.84173330e+01] [-1.15947661e-01 5.25377984e-02 9.91864870e-01 -2.98473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.55, Y:-38.42, Z:-2.99 [[ 9.65988727e-01 -2.03112740e-01 1.60034354e-01 1.56550125e+02] [ 2.08270256e-01 9.77941063e-01 -1.59617689e-02 -3.84190294e+01] [-1.53262128e-01 4.87492847e-02 9.86982385e-01 -2.98972868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.60, Y:-38.52, Z:-2.97 [[ 9.68700418e-01 -2.19192657e-01 1.16507854e-01 1.56598092e+02] [ 2.09075192e-01 9.73460041e-01 9.30758455e-02 -3.85194500e+01] [-1.33817283e-01 -6.58037084e-02 9.88818895e-01 -2.97073969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:-38.47, Z:-2.99 [[ 9.69745528e-01 -2.10739340e-01 1.23217455e-01 1.56620525e+02] [ 2.07665555e-01 9.77483668e-01 3.74258661e-02 -3.84661912e+01] [-1.28330152e-01 -1.07055451e-02 9.91673718e-01 -2.98602895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.65, Y:-38.47, Z:-2.99 [[ 9.69876896e-01 -2.09844516e-01 1.23709686e-01 1.56654649e+02] [ 2.05192303e-01 9.77476030e-01 4.93632403e-02 -3.84713347e+01] [-1.31281858e-01 -2.24919910e-02 9.91089897e-01 -2.98641033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-38.39, Z:-3.00 [[ 9.71297151e-01 -1.97058455e-01 1.33228416e-01 1.56668636e+02] [ 2.02877471e-01 9.78698093e-01 -3.14765839e-02 -3.83926490e+01] [-1.24187669e-01 5.76021602e-02 9.90585390e-01 -3.00371285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:-38.39, Z:-3.01 [[ 9.66318863e-01 -1.96276288e-01 1.66443603e-01 1.56699926e+02] [ 2.02308016e-01 9.79119255e-01 -1.99236177e-02 -3.83922639e+01] [-1.59057603e-01 5.29254426e-02 9.85849672e-01 -3.01034872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.75, Y:-38.48, Z:-2.99 [[ 9.71739930e-01 -2.08721470e-01 1.10258131e-01 1.56747984e+02] [ 2.01633122e-01 9.76806531e-01 7.20630675e-02 -3.84779381e+01] [-1.22741972e-01 -4.77948690e-02 9.91287072e-01 -2.99499841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.77, Y:-38.42, Z:-3.01 [[ 9.72478995e-01 -2.00010809e-01 1.19500125e-01 1.56767240e+02] [ 1.99411228e-01 9.79767073e-01 1.70775921e-02 -3.84234184e+01] [-1.20497991e-01 7.22206704e-03 9.92687300e-01 -3.01056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:-38.43, Z:-3.01 [[ 9.72641638e-01 -1.99894127e-01 1.18366304e-01 1.56800996e+02] [ 1.97580771e-01 9.79793558e-01 3.10873353e-02 -3.84304775e+01] [-1.22188718e-01 -6.84993110e-03 9.92483247e-01 -3.01211597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.83, Y:-38.41, Z:-3.02 [[ 9.72270931e-01 -1.97260563e-01 1.25608543e-01 1.56827316e+02] [ 1.97223524e-01 9.80274257e-01 1.28554408e-02 -3.84072758e+01] [-1.25666692e-01 1.22739880e-02 9.91996589e-01 -3.02055072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.86, Y:-38.41, Z:-3.02 [[ 9.72121191e-01 -1.96879938e-01 1.27352585e-01 1.56859621e+02] [ 1.95738238e-01 9.80419508e-01 2.15436752e-02 -3.84080794e+01] [-1.29100476e-01 3.98470732e-03 9.91623512e-01 -3.02225525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-38.36, Z:-3.03 [[ 9.66488363e-01 -1.90280302e-01 1.72318457e-01 1.56882679e+02] [ 1.95502404e-01 9.80607548e-01 -1.36984591e-02 -3.83639391e+01] [-1.66370232e-01 4.69280738e-02 9.84946040e-01 -3.03317708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.93, Y:-38.45, Z:-3.02 [[ 9.72453307e-01 -2.02297529e-01 1.15802740e-01 1.56930124e+02] [ 1.94378329e-01 9.77967592e-01 7.61344524e-02 -3.84481237e+01] [-1.28653139e-01 -5.15276568e-02 9.90350075e-01 -3.01599385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.95, Y:-38.39, Z:-3.03 [[ 9.72652726e-01 -1.94306500e-01 1.27246447e-01 1.56950937e+02] [ 1.92855346e-01 9.80939806e-01 2.37468547e-02 -3.83942981e+01] [-1.29435273e-01 1.44271454e-03 9.91586824e-01 -3.03083796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-38.34, Z:-3.05 [[ 9.67241300e-01 -1.84903356e-01 1.73939691e-01 1.56972419e+02] [ 1.91551496e-01 9.81233847e-01 -2.20943635e-02 -3.83392313e+01] [-1.66590191e-01 5.46889889e-02 9.84508417e-01 -3.04533037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.01, Y:-38.38, Z:-3.04 [[ 9.67679679e-01 -1.90977236e-01 1.64692847e-01 1.57014130e+02] [ 1.88680764e-01 9.81591516e-01 2.96254098e-02 -3.83800641e+01] [-1.67318880e-01 2.40646511e-03 9.85899894e-01 -3.04430188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.05, Y:-38.42, Z:-3.04 [[ 9.73446783e-01 -1.95812347e-01 1.18570174e-01 1.57054333e+02] [ 1.87744819e-01 9.79283084e-01 7.58717663e-02 -3.84235891e+01] [-1.30970395e-01 -5.15961908e-02 9.90042721e-01 -3.03714303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.07, Y:-38.37, Z:-3.05 [[ 9.73851408e-01 -1.86074860e-01 1.30344086e-01 1.57073738e+02] [ 1.84982126e-01 9.82527018e-01 2.05492550e-02 -3.83675505e+01] [-1.31890286e-01 4.09940513e-03 9.91255844e-01 -3.05286979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.10, Y:-38.32, Z:-3.07 [[ 9.67747314e-01 -1.78661179e-01 1.77610022e-01 1.57095065e+02] [ 1.84858070e-01 9.82584626e-01 -1.88400020e-02 -3.83193089e+01] [-1.71150900e-01 5.10650072e-02 9.83920594e-01 -3.06563892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:-38.43, Z:-3.04 [[ 9.71389480e-01 -1.99981016e-01 1.28101798e-01 1.57149125e+02] [ 1.86399341e-01 9.76234314e-01 1.10552477e-01 -3.84349507e+01] [-1.47165767e-01 -8.35114222e-02 9.85580073e-01 -3.03987217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.15, Y:-38.28, Z:-3.07 [[ 9.66880510e-01 -1.73648277e-01 1.87051746e-01 1.57149304e+02] [ 1.86170255e-01 9.81168827e-01 -5.14623069e-02 -3.82754280e+01] [-1.74593001e-01 8.45813726e-02 9.81001160e-01 -3.07341247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.21, Y:-38.42, Z:-3.05 [[ 9.70017569e-01 -2.01718009e-01 1.35557224e-01 1.57207065e+02] [ 1.88870270e-01 9.76702527e-01 1.01883240e-01 -3.84154738e+01] [-1.52950768e-01 -7.32258037e-02 9.85517146e-01 -3.04899621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43232058799998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.22, Y:-38.33, Z:-3.07 [[ 9.72746981e-01 -1.89378229e-01 1.33787880e-01 1.57222339e+02] [ 1.89917320e-01 9.81760300e-01 8.83881918e-03 -3.83274017e+01] [-1.33021509e-01 1.68107009e-02 9.90970574e-01 -3.07214931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:157.25, Y:-38.33, Z:-3.08 [[ 9.71413331e-01 -1.93457511e-01 1.37587539e-01 1.57253517e+02] [ 1.92800077e-01 9.81068922e-01 1.82181261e-02 -3.83301529e+01] [-1.38507292e-01 8.82955752e-03 9.90322053e-01 -3.07744912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.29, Y:-38.36, Z:-3.08 [[ 9.67683990e-01 -2.03485594e-01 1.48933906e-01 1.57287546e+02] [ 1.98230904e-01 9.78905927e-01 4.94741761e-02 -3.83582324e+01] [-1.55859566e-01 -1.83520652e-02 9.87608727e-01 -3.07911465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:-38.30, Z:-3.09 [[ 9.68601068e-01 -1.95012069e-01 1.54214995e-01 1.57305309e+02] [ 2.00138553e-01 9.79596798e-01 -1.82940562e-02 -3.82963173e+01] [-1.47500953e-01 4.85840082e-02 9.87867938e-01 -3.09438029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.35, Y:-38.34, Z:-3.09 [[ 9.67631023e-01 -2.06294920e-01 1.45370592e-01 1.57348681e+02] [ 2.03448639e-01 9.78483020e-01 3.43457450e-02 -3.83449642e+01] [-1.49328009e-01 -3.65855929e-03 9.88780947e-01 -3.08622853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.37, Y:-38.29, Z:-3.10 [[ 9.62202720e-01 -1.99253373e-01 1.85644870e-01 1.57369998e+02] [ 2.04838012e-01 9.78731753e-01 -1.12046655e-02 -3.82938404e+01] [-1.79463962e-01 4.88082857e-02 9.82553020e-01 -3.10215970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.42, Y:-38.36, Z:-3.09 [[ 9.67237429e-01 -2.11581828e-01 1.40302837e-01 1.57415063e+02] [ 2.04920062e-01 9.76906667e-01 6.05072901e-02 -3.83607747e+01] [-1.49865020e-01 -2.97740497e-02 9.88258054e-01 -3.09016642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:-38.29, Z:-3.11 [[ 9.62200844e-01 -2.00597965e-01 1.84200955e-01 1.57433509e+02] [ 2.04456114e-01 9.78873695e-01 -1.99659432e-03 -3.82944313e+01] [-1.79908957e-01 3.95821364e-02 9.82886576e-01 -3.11144035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-38.33, Z:-3.11 [[ 9.62107698e-01 -2.05155327e-01 1.79610883e-01 1.57472884e+02] [ 2.02798847e-01 9.78710823e-01 3.15872151e-02 -3.83259470e+01] [-1.82267400e-01 6.03457705e-03 9.83230481e-01 -3.11154978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.51, Y:-38.33, Z:-3.12 [[ 9.62500969e-01 -2.02760452e-01 1.80222320e-01 1.57506071e+02] [ 2.00364379e-01 9.79211792e-01 3.15971774e-02 -3.83297799e+01] [-1.82882479e-01 5.69781930e-03 9.83118271e-01 -3.11812463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.54, Y:-38.33, Z:-3.12 [[ 9.62466057e-01 -2.02698993e-01 1.80477721e-01 1.57538712e+02] [ 2.00313125e-01 9.79223968e-01 3.15447756e-02 -3.83275315e+01] [-1.83122204e-01 5.79128043e-03 9.83073100e-01 -3.12458213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-38.35, Z:-3.12 [[ 9.67572835e-01 -2.07013156e-01 1.44735491e-01 1.57576164e+02] [ 2.00671521e-01 9.77982401e-01 5.72831909e-02 -3.83528809e+01] [-1.53407137e-01 -2.63813683e-02 9.87810849e-01 -3.11918911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-38.30, Z:-3.14 [[ 9.62204874e-01 -1.98008631e-01 1.86960859e-01 1.57596151e+02] [ 2.01316450e-01 9.79525367e-01 1.32010625e-03 -3.82966630e+01] [-1.83394297e-01 3.63680837e-02 9.82366477e-01 -3.14014110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.64, Y:-38.36, Z:-3.13 [[ 9.64847679e-01 -2.10813060e-01 1.56929317e-01 1.57637366e+02] [ 2.02680162e-01 9.76996384e-01 6.63235815e-02 -3.83588140e+01] [-1.67301252e-01 -3.21856944e-02 9.85380319e-01 -3.12578803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:-38.29, Z:-3.15 [[ 9.62436891e-01 -1.94989238e-01 1.88929692e-01 1.57657492e+02] [ 1.99456777e-01 9.79895160e-01 -4.74011675e-03 -3.82883882e+01] [-1.84207019e-01 4.22453707e-02 9.81979176e-01 -3.15150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:-38.32, Z:-3.15 [[ 9.62985369e-01 -1.98388106e-01 1.82486541e-01 1.57697514e+02] [ 1.95953013e-01 9.80108344e-01 3.14650790e-02 -3.83240225e+01] [-1.85098879e-01 5.45837683e-03 9.82704743e-01 -3.15003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:-38.32, Z:-3.16 [[ 9.63394993e-01 -1.95622817e-01 1.83307942e-01 1.57729830e+02] [ 1.93135077e-01 9.80666206e-01 3.15061065e-02 -3.83222015e+01] [-1.85927218e-01 5.05036839e-03 9.82550540e-01 -3.15532638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.77, Y:-38.36, Z:-3.14 [[ 9.69483345e-01 -1.99118103e-01 1.43017569e-01 1.57767420e+02] [ 1.91550870e-01 9.79327793e-01 6.50025983e-02 -3.83587886e+01] [-1.53004274e-01 -3.56237967e-02 9.87583231e-01 -3.14433317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:-38.29, Z:-3.17 [[ 9.63997160e-01 -1.81121766e-01 1.94690477e-01 1.57784799e+02] [ 1.85470492e-01 9.82640909e-01 -4.18803407e-03 -3.82858219e+01] [-1.90552283e-01 4.01465916e-02 9.80855789e-01 -3.17192028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.83, Y:-38.35, Z:-3.15 [[ 9.70523032e-01 -1.93149147e-01 1.44147326e-01 1.57828758e+02] [ 1.85746409e-01 9.80557497e-01 6.32871740e-02 -3.83506782e+01] [-1.53568605e-01 -3.46468118e-02 9.87530395e-01 -3.15449611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:-38.29, Z:-3.18 [[ 9.65621021e-01 -1.73995023e-01 1.93136675e-01 1.57847754e+02] [ 1.77887215e-01 9.84046726e-01 -2.86015716e-03 -3.82855701e+01] [-1.89557860e-01 3.71183731e-02 9.81167694e-01 -3.18233097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.89, Y:-38.31, Z:-3.18 [[ 9.66190984e-01 -1.78395438e-01 1.86145240e-01 1.57886745e+02] [ 1.75614332e-01 9.83956205e-01 3.14609898e-02 -3.83145515e+01] [-1.88771261e-01 2.29244746e-03 9.82018409e-01 -3.17924350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092320588 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:157.92, Y:-38.31, Z:-3.18 [[ 9.66744891e-01 -1.75142095e-01 1.86358694e-01 1.57919357e+02] [ 1.72314210e-01 9.84541592e-01 3.13953406e-02 -3.83126384e+01] [-1.88976531e-01 1.76096619e-03 9.81980025e-01 -3.18430491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.95, Y:-38.31, Z:-3.19 [[ 9.67017736e-01 -1.72189299e-01 1.87690020e-01 1.57951837e+02] [ 1.69285676e-01 9.85063024e-01 3.15150515e-02 -3.83090130e+01] [-1.90313053e-01 1.29761803e-03 9.81722597e-01 -3.18971342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15232058799998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.99, Y:-38.34, Z:-3.18 [[ 9.73003304e-01 -1.80181683e-01 1.44219038e-01 1.57988369e+02] [ 1.72216806e-01 9.82843491e-01 6.60306213e-02 -3.83421717e+01] [-1.53642251e-01 -3.94110706e-02 9.87340279e-01 -3.18028091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:158.01, Y:-38.27, Z:-3.21 [[ 9.67523410e-01 -1.61448659e-01 1.94506510e-01 1.58005328e+02] [ 1.65759799e-01 9.86147993e-01 -5.98547927e-03 -3.82665701e+01] [-1.90845857e-01 3.80324513e-02 9.80882965e-01 -3.20998322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21232058799998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:158.04, Y:-38.30, Z:-3.21 [[ 9.68140577e-01 -1.65954002e-01 1.87518244e-01 1.58044618e+02] [ 1.63003223e-01 9.86133413e-01 3.11583143e-02 -3.82984524e+01] [-1.90088853e-01 4.00449721e-04 9.81766809e-01 -3.20702965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.08, Y:-38.30, Z:-3.21 [[ 9.68153565e-01 -1.66035614e-01 1.87378892e-01 1.58077639e+02] [ 1.63110411e-01 9.86119621e-01 3.10336501e-02 -3.82983736e+01] [-1.89930693e-01 5.18109073e-04 9.81797364e-01 -3.21256279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27232058799999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.11, Y:-38.30, Z:-3.22 [[ 9.68093817e-01 -1.66092435e-01 1.87637057e-01 1.58109932e+02] [ 1.63179762e-01 9.86109986e-01 3.09751695e-02 -3.82951062e+01] [-1.90175517e-01 6.31700339e-04 9.81749904e-01 -3.21725452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.14, Y:-38.29, Z:-3.22 [[ 9.68030699e-01 -1.66636622e-01 1.87480136e-01 1.58142048e+02] [ 1.63758536e-01 9.86018018e-01 3.08481832e-02 -3.82906857e+01] [-1.89999229e-01 8.39484269e-04 9.81783881e-01 -3.22303452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.19, Y:-38.40, Z:-3.18 [[ 9.73002579e-01 -1.93800506e-01 1.25328951e-01 1.58192559e+02] [ 1.74746649e-01 9.73354970e-01 1.48471243e-01 -3.83999732e+01] [-1.50763359e-01 -1.22562088e-01 9.80942885e-01 -3.18142304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.18, Y:-38.21, Z:-3.25 [[ 9.73606608e-01 -1.57725334e-01 1.64963306e-01 1.58184201e+02] [ 1.68023935e-01 9.84495154e-01 -5.03711183e-02 -3.82135864e+01] [-1.54460774e-01 7.67594375e-02 9.85012618e-01 -3.24837350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.22, Y:-38.24, Z:-3.25 [[ 9.66486624e-01 -1.60685435e-01 2.00209382e-01 1.58224854e+02] [ 1.65778085e-01 9.86123607e-01 -8.82376944e-03 -3.82419858e+01] [-1.96013346e-01 4.17183831e-02 9.79713399e-01 -3.24761460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.26, Y:-38.28, Z:-3.24 [[ 9.66440649e-01 -1.67478053e-01 1.94791103e-01 1.58264921e+02] [ 1.64466156e-01 9.85874743e-01 3.16523873e-02 -3.82752253e+01] [-1.97340709e-01 1.44639030e-03 9.80333898e-01 -3.24336643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.30, Y:-38.27, Z:-3.25 [[ 9.66816090e-01 -1.66027204e-01 1.94169040e-01 1.58296777e+02] [ 1.63026590e-01 9.86120379e-01 3.14472331e-02 -3.82710756e+01] [-1.96695144e-01 1.25102554e-03 9.80463898e-01 -3.24984653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:158.33, Y:-38.27, Z:-3.25 [[ 9.67733709e-01 -1.63298145e-01 1.91898891e-01 1.58329894e+02] [ 1.60334998e-01 9.86576450e-01 3.09773602e-02 -3.82691218e+01] [-1.94381472e-01 7.90272659e-04 9.80925695e-01 -3.25478408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512320588 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:158.36, Y:-38.26, Z:-3.26 [[ 9.68055401e-01 -1.61707221e-01 1.91623368e-01 1.58362243e+02] [ 1.58742331e-01 9.86838611e-01 3.08290093e-02 -3.82640228e+01] [-1.94086612e-01 5.74551163e-04 9.80984229e-01 -3.26009933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:158.40, Y:-38.31, Z:-3.24 [[ 9.75033625e-01 -1.73430886e-01 1.38676453e-01 1.58400509e+02] [ 1.63370823e-01 9.83234855e-01 8.09888463e-02 -3.83097563e+01] [-1.50397489e-01 -5.63111621e-02 9.87020592e-01 -3.24348760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.41, Y:-38.20, Z:-3.29 [[ 9.67818821e-01 -1.48841942e-01 2.02910833e-01 1.58409447e+02] [ 1.56491152e-01 9.87432141e-01 -2.20972189e-02 -3.82008938e+01] [-1.97071685e-01 5.31398543e-02 9.78947857e-01 -3.28669712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.47, Y:-38.34, Z:-3.24 [[ 9.73867673e-01 -1.78279439e-01 1.40706069e-01 1.58468706e+02] [ 1.59688589e-01 9.78036625e-01 1.33954895e-01 -3.83443472e+01] [-1.61497092e-01 -1.07985188e-01 9.80947444e-01 -3.23776014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632320588 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:158.46, Y:-38.15, Z:-3.31 [[ 9.67480952e-01 -1.36410014e-01 2.13009192e-01 1.58460270e+02] [ 1.54772701e-01 9.85324778e-01 -7.19756377e-02 -3.81487391e+01] [-2.00065037e-01 1.02603066e-01 9.74395501e-01 -3.30586268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:158.51, Y:-38.24, Z:-3.28 [[ 9.67995987e-01 -1.55413801e-01 1.97054104e-01 1.58512310e+02] [ 1.52234050e-01 9.87849418e-01 3.12781269e-02 -3.82405672e+01] [-1.99520835e-01 -2.78756888e-04 9.79893545e-01 -3.28466120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692320588 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:158.56, Y:-38.32, Z:-3.25 [[ 9.73574159e-01 -1.73940319e-01 1.47980142e-01 1.58558504e+02] [ 1.56461093e-01 9.80045063e-01 1.22603431e-01 -3.83235068e+01] [-1.66352887e-01 -9.62103969e-02 9.81361440e-01 -3.25324506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:158.55, Y:-38.14, Z:-3.32 [[ 9.67324161e-01 -1.35133541e-01 2.14529470e-01 1.58553097e+02] [ 1.51347763e-01 9.86598473e-01 -6.09697238e-02 -3.81446981e+01] [-2.03415393e-01 9.14460422e-02 9.74812700e-01 -3.31609267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752320588 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:158.60, Y:-38.22, Z:-3.30 [[ 9.68108126e-01 -1.51706157e-01 1.99378782e-01 1.58602284e+02] [ 1.48429430e-01 9.88425334e-01 3.13697931e-02 -3.82228189e+01] [-2.01830030e-01 -7.75672560e-04 9.79420256e-01 -3.30000347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:158.64, Y:-38.27, Z:-3.29 [[ 9.75052564e-01 -1.60936846e-01 1.52878481e-01 1.58642161e+02] [ 1.50019810e-01 9.85398703e-01 8.05198956e-02 -3.82678534e+01] [-1.63604875e-01 -5.55763300e-02 9.84959246e-01 -3.28508722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812320588 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:158.66, Y:-38.22, Z:-3.31 [[ 9.75222577e-01 -1.49711356e-01 1.62872454e-01 1.58664739e+02] [ 1.46809636e-01 9.88716443e-01 2.97779522e-02 -3.82188810e+01] [-1.65492771e-01 -5.12888572e-03 9.86197666e-01 -3.30636535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.70, Y:-38.26, Z:-3.29 [[ 9.74040285e-01 -1.61297261e-01 1.58835500e-01 1.58698931e+02] [ 1.50422539e-01 9.85513125e-01 7.83386236e-02 -3.82621743e+01] [-1.69170275e-01 -5.24125361e-02 9.84192229e-01 -3.29373941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.70, Y:-38.11, Z:-3.35 [[ 9.64609119e-01 -1.28912820e-01 2.30023330e-01 1.58695751e+02] [ 1.51022322e-01 9.85191229e-01 -8.11818937e-02 -3.81065944e+01] [-2.16151580e-01 1.13047452e-01 9.69793157e-01 -3.34574632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:158.75, Y:-38.21, Z:-3.33 [[ 9.65366233e-01 -1.52468359e-01 2.11710737e-01 1.58749806e+02] [ 1.48841844e-01 9.88308271e-01 3.30585461e-02 -3.82077032e+01] [-2.14275855e-01 -4.02187424e-04 9.76773104e-01 -3.32546250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93232058799998 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:158.79, Y:-38.32, Z:-3.30 [[ 9.57598467e-01 -2.36091172e-01 1.65124601e-01 1.58785041e+02] [ 2.19026414e-01 9.68903210e-01 1.15126013e-01 -3.83168577e+01] [-1.87169991e-01 -7.40778445e-02 9.79530432e-01 -3.30450260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:158.79, Y:-38.13, Z:-3.36 [[ 9.66221418e-01 -1.30888906e-01 2.22000598e-01 1.58792027e+02] [ 1.42417237e-01 9.89127205e-01 -3.66702039e-02 -3.81322562e+01] [-2.14787108e-01 6.70482481e-02 9.74356727e-01 -3.35623469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99232058799998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:158.84, Y:-38.19, Z:-3.34 [[ 9.66265549e-01 -1.42794729e-01 2.14337480e-01 1.58837575e+02] [ 1.38994644e-01 9.89750540e-01 3.27773971e-02 -3.81905255e+01] [-2.16821076e-01 -1.87990798e-03 9.76209551e-01 -3.34271431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:158.87, Y:-38.18, Z:-3.35 [[ 9.66214291e-01 -1.40284397e-01 2.16218019e-01 1.58869267e+02] [ 1.36366758e-01 9.90108319e-01 3.30094542e-02 -3.81840345e+01] [-2.18709971e-01 -2.40925618e-03 9.75786936e-01 -3.34741572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052320588 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:158.90, Y:-38.18, Z:-3.35 [[ 9.67257930e-01 -1.35004942e-01 2.14908729e-01 1.58900781e+02] [ 1.31031773e-01 9.90838865e-01 3.26958441e-02 -3.81757875e+01] [-2.17354021e-01 -3.46544276e-03 9.76086687e-01 -3.35408793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:158.93, Y:-38.17, Z:-3.36 [[ 9.67303141e-01 -1.34654882e-01 2.14924861e-01 1.58933080e+02] [ 1.30696807e-01 9.90886609e-01 3.25894711e-02 -3.81705998e+01] [-2.17354498e-01 -3.43390476e-03 9.76086692e-01 -3.36086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112320588 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:158.96, Y:-38.16, Z:-3.37 [[ 9.67899396e-01 -1.32019916e-01 2.13872628e-01 1.58964258e+02] [ 1.28054712e-01 9.91239288e-01 3.23521963e-02 -3.81622183e+01] [-2.16270086e-01 -3.92627342e-03 9.76325680e-01 -3.36880003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:159.00, Y:-38.15, Z:-3.38 [[ 9.68034383e-01 -1.31108481e-01 2.13822357e-01 1.58995553e+02] [ 1.27147397e-01 9.91359885e-01 3.22353421e-02 -3.81549028e+01] [-2.16201234e-01 -4.01796343e-03 9.76340557e-01 -3.37598607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.03, Y:-38.15, Z:-3.38 [[ 9.68075536e-01 -1.31756246e-01 2.13237071e-01 1.59027239e+02] [ 1.27855866e-01 9.91275032e-01 3.20419910e-02 -3.81481754e+01] [-2.15598317e-01 -3.75545714e-03 9.76474916e-01 -3.38327651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.06, Y:-38.14, Z:-3.39 [[ 9.68150689e-01 -1.31678389e-01 2.12943762e-01 1.59058584e+02] [ 1.27798628e-01 9.91285533e-01 3.19452971e-02 -3.81413775e+01] [-2.15294576e-01 -3.71394077e-03 9.76542089e-01 -3.38980651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.09, Y:-38.13, Z:-3.39 [[ 9.67709474e-01 -1.32056134e-01 2.14708060e-01 1.59089674e+02] [ 1.28145413e-01 9.91235898e-01 3.20959087e-02 -3.81307147e+01] [-2.17064798e-01 -3.54566188e-03 9.76150758e-01 -3.39480225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.12, Y:-38.12, Z:-3.40 [[ 9.67825549e-01 -1.32629822e-01 2.13829456e-01 1.59120962e+02] [ 1.28789647e-01 9.91160179e-01 3.18547663e-02 -3.81215812e+01] [-2.16164134e-01 -3.29083658e-03 9.76351493e-01 -3.40155440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29232058799994 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:159.15, Y:-38.23, Z:-3.38 [[ 9.60615975e-01 -2.18814426e-01 1.71281045e-01 1.59153108e+02] [ 2.02696984e-01 9.73407257e-01 1.06734456e-01 -3.82264837e+01] [-1.90081251e-01 -6.78126725e-02 9.79423585e-01 -3.38261680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:-38.05, Z:-3.43 [[ 9.67375542e-01 -1.17901193e-01 2.24240652e-01 1.59165608e+02] [ 1.28041145e-01 9.91278731e-01 -3.11760025e-02 -3.80531143e+01] [-2.18609301e-01 5.88709322e-02 9.74035003e-01 -3.42809012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.22, Y:-38.15, Z:-3.40 [[ 9.75299950e-01 -1.43175240e-01 1.68198864e-01 1.59220687e+02] [ 1.31178276e-01 9.88089036e-01 8.04507164e-02 -3.81517586e+01] [-1.77714004e-01 -5.63995427e-02 9.82464668e-01 -3.39863476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.23, Y:-38.05, Z:-3.44 [[ 9.65874056e-01 -1.23839368e-01 2.27488724e-01 1.59228175e+02] [ 1.32630905e-01 9.90881783e-01 -2.37135980e-02 -3.80458145e+01] [-2.22477755e-01 5.30763843e-02 9.73491934e-01 -3.43679096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.27, Y:-38.09, Z:-3.43 [[ 9.65675071e-01 -1.37386232e-01 2.20446548e-01 1.59270170e+02] [ 1.33627984e-01 9.90516577e-01 3.19448306e-02 -3.80911049e+01] [-2.22744740e-01 -1.39049886e-03 9.74875811e-01 -3.42848866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.31, Y:-38.13, Z:-3.42 [[ 9.73855224e-01 -1.48296483e-01 1.72087641e-01 1.59312779e+02] [ 1.37263551e-01 9.87736606e-01 7.43983576e-02 -3.81298883e+01] [-1.81010277e-01 -4.88318684e-02 9.82268155e-01 -3.41872076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.34, Y:-38.09, Z:-3.44 [[ 9.73963854e-01 -1.41833811e-01 1.76854688e-01 1.59335894e+02] [ 1.37811526e-01 9.89843876e-01 3.48867441e-02 -3.80906028e+01] [-1.80006649e-01 -9.60581327e-03 9.83618490e-01 -3.43670371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:159.36, Y:-38.07, Z:-3.45 [[ 9.73458120e-01 -1.43251404e-01 1.78489002e-01 1.59360591e+02] [ 1.42501324e-01 9.89647167e-01 1.70838248e-02 -3.80738873e+01] [-1.79088418e-01 8.80453122e-03 9.83793586e-01 -3.44685470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53232058799995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:159.39, Y:-38.07, Z:-3.45 [[ 9.71831147e-01 -1.41605897e-01 1.88393185e-01 1.59392304e+02] [ 1.41557738e-01 9.89834081e-01 1.37803497e-02 -3.80671019e+01] [-1.88429374e-01 1.32763402e-02 9.81997001e-01 -3.45421325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.43, Y:-38.07, Z:-3.46 [[ 9.71539281e-01 -1.46594376e-01 1.86068577e-01 1.59425159e+02] [ 1.44292518e-01 9.89195301e-01 2.59292486e-02 -3.80748753e+01] [-1.87859244e-01 1.65702005e-03 9.82194563e-01 -3.45598469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:-38.03, Z:-3.48 [[ 9.62021287e-01 -1.41684045e-01 2.33325253e-01 1.59444731e+02] [ 1.49104106e-01 9.88716893e-01 -1.43829908e-02 -3.80298704e+01] [-2.28654779e-01 4.86264967e-02 9.72292372e-01 -3.47768944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.49, Y:-38.07, Z:-3.47 [[ 9.61503211e-01 -1.53293608e-01 2.28062811e-01 1.59485642e+02] [ 1.49757242e-01 9.88177319e-01 3.28383101e-02 -3.80695241e+01] [-2.30400400e-01 2.57991690e-03 9.73092493e-01 -3.47363736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.52, Y:-38.07, Z:-3.48 [[ 9.60974283e-01 -1.55574217e-01 2.28746781e-01 1.59517575e+02] [ 1.52109720e-01 9.87818816e-01 3.28118743e-02 -3.80688641e+01] [-2.31065057e-01 3.26324139e-03 9.72932830e-01 -3.48024196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.55, Y:-38.07, Z:-3.49 [[ 9.60922881e-01 -1.55781779e-01 2.28821446e-01 1.59550042e+02] [ 1.52350157e-01 9.87785506e-01 3.26989974e-02 -3.80656149e+01] [-2.31120416e-01 3.43976838e-03 9.72919072e-01 -3.48674626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71232058799995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:159.58, Y:-38.06, Z:-3.49 [[ 9.61528151e-01 -1.55684874e-01 2.26331250e-01 1.59581740e+02] [ 1.52354299e-01 9.87800569e-01 3.22211786e-02 -3.80626388e+01] [-2.28586488e-01 3.50096870e-03 9.73517314e-01 -3.49419362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.61, Y:-38.06, Z:-3.50 [[ 9.60904855e-01 -1.58617443e-01 2.26941327e-01 1.59613783e+02] [ 1.55378178e-01 9.87330602e-01 3.21854513e-02 -3.80613780e+01] [-2.29171291e-01 4.33457351e-03 9.73376459e-01 -3.50321389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.66, Y:-38.13, Z:-3.48 [[ 9.66833173e-01 -1.77591301e-01 1.83561831e-01 1.59656715e+02] [ 1.59976777e-01 9.81326377e-01 1.06798745e-01 -3.81312848e+01] [-1.99100595e-01 -7.38909396e-02 9.77189379e-01 -3.47952574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.66, Y:-37.99, Z:-3.54 [[ 9.59633721e-01 -1.47018845e-01 2.39767765e-01 1.59660102e+02] [ 1.61822423e-01 9.85875688e-01 -4.31582166e-02 -3.79918757e+01] [-2.30036139e-01 8.02158807e-02 9.69870500e-01 -3.53714071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83232058799996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.72, Y:-38.12, Z:-3.50 [[ 9.67496682e-01 -1.77667655e-01 1.79956591e-01 1.59717805e+02] [ 1.63603529e-01 9.82383792e-01 9.03104092e-02 -3.81184312e+01] [-1.92831677e-01 -5.79334878e-02 9.79520115e-01 -3.49736001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:-38.00, Z:-3.55 [[ 9.59179241e-01 -1.52156909e-01 2.38376716e-01 1.59723479e+02] [ 1.63833480e-01 9.86036564e-01 -2.98409939e-02 -3.80021540e+01] [-2.30507645e-01 6.76769489e-02 9.70714199e-01 -3.54790505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.77, Y:-38.06, Z:-3.54 [[ 9.58397914e-01 -1.67440077e-01 2.31165004e-01 1.59767891e+02] [ 1.64423692e-01 9.85857680e-01 3.23957451e-02 -3.80623041e+01] [-2.33320141e-01 6.96098888e-03 9.72375060e-01 -3.53712129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:159.82, Y:-38.16, Z:-3.50 [[ 9.65397425e-01 -1.91244771e-01 1.77294245e-01 1.59820772e+02] [ 1.67988261e-01 9.76062188e-01 1.38139598e-01 -3.81622387e+01] [-1.99468685e-01 -1.03576261e-01 9.74414800e-01 -3.49589073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95232058799996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:159.82, Y:-38.04, Z:-3.55 [[ 9.67640688e-01 -1.62161002e-01 1.93326948e-01 1.59824895e+02] [ 1.65055148e-01 9.86283667e-01 1.15178075e-03 -3.80442079e+01] [-1.90861985e-01 3.07950981e-02 9.81133714e-01 -3.55108860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.85, Y:-38.05, Z:-3.56 [[ 9.66340748e-01 -1.65746312e-01 1.96758019e-01 1.59854849e+02] [ 1.66631235e-01 9.85944208e-01 1.21675549e-02 -3.80532241e+01] [-1.96009157e-01 2.10280275e-02 9.80376577e-01 -3.55559323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01232058799997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.89, Y:-38.08, Z:-3.55 [[ 9.67400550e-01 -1.71320208e-01 1.86508881e-01 1.59890301e+02] [ 1.66348678e-01 9.85167563e-01 4.21068911e-02 -3.80810689e+01] [-1.90956261e-01 -9.70872384e-03 9.81550532e-01 -3.55270977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.90, Y:-37.99, Z:-3.60 [[ 9.56154543e-01 -1.49086026e-01 2.52075081e-01 1.59897650e+02] [ 1.67384106e-01 9.84484828e-01 -5.26515445e-02 -3.79917946e+01] [-2.40314483e-01 9.25363756e-02 9.66274272e-01 -3.59646088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.95, Y:-38.07, Z:-3.58 [[ 9.55651399e-01 -1.66672430e-01 2.42797663e-01 1.59947967e+02] [ 1.63322797e-01 9.85986366e-01 3.40080889e-02 -3.80722156e+01] [-2.45063396e-01 7.15451565e-03 9.69480657e-01 -3.57602345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.98, Y:-38.07, Z:-3.58 [[ 9.56095863e-01 -1.61856144e-01 2.44301635e-01 1.59980796e+02] [ 1.58343598e-01 9.86795546e-01 3.40859889e-02 -3.80730415e+01] [-2.46592792e-01 6.09412695e-03 9.69100024e-01 -3.58018461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:-38.07, Z:-3.59 [[ 9.56954339e-01 -1.58244949e-01 2.43304191e-01 1.60012585e+02] [ 1.54679428e-01 9.87385805e-01 3.38163787e-02 -3.80707620e+01] [-2.45586376e-01 5.27342270e-03 9.69360368e-01 -3.58765028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.04, Y:-38.07, Z:-3.60 [[ 9.57846245e-01 -1.54365761e-01 2.42284508e-01 1.60044421e+02] [ 1.50740695e-01 9.88004016e-01 3.35456153e-02 -3.80683722e+01] [-2.44556361e-01 4.39059339e-03 9.69625138e-01 -3.59633635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.09, Y:-38.13, Z:-3.57 [[ 9.69560504e-01 -1.59088364e-01 1.86127163e-01 1.60090547e+02] [ 1.43324828e-01 9.85069772e-01 9.53705313e-02 -3.81283948e+01] [-1.98520584e-01 -6.57908569e-02 9.77886057e-01 -3.57331564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-38.11, Z:-3.59 [[ 9.69160485e-01 -1.51010873e-01 1.94740006e-01 1.60112490e+02] [ 1.38950437e-01 9.87511766e-01 7.42515173e-02 -3.81061585e+01] [-2.03520834e-01 -4.49024277e-02 9.78040409e-01 -3.58808766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-38.03, Z:-3.62 [[ 9.66632716e-01 -1.29267662e-01 2.21158461e-01 1.60119204e+02] [ 1.33676381e-01 9.91012326e-01 -5.01955115e-03 -3.80266300e+01] [-2.18521895e-01 3.44157249e-02 9.75224969e-01 -3.62374972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.14, Y:-37.97, Z:-3.65 [[ 9.58315765e-01 -1.13127482e-01 2.62360567e-01 1.60140138e+02] [ 1.30343811e-01 9.90251584e-01 -4.91150812e-02 -3.79748916e+01] [-2.54246701e-01 8.12648327e-02 9.63719172e-01 -3.64785488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.19, Y:-38.05, Z:-3.63 [[ 9.59336821e-01 -1.31114671e-01 2.49963612e-01 1.60189058e+02] [ 1.26549152e-01 9.91366364e-01 3.43226468e-02 -3.80478820e+01] [-2.52305720e-01 -1.29429564e-03 9.67646706e-01 -3.63035436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters Centerline goodness : 0.983320 Centerline is valid? [True, True] Translation: X:160.22, Y:-38.16, Z:-3.61 [[ 9.49601718e-01 -2.33637826e-01 2.08973548e-01 1.60221956e+02] [ 2.16011811e-01 9.70851914e-01 1.03853066e-01 -3.81563613e+01] [-2.27146373e-01 -5.34782955e-02 9.72391175e-01 -3.61229848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:-37.99, Z:-3.66 [[ 9.58930892e-01 -1.11858067e-01 2.60651717e-01 1.60234125e+02] [ 1.20745422e-01 9.92515112e-01 -1.82837597e-02 -3.79912774e+01] [-2.56655582e-01 4.90053634e-02 9.65259751e-01 -3.66003557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:-38.04, Z:-3.65 [[ 9.59192188e-01 -1.23978337e-01 2.54125398e-01 1.60276780e+02] [ 1.19257911e-01 9.92282332e-01 3.39606226e-02 -3.80359035e+01] [-2.56374524e-01 -2.26829976e-03 9.66574859e-01 -3.64987996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-38.03, Z:-3.66 [[ 9.58617821e-01 -1.24699933e-01 2.55933193e-01 1.60307979e+02] [ 1.19972043e-01 9.92192578e-01 3.40675250e-02 -3.80314709e+01] [-2.58183233e-01 -1.95290865e-03 9.66093994e-01 -3.65735903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.36, Y:-38.13, Z:-3.62 [[ 9.67737157e-01 -1.53037648e-01 2.00160620e-01 1.60359453e+02] [ 1.26995784e-01 9.82382034e-01 1.37104375e-01 -3.81264631e+01] [-2.17616328e-01 -1.07261443e-01 9.70122733e-01 -3.61819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:-37.93, Z:-3.71 [[ 9.58122553e-01 -1.02195971e-01 2.67501695e-01 1.60345660e+02] [ 1.25228292e-01 9.89622674e-01 -7.04616129e-02 -3.79284550e+01] [-2.57524850e-01 1.01009641e-01 9.60977629e-01 -3.70523316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-38.15, Z:-3.62 [[ 9.68575726e-01 -1.60066866e-01 1.90367177e-01 1.60431450e+02] [ 1.28896191e-01 9.77630192e-01 1.66207637e-01 -3.81515733e+01] [-2.12713035e-01 -1.36447079e-01 9.67540882e-01 -3.61857229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:-37.90, Z:-3.73 [[ 9.56345716e-01 -9.99366458e-02 2.74618896e-01 1.60400723e+02] [ 1.32795447e-01 9.85698682e-01 -1.03747182e-01 -3.78987708e+01] [-2.60323338e-01 1.35686312e-01 9.55939843e-01 -3.73041186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-38.03, Z:-3.70 [[ 9.55991305e-01 -1.37096542e-01 2.59393838e-01 1.60461427e+02] [ 1.32770882e-01 9.90556171e-01 3.42105918e-02 -3.80296598e+01] [-2.61634321e-01 1.73492045e-03 9.65165515e-01 -3.69562134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-38.03, Z:-3.70 [[ 9.55382539e-01 -1.37816629e-01 2.61248504e-01 1.60494621e+02] [ 1.33472472e-01 9.90455711e-01 3.43887059e-02 -3.80326788e+01] [-2.63494409e-01 2.01511457e-03 9.64658818e-01 -3.70232759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-38.03, Z:-3.71 [[ 9.55447788e-01 -1.36569427e-01 2.61664512e-01 1.60526384e+02] [ 1.32204224e-01 9.90628830e-01 3.43010897e-02 -3.80313576e+01] [-2.63896889e-01 1.82025353e-03 9.64549179e-01 -3.71077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.672320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.56, Y:-38.03, Z:-3.72 [[ 9.56291137e-01 -1.33256737e-01 2.60288114e-01 1.60558319e+02] [ 1.28855604e-01 9.91081002e-01 3.39806055e-02 -3.80318695e+01] [-2.62494750e-01 1.04423044e-03 9.64932856e-01 -3.71895097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-38.03, Z:-3.73 [[ 9.56572289e-01 -1.31329261e-01 2.60234664e-01 1.60590151e+02] [ 1.26898255e-01 9.91338585e-01 3.38325748e-02 -3.80300051e+01] [-2.62423870e-01 6.60021302e-04 9.64952474e-01 -3.72653780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.64, Y:-38.08, Z:-3.71 [[ 9.66438478e-01 -1.42050729e-01 2.14051998e-01 1.60636188e+02] [ 1.25382419e-01 9.88054047e-01 8.96016085e-02 -3.80831941e+01] [-2.24222917e-01 -5.97560849e-02 9.72704114e-01 -3.70538849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:160.64, Y:-37.98, Z:-3.76 [[ 9.57085906e-01 -1.11503586e-01 2.67494895e-01 1.60639183e+02] [ 1.23348921e-01 9.91972778e-01 -2.78397552e-02 -3.79761849e+01] [-2.62243422e-01 5.96402442e-02 9.63157012e-01 -3.76234467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-38.03, Z:-3.75 [[ 9.57542589e-01 -1.25830695e-01 2.59381624e-01 1.60684566e+02] [ 1.21283445e-01 9.92051521e-01 3.35276980e-02 -3.80317619e+01] [-2.61538748e-01 -6.45501824e-04 9.65192761e-01 -3.74795681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:-38.03, Z:-3.76 [[ 9.58226798e-01 -1.22146584e-01 2.58614803e-01 1.60714900e+02] [ 1.17531723e-01 9.92510929e-01 3.32918793e-02 -3.80281049e+01] [-2.60744508e-01 -1.50572742e-03 9.65406668e-01 -3.75944437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:-38.02, Z:-3.77 [[ 9.58367200e-01 -1.20363199e-01 2.58930512e-01 1.60746569e+02] [ 1.15710100e-01 9.92728196e-01 3.31949154e-02 -3.80227650e+01] [-2.61043066e-01 -1.85204268e-03 9.65325379e-01 -3.76780326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.78, Y:-38.02, Z:-3.77 [[ 9.58904427e-01 -1.17472372e-01 2.58268354e-01 1.60778950e+02] [ 1.12776502e-01 9.93073018e-01 3.29763822e-02 -3.80186976e+01] [-2.60353148e-01 -2.49459738e-03 9.65510236e-01 -3.77417197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91232058799994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:160.81, Y:-38.02, Z:-3.78 [[ 9.59104413e-01 -1.12524925e-01 2.59724597e-01 1.60811476e+02] [ 1.07633478e-01 9.93641937e-01 3.30262932e-02 -3.80163074e+01] [-2.61789532e-01 -3.72060184e-03 9.65117816e-01 -3.77960037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-38.01, Z:-3.79 [[ 9.59712759e-01 -1.10107864e-01 2.58510500e-01 1.60842335e+02] [ 1.05212755e-01 9.93910679e-01 3.27389329e-02 -3.80129167e+01] [-2.60541161e-01 -4.22136964e-03 9.65453512e-01 -3.78882433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-38.01, Z:-3.80 [[ 9.59749592e-01 -1.09748194e-01 2.58526698e-01 1.60874320e+02] [ 1.04874843e-01 9.93950612e-01 3.26105441e-02 -3.80085700e+01] [-2.60541719e-01 -4.18500938e-03 9.65453520e-01 -3.79727263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:-38.01, Z:-3.81 [[ 9.60163655e-01 -1.07289610e-01 2.58020728e-01 1.60905587e+02] [ 1.02373691e-01 9.94216484e-01 3.24532118e-02 -3.80052851e+01] [-2.60010353e-01 -4.74586001e-03 9.65594166e-01 -3.80738301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:-38.00, Z:-3.82 [[ 9.60527062e-01 -1.05685151e-01 2.57329385e-01 1.60937236e+02] [ 1.00775038e-01 9.94386924e-01 3.22341001e-02 -3.80012790e+01] [-2.59291641e-01 -5.02934702e-03 9.65785976e-01 -3.81613135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.97, Y:-38.00, Z:-3.82 [[ 9.60239454e-01 -1.03772068e-01 2.59174748e-01 1.60969365e+02] [ 9.87574826e-02 9.94586172e-01 3.23312078e-02 -3.79955532e+01] [-2.61126696e-01 -5.45025566e-03 9.65289150e-01 -3.82130860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.00, Y:-37.99, Z:-3.83 [[ 9.60196699e-01 -1.02485105e-01 2.59844380e-01 1.61000262e+02] [ 9.74331651e-02 9.94718314e-01 3.22839647e-02 -3.79899505e+01] [-2.61780589e-01 -5.68149601e-03 9.65110690e-01 -3.82951445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:-37.98, Z:-3.84 [[ 9.60523389e-01 -1.00476299e-01 2.59421149e-01 1.61031481e+02] [ 9.54047293e-02 9.94920856e-01 3.21002794e-02 -3.79848067e+01] [-2.61328829e-01 -6.08306462e-03 9.65230666e-01 -3.83823931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:-37.98, Z:-3.85 [[ 9.61349737e-01 -9.58755185e-02 2.58097982e-01 1.61062710e+02] [ 9.07287562e-02 9.95367575e-01 3.18069766e-02 -3.79805881e+01] [-2.59951873e-01 -7.16071971e-03 9.65595023e-01 -3.84721152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:-37.98, Z:-3.86 [[ 9.61780595e-01 -9.38059998e-02 2.57251862e-01 1.61093617e+02] [ 8.86558495e-02 9.95561797e-01 3.15729260e-02 -3.79764999e+01] [-2.59071856e-01 -7.55934520e-03 9.65828468e-01 -3.85598742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.13, Y:-37.97, Z:-3.86 [[ 9.61634263e-01 -9.00692036e-02 2.59127542e-01 1.61125222e+02] [ 8.47432856e-02 9.95899234e-01 3.16747645e-02 -3.79689013e+01] [-2.60917842e-01 -8.50021949e-03 9.65323586e-01 -3.86323619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.16, Y:-37.96, Z:-3.87 [[ 9.61726068e-01 -8.79126596e-02 2.59527135e-01 1.61156748e+02] [ 8.25272079e-02 9.96087806e-01 3.15965459e-02 -3.79625209e+01] [-2.61289551e-01 -8.96917207e-03 9.65218796e-01 -3.87082482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.19, Y:-37.96, Z:-3.88 [[ 9.62123433e-01 -8.59250808e-02 2.58718728e-01 1.61188122e+02] [ 8.05234155e-02 9.96257247e-01 3.14241629e-02 -3.79566244e+01] [-2.60450532e-01 -9.40100779e-03 9.65441423e-01 -3.87963548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.22, Y:-37.95, Z:-3.89 [[ 9.62418999e-01 -8.56894285e-02 2.57695540e-01 1.61219623e+02] [ 8.03571776e-02 9.96278545e-01 3.11734720e-02 -3.79528943e+01] [-2.59407775e-01 -9.29425547e-03 9.65723161e-01 -3.88808691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:-37.95, Z:-3.90 [[ 9.63178561e-01 -8.52503647e-02 2.54989087e-01 1.61251044e+02] [ 8.00499813e-02 9.96317273e-01 3.07228248e-02 -3.79496115e+01] [-2.56669164e-01 -9.17969451e-03 9.66455728e-01 -3.89787179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.28, Y:-37.94, Z:-3.91 [[ 9.63235065e-01 -8.59382194e-02 2.54544361e-01 1.61282467e+02] [ 8.08029546e-02 9.96260801e-01 3.05826461e-02 -3.79443770e+01] [-2.56220787e-01 -8.89034072e-03 9.66577400e-01 -3.90738820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-37.94, Z:-3.92 [[ 9.62880974e-01 -8.56172699e-02 2.55988111e-01 1.61313350e+02] [ 8.04449104e-02 9.96288358e-01 3.06288266e-02 -3.79390933e+01] [-2.57660332e-01 -8.89897373e-03 9.66194578e-01 -3.91576553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-37.93, Z:-3.92 [[ 9.62231508e-01 -8.59186315e-02 2.58318629e-01 1.61344808e+02] [ 8.06949483e-02 9.96263558e-01 3.07774152e-02 -3.79338276e+01] [-2.59997790e-01 -8.76999025e-03 9.65569385e-01 -3.92380082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.40, Y:-38.03, Z:-3.88 [[ 9.72375949e-01 -1.13144857e-01 2.04164774e-01 1.61397466e+02] [ 8.59514324e-02 9.86766947e-01 1.37489433e-01 -3.80294445e+01] [-2.17019273e-01 -1.16143163e-01 9.69233409e-01 -3.87717250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.38, Y:-37.82, Z:-3.98 [[ 9.61287769e-01 -5.72863299e-02 2.69525697e-01 1.61382744e+02] [ 8.06986962e-02 9.93791276e-01 -7.65938645e-02 -3.78237926e+01] [-2.63464505e-01 9.53791175e-02 9.59942331e-01 -3.97647972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.44, Y:-37.92, Z:-3.95 [[ 9.61927690e-01 -8.68558155e-02 2.59135458e-01 1.61435762e+02] [ 8.17056104e-02 9.96186626e-01 3.06006470e-02 -3.79206382e+01] [-2.60805122e-01 -8.26278896e-03 9.65356108e-01 -3.94683946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:-37.92, Z:-3.95 [[ 9.61786107e-01 -8.67481058e-02 2.59696459e-01 1.61467317e+02] [ 8.16060478e-02 9.96196709e-01 3.05380153e-02 -3.79180196e+01] [-2.61357873e-01 -8.17823712e-03 9.65207324e-01 -3.95437435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57232058799997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:161.50, Y:-37.92, Z:-3.96 [[ 9.61445353e-01 -8.79183773e-02 2.60563222e-01 1.61499220e+02] [ 8.28186635e-02 9.96097505e-01 3.05095133e-02 -3.79155167e+01] [-2.62228723e-01 -7.75373190e-03 9.64974599e-01 -3.96212190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.53, Y:-37.91, Z:-3.97 [[ 9.60879630e-01 -8.89063605e-02 2.62308970e-01 1.61530715e+02] [ 8.38084263e-02 9.96012482e-01 3.05823897e-02 -3.79113199e+01] [-2.63981977e-01 -7.40229333e-03 9.64499208e-01 -3.96899202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.56, Y:-37.91, Z:-3.98 [[ 9.61121729e-01 -8.96533391e-02 2.61165273e-01 1.61561868e+02] [ 8.46629407e-02 9.95948215e-01 3.03206126e-02 -3.79055989e+01] [-2.62825432e-01 -7.03077960e-03 9.64817786e-01 -3.97880426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:-37.90, Z:-3.99 [[ 9.61499452e-01 -9.07452106e-02 2.59391808e-01 1.61592672e+02] [ 8.58975154e-02 9.95852591e-01 2.99872196e-02 -3.79019462e+01] [-2.61037201e-01 -6.55158335e-03 9.65306509e-01 -3.98893178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.62, Y:-37.90, Z:-4.00 [[ 9.61254345e-01 -8.99918733e-02 2.60560062e-01 1.61624399e+02] [ 8.51076787e-02 9.95920272e-01 2.99915688e-02 -3.78996675e+01] [-2.62196046e-01 -6.65386372e-03 9.64991689e-01 -3.99692758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:161.66, Y:-37.90, Z:-4.01 [[ 9.61117731e-01 -8.85364060e-02 2.61560724e-01 1.61656276e+02] [ 8.35963270e-02 9.96048727e-01 2.99764514e-02 -3.78972397e+01] [-2.63181233e-01 -6.94538317e-03 9.64721411e-01 -4.00537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.69, Y:-37.89, Z:-4.01 [[ 9.61342216e-01 -8.70674490e-02 2.61228641e-01 1.61688111e+02] [ 8.21226646e-02 9.96176383e-01 2.98074210e-02 -3.78938356e+01] [-2.62825059e-01 -7.20234011e-03 9.64816622e-01 -4.01429906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.72, Y:-37.89, Z:-4.02 [[ 9.61694509e-01 -8.53932546e-02 2.60483518e-01 1.61720450e+02] [ 8.04519168e-02 9.96319066e-01 2.95940451e-02 -3.78910303e+01] [-2.62051827e-01 -7.50403233e-03 9.65024626e-01 -4.02175264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.75, Y:-37.89, Z:-4.03 [[ 9.61916308e-01 -8.38637136e-02 2.60161284e-01 1.61752591e+02] [ 7.89149509e-02 9.96446884e-01 2.94285062e-02 -3.78879347e+01] [-2.61704885e-01 -7.77714504e-03 9.65116609e-01 -4.02802505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.78, Y:-37.88, Z:-4.04 [[ 9.61826648e-01 -8.31152394e-02 2.60732346e-01 1.61784179e+02] [ 7.81522318e-02 9.96508895e-01 2.93641212e-02 -3.78820468e+01] [-2.62262708e-01 -7.86637947e-03 9.64964451e-01 -4.03699337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:-37.88, Z:-4.05 [[ 9.61551512e-01 -8.29882441e-02 2.61785488e-01 1.61814405e+02] [ 7.80147590e-02 9.96519989e-01 2.93531727e-02 -3.78750942e+01] [-2.63310440e-01 -7.80145576e-03 9.64679610e-01 -4.04718645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.85, Y:-37.87, Z:-4.06 [[ 9.61202572e-01 -8.30181005e-02 2.63054388e-01 1.61845645e+02] [ 7.80317974e-02 9.96518295e-01 2.93653786e-02 -3.78719544e+01] [-2.64576368e-01 -7.69947072e-03 9.64334000e-01 -4.05628025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:161.90, Y:-37.95, Z:-4.02 [[ 9.73653161e-01 -1.01679177e-01 2.04109937e-01 1.61895974e+02] [ 8.03414831e-02 9.90651002e-01 1.10253521e-01 -3.79455416e+01] [-2.13412201e-01 -9.09501945e-02 9.72719535e-01 -4.02091430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.90, Y:-37.83, Z:-4.08 [[ 9.69575622e-01 -7.03074921e-02 2.34478078e-01 1.61902818e+02] [ 7.48904706e-02 9.97134493e-01 -1.06873491e-02 -3.78294605e+01] [-2.33054779e-01 2.79223667e-02 9.72062658e-01 -4.08106464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.94, Y:-37.85, Z:-4.08 [[ 9.69227305e-01 -7.83474842e-02 2.33366886e-01 1.61937313e+02] [ 7.68841245e-02 9.96921476e-01 1.53753471e-02 -3.78487583e+01] [-2.33853080e-01 3.04000251e-03 9.72267193e-01 -4.07882432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.96, Y:-37.82, Z:-4.10 [[ 9.60677294e-01 -7.53962292e-02 2.67235001e-01 1.61956350e+02] [ 8.27319286e-02 9.96438831e-01 -1.62813805e-02 -3.78168420e+01] [-2.65055777e-01 3.77500195e-02 9.63493835e-01 -4.10294412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.02, Y:-37.93, Z:-4.05 [[ 9.72533244e-01 -1.04727855e-01 2.07872957e-01 1.62018000e+02] [ 8.40841200e-02 9.90826262e-01 1.05797826e-01 -3.79288059e+01] [-2.17045964e-01 -8.54130879e-02 9.72417428e-01 -4.05442293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.01, Y:-37.78, Z:-4.13 [[ 9.58855836e-01 -6.73539660e-02 2.75787833e-01 1.62010186e+02] [ 8.53324944e-02 9.94904157e-01 -5.37036728e-02 -3.77777595e+01] [-2.70765306e-01 7.50277438e-02 9.59717139e-01 -4.13062418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.06, Y:-37.85, Z:-4.11 [[ 9.59512246e-01 -8.83025155e-02 2.67467598e-01 1.62059397e+02] [ 8.33031568e-02 9.96072436e-01 3.00047660e-02 -3.78521415e+01] [-2.69066599e-01 -6.50904511e-03 9.63099578e-01 -4.10669685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.10, Y:-37.88, Z:-4.10 [[ 9.69181824e-01 -9.08378902e-02 2.28987053e-01 1.62103337e+02] [ 7.77943346e-02 9.94823454e-01 6.53784064e-02 -3.78813013e+01] [-2.33740528e-01 -4.55496676e-02 9.71231483e-01 -4.09604079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.11, Y:-37.80, Z:-4.14 [[ 9.59376594e-01 -7.34743415e-02 2.72393232e-01 1.62110111e+02] [ 8.06463688e-02 9.96626684e-01 -1.52123797e-02 -3.78029450e+01] [-2.70356644e-01 3.65619261e-02 9.62065752e-01 -4.14052554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:-37.84, Z:-4.13 [[ 9.59741127e-01 -8.38636947e-02 2.68074336e-01 1.62150429e+02] [ 7.86881165e-02 9.96447409e-01 3.00123457e-02 -3.78406381e+01] [-2.69638924e-01 -7.70981793e-03 9.62930636e-01 -4.13266982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.18, Y:-37.84, Z:-4.14 [[ 9.59786176e-01 -8.07724687e-02 2.68861127e-01 1.62181493e+02] [ 7.54845959e-02 9.96696614e-01 2.99655609e-02 -3.78352891e+01] [-2.70393367e-01 -8.46565755e-03 9.62712709e-01 -4.14145702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.21, Y:-37.83, Z:-4.15 [[ 9.59693422e-01 -7.90187614e-02 2.69712016e-01 1.62212726e+02] [ 7.36659942e-02 9.96833821e-01 2.99274908e-02 -3.78309420e+01] [-2.71222893e-01 -8.85261226e-03 9.62475856e-01 -4.14976025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.26, Y:-37.85, Z:-4.14 [[ 9.68319712e-01 -7.89863366e-02 2.36892577e-01 1.62256614e+02] [ 6.72530817e-02 9.96093741e-01 5.72213404e-02 -3.78521629e+01] [-2.40486918e-01 -3.94767961e-02 9.69849280e-01 -4.14246888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.27, Y:-37.79, Z:-4.18 [[ 9.59382442e-01 -6.62985713e-02 2.74207640e-01 1.62267813e+02] [ 7.08956975e-02 9.97460023e-01 -6.87768194e-03 -3.77885833e+01] [-2.73055179e-01 2.60384692e-02 9.61645916e-01 -4.17781917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-37.82, Z:-4.17 [[ 9.60501050e-01 -7.42402918e-02 2.68190441e-01 1.62306411e+02] [ 6.87806131e-02 9.97189340e-01 2.97093979e-02 -3.78176523e+01] [-2.69642283e-01 -1.00896050e-02 9.62907700e-01 -4.17243318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:-37.81, Z:-4.18 [[ 9.61126328e-01 -7.08546649e-02 2.66862881e-01 1.62336239e+02] [ 6.53584087e-02 9.97427665e-01 2.94335262e-02 -3.78105706e+01] [-2.68261923e-01 -1.08476037e-02 9.63284937e-01 -4.18392941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:-37.81, Z:-4.19 [[ 9.61382908e-01 -6.92167327e-02 2.66368068e-01 1.62367263e+02] [ 6.37149942e-02 9.97539321e-01 2.92524031e-02 -3.78051677e+01] [-2.67737378e-01 -1.11511205e-02 9.63427397e-01 -4.19250084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.40, Y:-37.80, Z:-4.20 [[ 9.62207912e-01 -6.53723871e-02 2.64352765e-01 1.62397718e+02] [ 5.98483974e-02 9.97788877e-01 2.89054634e-02 -3.77976187e+01] [-2.65657868e-01 -1.19919763e-02 9.63992785e-01 -4.20198365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.43, Y:-37.79, Z:-4.21 [[ 9.62089105e-01 -6.33550072e-02 2.65274756e-01 1.62429009e+02] [ 5.77514641e-02 9.97913222e-01 2.88785298e-02 -3.77911995e+01] [-2.66550786e-01 -1.24637134e-02 9.63740284e-01 -4.21043605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:-37.78, Z:-4.22 [[ 9.61749194e-01 -6.23677867e-02 2.66737225e-01 1.62460763e+02] [ 5.66987658e-02 9.97972678e-01 2.89099311e-02 -3.77845798e+01] [-2.67999511e-01 -1.26804315e-02 9.63335595e-01 -4.21818022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.49, Y:-37.78, Z:-4.23 [[ 9.60953793e-01 -6.23345114e-02 2.69596395e-01 1.62491916e+02] [ 5.65746009e-02 9.97974479e-01 2.90904270e-02 -3.77774922e+01] [-2.70863659e-01 -1.27022478e-02 9.62533912e-01 -4.22610114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.54, Y:-37.81, Z:-4.22 [[ 9.69857319e-01 -6.53383740e-02 2.34750246e-01 1.62539708e+02] [ 5.04353942e-02 9.96344878e-01 6.89431358e-02 -3.78110931e+01] [-2.38396837e-01 -5.50252836e-02 9.69607738e-01 -4.21703125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.54, Y:-37.72, Z:-4.26 [[ 9.59538729e-01 -5.26761381e-02 2.76605589e-01 1.62544266e+02] [ 6.12438214e-02 9.97870976e-01 -2.24212001e-02 -3.77225799e+01] [-2.74835627e-01 3.84543931e-02 9.60721936e-01 -4.26080703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.59, Y:-37.77, Z:-4.25 [[ 9.59824086e-01 -6.78591803e-02 2.72273493e-01 1.62585674e+02] [ 6.22138762e-02 9.97631969e-01 2.93238632e-02 -3.77653927e+01] [-2.73618634e-01 -1.12065609e-02 9.61772975e-01 -4.25144034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:-37.76, Z:-4.26 [[ 9.59622755e-01 -7.30489727e-02 2.71639495e-01 1.62617021e+02] [ 6.76711344e-02 9.97282462e-01 2.91257311e-02 -3.77596824e+01] [-2.73028909e-01 -9.56756152e-03 9.61958251e-01 -4.25988616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.67, Y:-37.84, Z:-4.23 [[ 9.71276018e-01 -9.11787912e-02 2.19793825e-01 1.62674050e+02] [ 6.60453760e-02 9.90681342e-01 1.19115437e-01 -3.78406449e+01] [-2.28606443e-01 -1.01177601e-01 9.68246966e-01 -4.22567137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:-37.66, Z:-4.31 [[ 9.57783089e-01 -5.04982931e-02 2.83022042e-01 1.62660151e+02] [ 7.31499712e-02 9.94858451e-01 -7.00410174e-02 -3.76618585e+01] [-2.78029918e-01 8.77871562e-02 9.56552549e-01 -4.31019970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:-37.75, Z:-4.29 [[ 9.58624312e-01 -7.97955902e-02 2.73261948e-01 1.62711007e+02] [ 7.46263142e-02 9.96781718e-01 2.92766204e-02 -3.77511571e+01] [-2.74718659e-01 -7.67274811e-03 9.61494039e-01 -4.28540265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.74, Y:-37.75, Z:-4.29 [[ 9.58332860e-01 -8.10929218e-02 2.73901566e-01 1.62742983e+02] [ 7.59903977e-02 9.96680716e-01 2.92063181e-02 -3.77474874e+01] [-2.75360835e-01 -7.17548544e-03 9.61314165e-01 -4.29287813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.78, Y:-37.75, Z:-4.30 [[ 9.57924652e-01 -8.31002106e-02 2.74726620e-01 1.62775187e+02] [ 7.80861168e-02 9.96520137e-01 2.91577747e-02 -3.77475230e+01] [-2.76193626e-01 -6.47861624e-03 9.61080178e-01 -4.30048577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83232058799996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.81, Y:-37.75, Z:-4.31 [[ 9.58030469e-01 -8.42744837e-02 2.73998963e-01 1.62806687e+02] [ 7.93708382e-02 9.96424564e-01 2.89544318e-02 -3.77462546e+01] [-2.75459417e-01 -5.99170054e-03 9.61294029e-01 -4.30907946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:-37.74, Z:-4.32 [[ 9.57461318e-01 -8.61010631e-02 2.75416832e-01 1.62838177e+02] [ 8.12599457e-02 9.96272042e-01 2.89627442e-02 -3.77449177e+01] [-2.76883812e-01 -5.35035040e-03 9.60888510e-01 -4.31836385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:-37.74, Z:-4.33 [[ 9.57498769e-01 -8.56374011e-02 2.75431193e-01 1.62870075e+02] [ 8.08169368e-02 9.96312055e-01 2.88255570e-02 -3.77411680e+01] [-2.76883964e-01 -5.34093001e-03 9.60888519e-01 -4.32729611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-37.75, Z:-4.34 [[ 9.56634478e-01 -9.03634257e-02 2.76920433e-01 1.62902372e+02] [ 8.57210653e-02 9.95901370e-01 2.88506443e-02 -3.77454177e+01] [-2.78392481e-01 -3.86160660e-03 9.60459637e-01 -4.33669608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-37.75, Z:-4.35 [[ 9.56522767e-01 -9.30224171e-02 2.76425442e-01 1.62934649e+02] [ 8.85468259e-02 9.95659689e-01 2.86573331e-02 -3.77461500e+01] [-2.77891445e-01 -2.93479600e-03 9.60608001e-01 -4.34545460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.97, Y:-37.75, Z:-4.36 [[ 9.56497634e-01 -9.59466168e-02 2.75511383e-01 1.62966624e+02] [ 9.16604676e-02 9.95384605e-01 2.84226545e-02 -3.77458012e+01] [-2.76966847e-01 -1.93269958e-03 9.60877531e-01 -4.35509599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.00, Y:-37.75, Z:-4.37 [[ 9.56126950e-01 -1.00523595e-01 2.75165881e-01 1.62998671e+02] [ 9.64717706e-02 9.94934563e-01 2.82561893e-02 -3.77496877e+01] [-2.76612460e-01 -4.70764251e-04 9.60981439e-01 -4.36518876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:-37.75, Z:-4.37 [[ 9.55828855e-01 -1.01565095e-01 2.75818293e-01 1.63030537e+02] [ 9.75777879e-02 9.94828895e-01 2.81787903e-02 -3.77510567e+01] [-2.77253989e-01 -2.03620485e-05 9.60796662e-01 -4.37449211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:-37.76, Z:-4.38 [[ 9.55636397e-01 -1.00767659e-01 2.76776002e-01 1.63063777e+02] [ 9.67493004e-02 9.94909975e-01 2.81729478e-02 -3.77579236e+01] [-2.78206127e-01 -1.45209758e-04 9.60521384e-01 -4.38068344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:-37.76, Z:-4.39 [[ 9.56134614e-01 -9.87016738e-02 2.75798077e-01 1.63095372e+02] [ 9.46703783e-02 9.95116892e-01 2.79265082e-02 -3.77583289e+01] [-2.77207719e-01 -5.91592833e-04 9.60809831e-01 -4.38977859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:-37.76, Z:-4.40 [[ 9.56594699e-01 -9.64397101e-02 2.75001752e-01 1.63127055e+02] [ 9.23814246e-02 9.95338224e-01 2.77036370e-02 -3.77587154e+01] [-2.76391487e-01 -1.09609869e-03 9.61044507e-01 -4.39979437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.16, Y:-37.76, Z:-4.41 [[ 9.57920590e-01 -9.18530145e-02 2.71939638e-01 1.63159157e+02] [ 8.77415979e-02 9.95770013e-01 2.72670593e-02 -3.77643413e+01] [-2.73293898e-01 -2.25925918e-03 9.61927929e-01 -4.40892673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.19, Y:-37.76, Z:-4.42 [[ 9.57538969e-01 -8.87713603e-02 2.74296862e-01 1.63190885e+02] [ 8.45043812e-02 9.96047460e-01 2.73581325e-02 -3.77642665e+01] [-2.75641311e-01 -3.01719135e-03 9.61255827e-01 -4.41713422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:-37.77, Z:-4.43 [[ 9.58120064e-01 -8.27454086e-02 2.74151673e-01 1.63222630e+02] [ 7.82814167e-02 9.96560089e-01 2.72031015e-02 -3.77652869e+01] [-2.75459548e-01 -4.60285596e-03 9.61301644e-01 -4.42528795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.25, Y:-37.76, Z:-4.43 [[ 9.58463076e-01 -7.99194772e-02 2.73790814e-01 1.63254042e+02] [ 7.53937745e-02 9.96787417e-01 2.70300535e-02 -3.77637703e+01] [-2.75071466e-01 -5.26518532e-03 9.61409365e-01 -4.43389122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:-37.76, Z:-4.44 [[ 9.59485874e-01 -7.30814863e-02 2.72113861e-01 1.63285691e+02] [ 6.83810667e-02 9.97301129e-01 2.67299178e-02 -3.77638725e+01] [-2.73332923e-01 -7.03954242e-03 9.61893735e-01 -4.44343216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:-37.76, Z:-4.45 [[ 9.59635759e-01 -6.93839537e-02 2.72552889e-01 1.63317197e+02] [ 6.45600870e-02 9.97558215e-01 2.66383709e-02 -3.77612604e+01] [-2.73735649e-01 -7.96709501e-03 9.61771969e-01 -4.45120096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:-37.76, Z:-4.46 [[ 9.59923239e-01 -6.22079567e-02 2.73271924e-01 1.63349069e+02] [ 5.71109359e-02 9.98014073e-01 2.65753672e-02 -3.77587752e+01] [-2.74382426e-01 -9.90349728e-03 9.61569657e-01 -4.45960032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.38, Y:-37.76, Z:-4.47 [[ 9.60669714e-01 -5.90325827e-02 2.71346375e-01 1.63380256e+02] [ 5.39222228e-02 9.98199849e-01 2.62574681e-02 -3.77553718e+01] [-2.72407957e-01 -1.05931546e-02 9.62123532e-01 -4.46861929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:-37.75, Z:-4.48 [[ 9.61309953e-01 -5.62279295e-02 2.69669416e-01 1.63411115e+02] [ 5.11105568e-02 9.98355374e-01 2.59664913e-02 -3.77516966e+01] [-2.70685952e-01 -1.11788926e-02 9.62602798e-01 -4.47876298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:-37.75, Z:-4.49 [[ 9.61747273e-01 -4.93959321e-02 2.69447999e-01 1.63441513e+02] [ 4.40606655e-02 9.98695227e-01 2.58166944e-02 -3.77458146e+01] [-2.70371670e-01 -1.29570773e-02 9.62668829e-01 -4.48917105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.47, Y:-37.74, Z:-4.50 [[ 9.61436801e-01 -4.71034262e-02 2.70962256e-01 1.63472946e+02] [ 4.16534685e-02 9.98798113e-01 2.58325117e-02 -3.77403596e+01] [-2.71853389e-01 -1.35498096e-02 9.62243284e-01 -4.49679214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.50, Y:-37.73, Z:-4.50 [[ 9.61099435e-01 -4.27456814e-02 2.72874848e-01 1.63504529e+02] [ 3.70807994e-02 9.98976944e-01 2.58859139e-02 -3.77330491e+01] [-2.73702193e-01 -1.47605197e-02 9.61701220e-01 -4.50308716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-37.73, Z:-4.51 [[ 9.60927567e-01 -4.18351483e-02 2.73620232e-01 1.63535750e+02] [ 3.61383091e-02 9.99012935e-01 2.58298035e-02 -3.77286100e+01] [-2.74430745e-01 -1.49323977e-02 9.61490920e-01 -4.51294092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.57, Y:-37.72, Z:-4.52 [[ 9.62322237e-01 -4.19701777e-02 2.68652967e-01 1.63566423e+02] [ 3.65207436e-02 9.99013796e-01 2.52521420e-02 -3.77239602e+01] [-2.69447857e-01 -1.44892917e-02 9.62905973e-01 -4.52373846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:-37.72, Z:-4.53 [[ 9.62611453e-01 -4.23086873e-02 2.67561517e-01 1.63598142e+02] [ 3.69414505e-02 9.99003058e-01 2.50643094e-02 -3.77196678e+01] [-2.68355212e-01 -1.42430807e-02 9.63214729e-01 -4.53284756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:-37.71, Z:-4.54 [[ 9.61212968e-01 -4.30477010e-02 2.72427100e-01 1.63629801e+02] [ 3.75424884e-02 9.98972407e-01 2.53907880e-02 -3.77143075e+01] [-2.73240171e-01 -1.41783634e-02 9.61841350e-01 -4.53997092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.66, Y:-37.71, Z:-4.55 [[ 9.60566189e-01 -4.36405698e-02 2.74605348e-01 1.63661671e+02] [ 3.81043388e-02 9.98949231e-01 2.54655425e-02 -3.77101088e+01] [-2.75428132e-01 -1.39976839e-02 9.61219751e-01 -4.54809899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.69, Y:-37.71, Z:-4.56 [[ 9.60387678e-01 -4.40639637e-02 2.75161544e-01 1.63693399e+02] [ 3.85585992e-02 9.98933776e-01 2.53879158e-02 -3.77058281e+01] [-2.75986852e-01 -1.37723979e-02 9.61062734e-01 -4.55648719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:-37.70, Z:-4.57 [[ 9.60904434e-01 -4.36728432e-02 2.73414248e-01 1.63723866e+02] [ 3.82601287e-02 9.98952521e-01 2.51002627e-02 -3.76994013e+01] [-2.74224052e-01 -1.36580894e-02 9.61568836e-01 -4.56722396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:-37.73, Z:-4.56 [[ 9.69380442e-01 -5.11131283e-02 2.40185360e-01 1.63765990e+02] [ 3.69396637e-02 9.97320215e-01 6.31494301e-02 -3.77290476e+01] [-2.42769479e-01 -5.23434561e-02 9.68670812e-01 -4.55664581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-37.65, Z:-4.60 [[ 9.60052086e-01 -3.47459317e-02 2.77655745e-01 1.63776411e+02] [ 4.18479584e-02 9.98929923e-01 -1.96915386e-02 -3.76496774e+01] [-2.76674431e-01 3.05242288e-02 9.60478803e-01 -4.60210243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:-37.69, Z:-4.59 [[ 9.60123544e-01 -4.84306291e-02 2.75349330e-01 1.63816951e+02] [ 4.31803885e-02 9.98751906e-01 2.51014791e-02 -3.76892339e+01] [-2.76221349e-01 -1.22108300e-02 9.61016473e-01 -4.59048289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:163.85, Y:-37.69, Z:-4.60 [[ 9.60327263e-01 -5.20067734e-02 2.73983290e-01 1.63848947e+02] [ 4.69894167e-02 9.98586278e-01 2.48483487e-02 -3.76876481e+01] [-2.74888237e-01 -1.09882317e-02 9.61413395e-01 -4.59875302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.88, Y:-37.68, Z:-4.61 [[ 9.60669061e-01 -5.44285784e-02 2.72309540e-01 1.63879853e+02] [ 4.96059525e-02 9.98466645e-01 2.45684242e-02 -3.76840367e+01] [-2.73229217e-01 -1.00939509e-02 9.61895996e-01 -4.60896472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:-37.68, Z:-4.62 [[ 9.60745759e-01 -5.80742720e-02 2.71283922e-01 1.63910312e+02] [ 5.34680087e-02 9.98272720e-01 2.43464440e-02 -3.76784852e+01] [-2.72229241e-01 -8.88573164e-03 9.62191397e-01 -4.62078459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:-37.68, Z:-4.63 [[ 9.60678980e-01 -5.95478682e-02 2.71200938e-01 1.63942429e+02] [ 5.50388214e-02 9.98190691e-01 2.42089461e-02 -3.76758771e+01] [-2.72151843e-01 -8.33044558e-03 9.62218259e-01 -4.62901302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.00, Y:-37.77, Z:-4.58 [[ 9.72503395e-01 -8.43950971e-02 2.17059010e-01 1.64000022e+02] [ 5.67250421e-02 9.89798324e-01 1.30696392e-01 -3.77735117e+01] [-2.25874779e-01 -1.14790004e-01 9.67369546e-01 -4.57816290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:-37.58, Z:-4.68 [[ 9.57073113e-01 -3.47559795e-02 2.87755241e-01 1.63983293e+02] [ 6.20488124e-02 9.94337251e-01 -8.62750056e-02 -3.75752390e+01] [-2.83127182e-01 1.00426359e-01 9.53810015e-01 -4.68279509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.04, Y:-37.68, Z:-4.65 [[ 9.58127197e-01 -6.70701727e-02 2.78377203e-01 1.64036596e+02] [ 6.26593051e-02 9.97728719e-01 2.47227613e-02 -3.76794337e+01] [-2.79403090e-01 -6.24462789e-03 9.60153591e-01 -4.64755526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.07, Y:-37.68, Z:-4.66 [[ 9.58860289e-01 -6.93781412e-02 2.75270084e-01 1.64067058e+02] [ 6.51996791e-02 9.97576007e-01 2.43127976e-02 -3.76797262e+01] [-2.76289608e-01 -5.36505503e-03 9.61059451e-01 -4.65957314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.10, Y:-37.68, Z:-4.67 [[ 9.58566895e-01 -7.09426076e-02 2.75892469e-01 1.64098859e+02] [ 6.68476448e-02 9.97468926e-01 2.42308438e-02 -3.76794671e+01] [-2.76913164e-01 -4.78412295e-03 9.60883037e-01 -4.66944151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.15, Y:-37.76, Z:-4.63 [[ 9.69409635e-01 -9.53340971e-02 2.26177738e-01 1.64150410e+02] [ 7.19207678e-02 9.91369623e-01 1.09606908e-01 -3.77638859e+01] [-2.34675014e-01 -8.99871164e-02 9.67899766e-01 -4.62711409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:-37.68, Z:-4.68 [[ 9.66184062e-01 -7.77133510e-02 2.45863769e-01 1.64153445e+02] [ 7.51543595e-02 9.96975538e-01 1.97888675e-02 -3.76848646e+01] [-2.46658022e-01 -6.41954292e-04 9.69102372e-01 -4.67817153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:-37.60, Z:-4.73 [[ 9.55261213e-01 -4.89843030e-02 2.91678853e-01 1.64168233e+02] [ 7.08820182e-02 9.95365877e-01 -6.49808472e-02 -3.76047258e+01] [-2.87144136e-01 8.27484686e-02 9.54306521e-01 -4.72710344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:-37.69, Z:-4.70 [[ 9.55859253e-01 -7.39396507e-02 2.84369507e-01 1.64218615e+02] [ 6.98947467e-02 9.97256891e-01 2.43601570e-02 -3.76896750e+01] [-2.85390632e-01 -3.40894682e-03 9.58405220e-01 -4.69713071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:-37.69, Z:-4.71 [[ 9.55721264e-01 -7.35130380e-02 2.84943324e-01 1.64250314e+02] [ 6.94759685e-02 9.97288482e-01 2.42646347e-02 -3.76907343e+01] [-2.85954463e-01 -3.39351398e-03 9.58237199e-01 -4.70577407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.28, Y:-37.69, Z:-4.71 [[ 9.55993740e-01 -7.16124157e-02 2.84512972e-01 1.64282471e+02] [ 6.75484128e-02 9.97425275e-01 2.40838707e-02 -3.76945075e+01] [-2.85505134e-01 -3.80562991e-03 9.58369624e-01 -4.71469268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.31, Y:-37.69, Z:-4.72 [[ 9.55992811e-01 -6.99601240e-02 2.84926879e-01 1.64314358e+02] [ 6.58548635e-02 9.97541128e-01 2.39757126e-02 -3.76944193e+01] [-2.85903625e-01 -4.15678810e-03 9.58249361e-01 -4.72454096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.35, Y:-37.70, Z:-4.73 [[ 9.57036341e-01 -6.78251522e-02 2.81924088e-01 1.64345678e+02] [ 6.37591175e-02 9.97686646e-01 2.35824338e-02 -3.76977170e+01] [-2.82871380e-01 -4.59401513e-03 9.59146849e-01 -4.73448111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.38, Y:-37.70, Z:-4.74 [[ 9.57701120e-01 -6.58252701e-02 2.80134966e-01 1.64377631e+02] [ 6.17689393e-02 9.97818612e-01 2.32941192e-02 -3.76984367e+01] [-2.81057225e-01 -5.00516437e-03 9.59677959e-01 -4.74319237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.43, Y:-37.81, Z:-4.68 [[ 9.68187823e-01 -1.00701840e-01 2.29066537e-01 1.64434911e+02] [ 6.90678890e-02 9.87430300e-01 1.42165502e-01 -3.78077651e+01] [-2.40503567e-01 -1.21821766e-01 9.62973256e-01 -4.67872545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-37.71, Z:-4.74 [[ 9.66202304e-01 -6.77522535e-02 2.48722215e-01 1.64438259e+02] [ 6.08351392e-02 9.97519831e-01 3.54016016e-02 -3.77143293e+01] [-2.50503880e-01 -1.90740585e-02 9.67927676e-01 -4.74394620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-37.58, Z:-4.82 [[ 9.53790952e-01 -2.54591970e-02 2.99390461e-01 1.64439694e+02] [ 5.95986816e-02 9.92636247e-01 -1.05457473e-01 -3.75768850e+01] [-2.94500961e-01 1.18427660e-01 9.48284806e-01 -4.82184115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.52, Y:-37.78, Z:-4.72 [[ 9.68330447e-01 -8.85190004e-02 2.33453488e-01 1.64519590e+02] [ 6.36588113e-02 9.91670853e-01 1.11966403e-01 -3.77847716e+01] [-2.41420174e-01 -9.35591059e-02 9.65900095e-01 -4.72014181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:-37.62, Z:-4.83 [[ 9.54736095e-01 -3.45565026e-02 2.95440074e-01 1.64509126e+02] [ 5.73206593e-02 9.95986584e-01 -6.87391155e-02 -3.76161714e+01] [-2.91878967e-01 8.25625345e-02 9.52885143e-01 -4.82847371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:-37.77, Z:-4.74 [[ 9.66874400e-01 -8.62483473e-02 2.40239710e-01 1.64575893e+02] [ 6.38594095e-02 9.92988060e-01 9.94821003e-02 -3.77745913e+01] [-2.47135330e-01 -8.08451300e-02 9.65602503e-01 -4.74481155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:-37.63, Z:-4.84 [[ 9.54010055e-01 -3.85237343e-02 2.97288977e-01 1.64574037e+02] [ 5.61604687e-02 9.97117796e-01 -5.10108077e-02 -3.76325221e+01] [-2.94467003e-01 6.53607118e-02 9.53423915e-01 -4.83729246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-37.77, Z:-4.76 [[ 9.66591050e-01 -8.41626784e-02 2.42112342e-01 1.64635456e+02] [ 6.36196134e-02 9.93774069e-01 9.14638978e-02 -3.77651277e+01] [-2.48302814e-01 -7.30050914e-02 9.65927518e-01 -4.76402449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-37.64, Z:-4.85 [[ 9.52980870e-01 -4.36767734e-02 2.99866306e-01 1.64636865e+02] [ 5.91989298e-02 9.97325215e-01 -4.28707727e-02 -3.76444757e+01] [-2.97191771e-01 5.86067907e-02 9.53017469e-01 -4.84873659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:164.68, Y:-37.71, Z:-4.82 [[ 9.53640982e-01 -6.26670020e-02 2.94349665e-01 1.64683850e+02] [ 5.83747009e-02 9.98021514e-01 2.33549075e-02 -3.77066464e+01] [-2.95230880e-01 -5.08962324e-03 9.55412384e-01 -4.82463584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:164.72, Y:-37.73, Z:-4.81 [[ 9.62231973e-01 -7.16941513e-02 2.62620599e-01 1.64720336e+02] [ 6.06974674e-02 9.96915133e-01 4.97597700e-02 -3.77332863e+01] [-2.65377934e-01 -3.19400364e-02 9.63615269e-01 -4.81497195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.74, Y:-37.68, Z:-4.86 [[ 9.52571073e-01 -5.59613146e-02 2.99126533e-01 1.64738647e+02] [ 5.97711323e-02 9.98205634e-01 -3.59497405e-03 -3.76837571e+01] [-2.98388611e-01 2.13035999e-02 9.54206683e-01 -4.85606092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:164.82, Y:-37.81, Z:-4.78 [[ 9.70942940e-01 -8.43759629e-02 2.23943084e-01 1.64815081e+02] [ 5.27666582e-02 9.88233574e-01 1.43562125e-01 -3.78136095e+01] [-2.33421267e-01 -1.27573904e-01 9.63970649e-01 -4.77852926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:-37.60, Z:-4.92 [[ 9.54640836e-01 -2.80519356e-02 2.96435429e-01 1.64788327e+02] [ 5.99165946e-02 9.93285926e-01 -9.89599497e-02 -3.75956750e+01] [-2.91669121e-01 1.12232611e-01 9.49912083e-01 -4.92135007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-37.71, Z:-4.87 [[ 9.55148626e-01 -6.26743943e-02 2.89418422e-01 1.64846779e+02] [ 5.88662349e-02 9.98026655e-01 2.18531798e-02 -3.77079744e+01] [-2.90216934e-01 -3.83606190e-03 9.56953194e-01 -4.87067378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-37.74, Z:-4.86 [[ 9.66033621e-01 -7.40742894e-02 2.47572297e-01 1.64880727e+02] [ 6.36397434e-02 9.96724686e-01 4.98987214e-02 -3.77385919e+01] [-2.50457632e-01 -3.24484050e-02 9.67583627e-01 -4.85818733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:-37.70, Z:-4.90 [[ 9.62106826e-01 -5.55140903e-02 2.66961873e-01 1.64901806e+02] [ 5.67851158e-02 9.98382028e-01 2.96267969e-03 -3.76952259e+01] [-2.66694407e-01 1.23090465e-02 9.63702537e-01 -4.89577569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:-37.71, Z:-4.89 [[ 9.62296320e-01 -5.98751206e-02 2.65331422e-01 1.64937627e+02] [ 5.63539156e-02 9.98192685e-01 2.08710363e-02 -3.77119126e+01] [-2.66101540e-01 -5.13165687e-03 9.63931344e-01 -4.89487012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:-37.70, Z:-4.92 [[ 9.53684184e-01 -5.70746099e-02 2.95345501e-01 1.64963370e+02] [ 5.90221810e-02 9.98253966e-01 2.32417663e-03 -3.76952621e+01] [-2.94962469e-01 1.52154051e-02 9.55387687e-01 -4.91699561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.00, Y:-37.71, Z:-4.92 [[ 9.53983913e-01 -6.28616299e-02 2.93194660e-01 1.64998856e+02] [ 5.92142828e-02 9.98017843e-01 2.13085565e-02 -3.77142008e+01] [-2.93952993e-01 -2.96670862e-03 9.55815273e-01 -4.91805948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.03, Y:-37.73, Z:-4.92 [[ 9.62569661e-01 -6.25557894e-02 2.63716555e-01 1.65034011e+02] [ 5.63086639e-02 9.97926141e-01 3.11889635e-02 -3.77259431e+01] [-2.65120695e-01 -1.51720231e-02 9.64095860e-01 -4.91924636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:165.08, Y:-37.76, Z:-4.91 [[ 9.66680565e-01 -6.65137325e-02 2.47193465e-01 1.65078673e+02] [ 5.13705752e-02 9.96414844e-01 6.72199559e-02 -3.77601267e+01] [-2.50778288e-01 -5.22817545e-02 9.66631713e-01 -4.90575075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:-37.65, Z:-4.98 [[ 9.52895319e-01 -3.99716018e-02 3.00653924e-01 1.65077278e+02] [ 5.71278958e-02 9.97188777e-01 -4.84865505e-02 -3.76529798e+01] [-2.97870634e-01 6.33783331e-02 9.52500012e-01 -4.98069714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052320588 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:165.19, Y:-37.88, Z:-4.83 [[ 9.71556339e-01 -8.56614389e-02 2.20772276e-01 1.65193617e+02] [ 3.73367801e-02 9.76032117e-01 2.14399793e-01 -3.78805173e+01] [-2.33846626e-01 -2.00058552e-01 9.51468513e-01 -4.82773015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:165.17, Y:-37.66, Z:-5.00 [[ 9.69468973e-01 -1.96000312e-02 2.44429435e-01 1.65169096e+02] [ 2.72507184e-02 9.99237597e-01 -2.79575081e-02 -3.76644008e+01] [-2.43695113e-01 3.37648144e-02 9.69263963e-01 -4.99512380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.112320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:165.16, Y:-37.57, Z:-5.05 [[ 9.52466612e-01 -1.17156508e-02 3.04417635e-01 1.65156729e+02] [ 5.34334829e-02 9.90194119e-01 -1.29075439e-01 -3.75691912e+01] [-2.99920349e-01 1.39206141e-01 9.43752846e-01 -5.04931139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.22, Y:-37.71, Z:-4.98 [[ 9.53143868e-01 -5.52682684e-02 2.97425933e-01 1.65223138e+02] [ 5.09301695e-02 9.98452739e-01 2.23214402e-02 -3.77128949e+01] [-2.98199405e-01 -6.12759067e-03 9.54483927e-01 -4.98031467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.172320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:165.25, Y:-37.71, Z:-4.99 [[ 9.52996642e-01 -5.39421970e-02 2.98140302e-01 1.65254556e+02] [ 4.95603968e-02 9.98523409e-01 2.22434022e-02 -3.77102251e+01] [-2.98899929e-01 -6.42193590e-03 9.54262852e-01 -4.98900424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:-37.71, Z:-5.00 [[ 9.53136904e-01 -5.21925473e-02 2.98003321e-01 1.65286810e+02] [ 4.77723391e-02 9.98613681e-01 2.21024797e-02 -3.77086529e+01] [-2.98743778e-01 -6.83037338e-03 9.54308913e-01 -4.99697925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.232320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:165.39, Y:-37.87, Z:-4.88 [[ 9.70690159e-01 -7.94146294e-02 2.26834590e-01 1.65389216e+02] [ 2.93079563e-02 9.75899256e-01 2.16244503e-01 -3.78718994e+01] [-2.38540685e-01 -2.03258352e-01 9.49623285e-01 -4.87949783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:-36.03, Z:-4.38 [[ 9.18657256e-01 3.94744308e-01 -1.56772683e-02 1.65517299e+02] [ 9.97601887e-02 -2.70196006e-01 -9.57623111e-01 -3.60289826e+01] [-3.82252208e-01 8.78163452e-01 -2.87597289e-01 -4.38072899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:-37.72, Z:-4.99 [[ 9.27089637e-01 -7.53043883e-02 3.67197567e-01 1.65478810e+02] [ 6.69655970e-02 9.97126508e-01 3.54166037e-02 -3.77193706e+01] [-3.68809454e-01 -8.24476192e-03 9.29468456e-01 -4.98559407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:-37.72, Z:-5.00 [[ 9.27034511e-01 -7.56534750e-02 3.67264982e-01 1.65511289e+02] [ 6.73634926e-02 9.97101769e-01 3.53584795e-02 -3.77178661e+01] [-3.68875555e-01 -8.03827885e-03 9.29444033e-01 -4.99658555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.54, Y:-37.72, Z:-5.01 [[ 9.26650680e-01 -7.55793991e-02 3.68247569e-01 1.65543644e+02] [ 6.73240196e-02 9.97108822e-01 3.52345493e-02 -3.77160633e+01] [-3.69845905e-01 -7.85821250e-03 9.29059877e-01 -5.00801675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.62, Y:-37.79, Z:-4.96 [[ 9.46220437e-01 -8.90402915e-02 3.11028472e-01 1.65618693e+02] [ 5.14951286e-02 9.90575513e-01 1.26918893e-01 -3.77931797e+01] [-3.19398083e-01 -1.04076799e-01 9.41887936e-01 -4.96499060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:-35.99, Z:-4.19 [[ 8.90259615e-01 4.43607304e-01 -1.03200669e-01 1.65868977e+02] [ 1.37171386e-01 -4.77218603e-01 -8.68012912e-01 -3.59870103e+01] [-4.34306146e-01 7.58600662e-01 -4.85698679e-01 -4.18729126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-37.75, Z:-5.02 [[ 8.98898086e-01 -1.12927904e-01 4.23355074e-01 1.65752689e+02] [ 9.78444168e-02 9.93552242e-01 5.72748853e-02 -3.77471559e+01] [-4.27093316e-01 -1.00613545e-02 9.04151574e-01 -5.01928570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:165.78, Y:-37.74, Z:-5.03 [[ 8.98554047e-01 -1.11446124e-01 4.24476603e-01 1.65784598e+02] [ 9.62154658e-02 9.93714169e-01 5.72252894e-02 -3.77421642e+01] [-4.28185952e-01 -1.05788013e-02 9.03628729e-01 -5.03406855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.88, Y:-37.83, Z:-4.98 [[ 9.21465190e-01 -1.34691456e-01 3.64362616e-01 1.65875914e+02] [ 7.82686518e-02 9.83102894e-01 1.65477245e-01 -3.78307376e+01] [-3.80494313e-01 -1.23963351e-01 9.16437213e-01 -4.98439409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.07, Y:-35.99, Z:-4.33 [[ 8.49816505e-01 5.22718456e-01 -6.76559276e-02 1.66072606e+02] [ 1.65110528e-01 -3.85907569e-01 -9.07641924e-01 -3.59946861e+01] [-5.00550119e-01 7.60158381e-01 -4.14256942e-01 -4.32550492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:-37.76, Z:-5.05 [[ 8.67074244e-01 -1.40525872e-01 4.77948464e-01 1.66006919e+02] [ 1.15495719e-01 9.89955692e-01 8.15381287e-02 -3.77614123e+01] [-4.84606019e-01 -1.54986098e-02 8.74595220e-01 -5.05383738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.04, Y:-37.75, Z:-5.07 [[ 8.68825639e-01 -1.36512153e-01 4.75926928e-01 1.66037793e+02] [ 1.11277979e-01 9.90485889e-01 8.09624283e-02 -3.77548194e+01] [-4.82451262e-01 -1.73820465e-02 8.75750332e-01 -5.07492992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:166.15, Y:-37.85, Z:-5.02 [[ 8.94406973e-01 -1.72027058e-01 4.12847257e-01 1.66148214e+02] [ 9.18696085e-02 9.74051403e-01 2.06842549e-01 -3.78539267e+01] [-4.37716965e-01 -1.47073302e-01 8.87002425e-01 -5.01987625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:166.31, Y:-35.98, Z:-4.42 [[ 8.01786153e-01 5.94599422e-01 -5.99207106e-02 1.66314255e+02] [ 1.87966854e-01 -3.46093517e-01 -9.19177752e-01 -3.59820579e+01] [-5.67280730e-01 7.25720886e-01 -3.89257972e-01 -4.42169667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:-37.76, Z:-5.11 [[ 8.32574817e-01 -1.63079577e-01 5.29362093e-01 1.66268349e+02] [ 1.23649258e-01 9.86280702e-01 1.09367449e-01 -3.77605072e+01] [-5.39935214e-01 -2.56013535e-02 8.41317143e-01 -5.11390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-37.82, Z:-5.10 [[ 8.56595237e-01 -1.76097096e-01 4.85009704e-01 1.66358122e+02] [ 9.53146966e-02 9.77787010e-01 1.86675311e-01 -3.78172900e+01] [-5.07109168e-01 -1.13676630e-01 8.54352337e-01 -5.09622341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.62, Y:-35.95, Z:-4.36 [[ 7.47928959e-01 6.48244679e-01 -1.42762418e-01 1.66619159e+02] [ 2.28917506e-01 -4.53782492e-01 -8.61207423e-01 -3.59511943e+01] [-6.23056215e-01 6.11441155e-01 -4.87791622e-01 -4.36045324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.51, Y:-37.77, Z:-5.18 [[ 7.96462426e-01 -2.00458908e-01 5.70494374e-01 1.66511839e+02] [ 1.41469257e-01 9.79041141e-01 1.46509019e-01 -3.77690695e+01] [-5.87906501e-01 -3.59815140e-02 8.08128255e-01 -5.18240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.59, Y:-37.80, Z:-5.18 [[ 8.16403715e-01 -2.02188373e-01 5.40929604e-01 1.66585079e+02] [ 1.13023614e-01 9.74532904e-01 1.93678296e-01 -3.77962922e+01] [-5.66313197e-01 -9.69818615e-02 8.18464343e-01 -5.18443592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:166.90, Y:-35.94, Z:-4.37 [[ 0.69385127 0.69183874 -0.19982384 166.90358357] [ 0.27482229 -0.51088441 -0.81453657 -35.94035815] [ -0.66561484 0.51025119 -0.5446105 -4.36668433] [ 0. 0. 0. 1. ]] SLAMing on 262.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:-37.77, Z:-5.27 [[ 7.61193411e-01 -2.46861066e-01 5.99703431e-01 1.66762862e+02] [ 1.63132953e-01 9.67870095e-01 1.91350772e-01 -3.77691038e+01] [-6.27672073e-01 -4.78235558e-02 7.77007514e-01 -5.27133115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.79, Y:-37.76, Z:-5.30 [[ 7.61414873e-01 -2.44732137e-01 6.00294571e-01 1.66794452e+02] [ 1.60507360e-01 9.68340400e-01 1.91191674e-01 -3.77558196e+01] [-6.28080232e-01 -4.92244870e-02 7.76590093e-01 -5.29714402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.82, Y:-37.74, Z:-5.32 [[ 7.61435079e-01 -2.41670302e-01 6.01508176e-01 1.66824922e+02] [ 1.57116915e-01 9.69043198e-01 1.90445677e-01 -3.77413085e+01] [-6.28912470e-01 -5.05049103e-02 7.75833976e-01 -5.32340358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:-37.72, Z:-5.35 [[ 7.61613810e-01 -2.39355754e-01 6.02206964e-01 1.66852969e+02] [ 1.54852361e-01 9.69586408e-01 1.89533492e-01 -3.77239503e+01] [-6.29257618e-01 -5.10981544e-02 7.75515202e-01 -5.35037759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:-37.71, Z:-5.38 [[ 7.62675682e-01 -2.37332569e-01 6.01663573e-01 1.66883175e+02] [ 1.53374838e-01 9.70073860e-01 1.88236197e-01 -3.77092905e+01] [-6.28332685e-01 -5.12831170e-02 7.76252587e-01 -5.37897194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.91, Y:-37.69, Z:-5.41 [[ 7.63653502e-01 -2.37073940e-01 6.00524168e-01 1.66910867e+02] [ 1.54585995e-01 9.70227279e-01 1.86446231e-01 -3.76918492e+01] [-6.26846472e-01 -4.95476911e-02 7.77565770e-01 -5.40659922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:-37.68, Z:-5.44 [[ 7.64239379e-01 -2.36029920e-01 6.00190010e-01 1.66941827e+02] [ 1.54273597e-01 9.70511628e-01 1.85221050e-01 -3.76756501e+01] [-6.26209094e-01 -4.89597479e-02 7.78116389e-01 -5.43585729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:-37.66, Z:-5.46 [[ 7.62233424e-01 -2.37109465e-01 6.02311638e-01 1.66970877e+02] [ 1.56152906e-01 9.70369738e-01 1.84387745e-01 -3.76576163e+01] [-6.28185067e-01 -4.64937895e-02 7.76673580e-01 -5.46188704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.00, Y:-37.64, Z:-5.49 [[ 7.61195479e-01 -2.36672757e-01 6.03794211e-01 1.67003357e+02] [ 1.56034782e-01 9.70517569e-01 1.83708449e-01 -3.76430211e+01] [-6.29471675e-01 -4.56251427e-02 7.75682768e-01 -5.48936693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:-37.63, Z:-5.52 [[ 7.60134910e-01 -2.36171067e-01 6.05324826e-01 1.67034058e+02] [ 1.56117671e-01 9.70698458e-01 1.82679438e-01 -3.76292556e+01] [-6.30731473e-01 -4.43591165e-02 7.74732262e-01 -5.51616564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:-37.61, Z:-5.54 [[ 7.57845104e-01 -2.38955445e-01 6.07100563e-01 1.67063418e+02] [ 1.60086166e-01 9.70174725e-01 1.82025883e-01 -3.76132255e+01] [-6.32489698e-01 -4.07590226e-02 7.73495627e-01 -5.54352410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:-37.60, Z:-5.57 [[ 7.57032274e-01 -2.39881825e-01 6.07748999e-01 1.67093224e+02] [ 1.62049195e-01 9.70036145e-01 1.81024683e-01 -3.75997842e+01] [-6.32963027e-01 -3.85562914e-02 7.73221326e-01 -5.57118829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:167.12, Y:-37.59, Z:-5.60 [[ 7.56282855e-01 -2.43805588e-01 6.07120317e-01 1.67123217e+02] [ 1.68409808e-01 9.69246641e-01 1.79441034e-01 -3.75856393e+01] [-6.32198055e-01 -3.34631617e-02 7.74083869e-01 -5.60113931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-37.57, Z:-5.63 [[ 7.55790801e-01 -2.44733617e-01 6.07359632e-01 1.67154222e+02] [ 1.70725206e-01 9.69098662e-01 1.78046869e-01 -3.75728980e+01] [-6.32165460e-01 -3.08745876e-02 7.74218051e-01 -5.62884485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:-37.56, Z:-5.65 [[ 7.53409118e-01 -2.47920714e-01 6.09023826e-01 1.67186061e+02] [ 1.75508145e-01 9.68416618e-01 1.77104897e-01 -3.75610046e+01] [-6.33696767e-01 -2.65438021e-02 7.73126014e-01 -5.65472441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:-37.55, Z:-5.68 [[ 7.52237291e-01 -2.47829978e-01 6.10507461e-01 1.67218126e+02] [ 1.76153692e-01 9.68482857e-01 1.76098928e-01 -3.75496691e+01] [-6.34908604e-01 -2.49250376e-02 7.72185086e-01 -5.68157765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.25, Y:-37.54, Z:-5.71 [[ 7.51377505e-01 -2.47679901e-01 6.11626121e-01 1.67250358e+02] [ 1.76821806e-01 9.68560732e-01 1.74997593e-01 -3.75390246e+01] [-6.35740430e-01 -2.33404199e-02 7.71549953e-01 -5.70882614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.28, Y:-37.53, Z:-5.74 [[ 7.50419013e-01 -2.48907578e-01 6.12304109e-01 1.67282366e+02] [ 1.79439230e-01 9.68310556e-01 1.73713068e-01 -3.75293508e+01] [-6.36139032e-01 -2.04862111e-02 7.71302436e-01 -5.73791787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.31, Y:-37.52, Z:-5.77 [[ 7.50212753e-01 -2.48962496e-01 6.12534490e-01 1.67313977e+02] [ 1.80661041e-01 9.68334377e-01 1.72308218e-01 -3.75185731e+01] [-6.36036488e-01 -1.86067039e-02 7.71434622e-01 -5.76725559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.35, Y:-37.51, Z:-5.79 [[ 7.50156810e-01 -2.46882180e-01 6.13444332e-01 1.67345137e+02] [ 1.78997574e-01 9.68868940e-01 1.71034634e-01 -3.75086774e+01] [-6.36572563e-01 -1.84977485e-02 7.70994945e-01 -5.79452701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:-37.50, Z:-5.82 [[ 7.50522512e-01 -2.45249089e-01 6.13652054e-01 1.67377019e+02] [ 1.77916045e-01 9.69288369e-01 1.69782032e-01 -3.74994300e+01] [-6.36444688e-01 -1.82466900e-02 7.71106489e-01 -5.82177982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.41, Y:-37.49, Z:-5.85 [[ 7.51600999e-01 -2.43094636e-01 6.13189152e-01 1.67409969e+02] [ 1.76566347e-01 9.69834670e-01 1.68062600e-01 -3.74916192e+01] [-6.35547215e-01 -1.80474493e-02 7.71851039e-01 -5.85077589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:167.44, Y:-37.48, Z:-5.88 [[ 7.52556783e-01 -2.39958968e-01 6.13251973e-01 1.67444674e+02] [ 1.73749205e-01 9.70600976e-01 1.66568182e-01 -3.74804540e+01] [-6.35192493e-01 -1.87999723e-02 7.72125028e-01 -5.88123731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:-37.47, Z:-5.91 [[ 7.53548049e-01 -2.36112096e-01 6.13527845e-01 1.67476828e+02] [ 1.70317755e-01 9.71527868e-01 1.64698098e-01 -3.74709369e+01] [-6.34946612e-01 -1.96132453e-02 7.72307012e-01 -5.90969934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.60, Y:-37.55, Z:-5.88 [[ 7.88451421e-01 -2.92667789e-01 5.41008246e-01 1.67600072e+02] [ 1.60259521e-01 9.46914834e-01 2.78691914e-01 -3.75542322e+01] [-5.93852879e-01 -1.33033314e-01 7.93499146e-01 -5.88112685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.71, Y:-35.72, Z:-5.39 [[ 6.75664900e-01 7.37136745e-01 -1.03131793e-02 1.67710609e+02] [ 2.29902926e-01 -2.23981282e-01 -9.47088713e-01 -3.57180411e+01] [-7.00443850e-01 6.37543570e-01 -3.20806185e-01 -5.38796699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-37.55, Z:-5.94 [[ 7.39291771e-01 -3.32776113e-01 5.85412449e-01 1.67803305e+02] [ 1.73732942e-01 9.34184442e-01 3.11634871e-01 -3.75526954e+01] [-6.50587843e-01 -1.28683668e-01 7.48449044e-01 -5.94447615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:-35.84, Z:-5.73 [[ 6.16403301e-01 7.60275723e-01 2.05006818e-01 1.67678848e+02] [ 1.80451187e-01 1.17034118e-01 -9.76596326e-01 -3.58449788e+01] [-7.66475270e-01 6.38970923e-01 -6.50524397e-02 -5.72844040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.91, Y:-37.47, Z:-6.04 [[ 6.80862983e-01 -3.10476822e-01 6.63347377e-01 1.67910376e+02] [ 1.77919999e-01 9.48687855e-01 2.61411223e-01 -3.74723853e+01] [-7.10471726e-01 -5.99624607e-02 7.01166478e-01 -6.04270869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:168.12, Y:-35.62, Z:-5.50 [[ 5.56179769e-01 8.25424037e-01 -9.66396598e-02 1.68123930e+02] [ 2.56299561e-01 -2.80978674e-01 -9.24857567e-01 -3.56229153e+01] [-7.90553350e-01 4.89618365e-01 -3.67830472e-01 -5.49892875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:168.09, Y:-37.46, Z:-6.14 [[ 5.96180087e-01 -3.52663606e-01 7.21247311e-01 1.68089756e+02] [ 1.98350536e-01 9.35209128e-01 2.93327380e-01 -3.74611990e+01] [-7.77962961e-01 -3.18161523e-02 6.27504075e-01 -6.14302466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:-37.45, Z:-6.18 [[ 5.97562283e-01 -3.48083994e-01 7.22327385e-01 1.68118998e+02] [ 1.92504746e-01 9.36789327e-01 2.92177480e-01 -3.74510632e+01] [-7.78370889e-01 -3.55427918e-02 6.26797789e-01 -6.18032089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.15, Y:-37.44, Z:-6.22 [[ 5.99284595e-01 -3.43140653e-01 7.23265143e-01 1.68145692e+02] [ 1.88097952e-01 9.38539160e-01 2.89419084e-01 -3.74380511e+01] [-7.78124113e-01 -3.73997062e-02 6.26996114e-01 -6.21739480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.22, Y:-37.39, Z:-6.32 [[ 6.07357615e-01 -3.27129848e-01 7.23949439e-01 1.68217708e+02] [ 1.66665761e-01 9.43472172e-01 2.86500932e-01 -3.73884356e+01] [-7.76749156e-01 -5.33509392e-02 6.27546353e-01 -6.32296538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:-37.36, Z:-6.37 [[ 6.10368138e-01 -3.05340847e-01 7.30901979e-01 1.68225617e+02] [ 1.62027933e-01 9.51335592e-01 2.62121232e-01 -3.73587380e+01] [-7.75369386e-01 -4.15639109e-02 6.30138680e-01 -6.37149567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.25, Y:-37.34, Z:-6.41 [[ 6.11032900e-01 -3.00621674e-01 7.32301443e-01 1.68250495e+02] [ 1.57511667e-01 9.52758409e-01 2.59694992e-01 -3.73442852e+01] [-7.75776301e-01 -4.33361627e-02 6.29518155e-01 -6.41050424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:-35.55, Z:-6.04 [[ 4.94822874e-01 8.67925229e-01 4.30827155e-02 1.68353384e+02] [ 2.28016617e-01 -8.18370898e-02 -9.70211891e-01 -3.55521652e+01] [-8.38545613e-01 4.89906611e-01 -2.38396238e-01 -6.03646295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.52, Y:-37.39, Z:-6.48 [[ 5.92233967e-01 -3.92639350e-01 7.03628644e-01 1.68517997e+02] [ 1.57440290e-01 9.12798099e-01 3.76845041e-01 -3.73870195e+01] [-7.90235081e-01 -1.12400937e-01 6.02407293e-01 -6.47640333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-35.55, Z:-6.21 [[ 4.27878502e-01 8.98261142e-01 1.00234263e-01 1.68472191e+02] [ 2.22226123e-01 2.94089916e-03 -9.74990719e-01 -3.55478189e+01] [-8.76091055e-01 4.39452240e-01 -1.98358744e-01 -6.20591569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:-37.34, Z:-6.60 [[ 5.27142648e-01 -4.12529334e-01 7.42926765e-01 1.68685448e+02] [ 1.49007328e-01 9.05588137e-01 3.97123334e-01 -3.73430608e+01] [-8.36610689e-01 -9.86391139e-02 5.38844022e-01 -6.60193008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:168.57, Y:-35.55, Z:-6.40 [[ 3.65572363e-01 9.13690950e-01 1.77554767e-01 1.68569536e+02] [ 2.02791203e-01 1.07990728e-01 -9.73249059e-01 -3.55500360e+01] [-9.08423126e-01 3.91799503e-01 -1.45810061e-01 -6.39826261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:168.81, Y:-37.28, Z:-6.75 [[ 4.39844068e-01 -4.18083005e-01 7.94823123e-01 1.68813507e+02] [ 1.52139346e-01 9.06926587e-01 3.92858480e-01 -3.72762256e+01] [-8.85093676e-01 -5.18726023e-02 4.62513155e-01 -6.74585825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:-37.31, Z:-6.77 [[ 4.75334579e-01 -4.83405509e-01 7.35102817e-01 1.68926868e+02] [ 1.57197988e-01 8.68748471e-01 4.69643361e-01 -3.73140988e+01] [-8.65647636e-01 -1.07681046e-01 4.88936562e-01 -6.76585401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:-35.85, Z:-6.80 [[ 3.31465218e-01 7.72554950e-01 5.41562238e-01 1.68486013e+02] [ 1.09642981e-01 5.38580956e-01 -8.35409463e-01 -3.58501708e+01] [-9.37074824e-01 3.36287678e-01 9.38156267e-02 -6.80411880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:170.18, Y:-35.57, Z:-6.25 [[ 0.32866145 0.3046414 -0.89396603 170.1842289 ] [ 0.28531672 -0.93434935 -0.21350798 -35.57009814] [ -0.90031996 -0.18489161 -0.3940039 -6.24736024] [ 0. 0. 0. 1. ]] SLAMing on 264.21232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:169.21, Y:-37.29, Z:-7.14 [[ 3.66710527e-01 -5.62709798e-01 7.40865084e-01 1.69209162e+02] [ 2.00748471e-01 8.25442765e-01 5.27583447e-01 -3.72857763e+01] [-9.08418098e-01 -4.47428709e-02 4.15661683e-01 -7.13548070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-37.26, Z:-7.21 [[ 3.70615086e-01 -5.53508490e-01 7.45836986e-01 1.69226265e+02] [ 1.95175998e-01 8.31505669e-01 5.20100618e-01 -3.72571927e+01] [-9.08047789e-01 -4.71876578e-02 4.16200117e-01 -7.21375617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-37.23, Z:-7.27 [[ 3.70806184e-01 -5.38707036e-01 7.56503472e-01 1.69227637e+02] [ 1.90321654e-01 8.41364595e-01 5.05849075e-01 -3.72321805e+01] [-9.08999693e-01 -4.35929734e-02 4.14510809e-01 -7.26588225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:169.24, Y:-37.21, Z:-7.32 [[ 3.72375397e-01 -5.32304398e-01 7.60255609e-01 1.69238567e+02] [ 1.86986561e-01 8.45400748e-01 5.00333489e-01 -3.72128709e+01] [-9.09050378e-01 -4.41543001e-02 4.14340208e-01 -7.31585700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-37.19, Z:-7.37 [[ 3.73822184e-01 -5.25693493e-01 7.64135673e-01 1.69248481e+02] [ 1.84256992e-01 8.49536154e-01 4.94305253e-01 -3.71945824e+01] [-9.09013936e-01 -4.39849287e-02 4.14438162e-01 -7.36714920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.26, Y:-37.18, Z:-7.42 [[ 3.75107270e-01 -5.19100875e-01 7.68003137e-01 1.69259496e+02] [ 1.81722187e-01 8.53602014e-01 4.88201442e-01 -3.71778133e+01] [-9.08994820e-01 -4.35647008e-02 4.14524467e-01 -7.41870103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-37.16, Z:-7.47 [[ 3.76364629e-01 -5.12280228e-01 7.71957663e-01 1.69272270e+02] [ 1.78887438e-01 8.57725749e-01 4.81981145e-01 -3.71580293e+01] [-9.09037376e-01 -4.33071260e-02 4.14458131e-01 -7.47136469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:-37.14, Z:-7.52 [[ 3.76066606e-01 -5.05177800e-01 7.76768497e-01 1.69283333e+02] [ 1.75119487e-01 8.61948247e-01 4.75792376e-01 -3.71388289e+01] [-9.09893990e-01 -4.29023237e-02 4.12616429e-01 -7.52203271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.41, Y:-37.17, Z:-7.54 [[ 4.14962874e-01 -5.80504352e-01 7.00585834e-01 1.69406413e+02] [ 1.89704386e-01 8.08290865e-01 5.57385076e-01 -3.71715708e+01] [-8.89841592e-01 -9.83899077e-02 4.45534922e-01 -7.54172031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:168.83, Y:-35.76, Z:-7.60 [[ 2.70556749e-01 7.29052312e-01 6.28714380e-01 1.68826178e+02] [ 1.23608659e-01 6.21358161e-01 -7.73715022e-01 -3.57551305e+01] [-9.54735537e-01 2.87048363e-01 7.79954654e-02 -7.60038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.88, Y:-35.05, Z:-7.29 [[ 1.88341337e-01 8.57289146e-01 -4.79148057e-01 1.69875896e+02] [ 2.12298212e-01 -5.11883081e-01 -8.32409263e-01 -3.50459896e+01] [-9.58883210e-01 5.50547982e-02 -2.78409697e-01 -7.28987835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.91, Y:-35.73, Z:-7.32 [[ 2.35560588e-01 -8.22640507e-02 -9.68371744e-01 1.70910294e+02] [ 3.39600344e-01 -9.26631039e-01 1.61327383e-01 -3.57346394e+01] [-9.10594759e-01 -3.66861751e-01 -1.90340852e-01 -7.32406397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:-37.14, Z:-8.03 [[ 0.32837107 -0.89700216 0.29590467 170.24302774] [ 0.28348007 0.39242499 0.87500953 -37.13659896] [ -0.90100582 -0.20344474 0.38314324 -8.03231123] [ 0. 0. 0. 1. ]] SLAMing on 264.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:-37.11, Z:-8.20 [[ 3.38076363e-01 -7.45190185e-01 5.74800801e-01 1.69914662e+02] [ 2.59011047e-01 6.60850647e-01 7.04407339e-01 -3.71088997e+01] [-9.04774917e-01 -8.92637137e-02 4.16430473e-01 -8.19874523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-37.05, Z:-8.31 [[ 3.45494474e-01 -6.64145209e-01 6.62981681e-01 1.69812349e+02] [ 2.35126666e-01 7.45215963e-01 6.23994086e-01 -3.70479068e+01] [-9.08487215e-01 -5.97018358e-02 4.13626246e-01 -8.30877995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:-35.81, Z:-8.34 [[ 2.23798643e-01 5.99666512e-01 7.68319102e-01 1.69076127e+02] [ 1.48639195e-01 7.58093074e-01 -6.34981323e-01 -3.58058911e+01] [-9.63234425e-01 2.56310292e-01 8.05262537e-02 -8.34308092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:170.53, Y:-34.97, Z:-7.97 [[ 1.57762825e-01 6.51032564e-01 -7.42473899e-01 1.70527690e+02] [ 2.99022329e-01 -7.48084325e-01 -5.92414964e-01 -3.49705233e+01] [-9.41114519e-01 -1.28555216e-01 -3.12693170e-01 -7.96737715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-36.99, Z:-8.64 [[ 2.34061811e-01 -8.53804265e-01 4.65008973e-01 1.70301826e+02] [ 2.66660608e-01 5.16331529e-01 8.13814397e-01 -3.69939526e+01] [-9.34936997e-01 -6.64832960e-02 3.48529458e-01 -8.63810247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.23, Y:-35.70, Z:-8.65 [[ 1.14646162e-01 6.18928523e-01 7.77035225e-01 1.69231966e+02] [ 1.83730513e-01 7.55487508e-01 -6.28873376e-01 -3.56998526e+01] [-9.76268076e-01 2.14862999e-01 -2.71023120e-02 -8.64543525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.32, Y:-35.54, Z:-8.75 [[ 8.55490930e-02 6.91042429e-01 7.17733735e-01 1.69319692e+02] [ 1.13270138e-01 7.08958521e-01 -6.96094599e-01 -3.55353438e+01] [-9.89874350e-01 1.40848061e-01 -1.76237130e-02 -8.75149445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:170.85, Y:-34.79, Z:-8.63 [[ 2.90359176e-02 5.79266086e-01 -8.14621211e-01 1.70850338e+02] [ 2.52134551e-01 -7.92856867e-01 -5.54802809e-01 -3.47944967e+01] [-9.67256473e-01 -1.89284944e-01 -1.69074321e-01 -8.63405429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.83, Y:-36.76, Z:-9.15 [[ 8.23072462e-02 -9.75762803e-01 2.02762099e-01 1.70831016e+02] [ 2.15097541e-01 2.16050056e-01 9.52394572e-01 -3.67649581e+01] [-9.73117961e-01 -3.47753457e-02 2.27666665e-01 -9.14868135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-36.76, Z:-9.20 [[ 8.49704077e-02 -9.72007438e-01 2.19046960e-01 1.70816609e+02] [ 2.12794491e-01 2.32472837e-01 9.49038927e-01 -3.67570366e+01] [-9.73395364e-01 -3.40282381e-02 2.26591139e-01 -9.20306326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.80, Y:-36.75, Z:-9.26 [[ 8.69750481e-02 -9.68479394e-01 2.33415949e-01 1.70804269e+02] [ 2.09786025e-01 2.46855474e-01 9.46071984e-01 -3.67486385e+01] [-9.73871226e-01 -3.33172524e-02 2.24643709e-01 -9.25650355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:-36.68, Z:-9.30 [[ 1.15293387e-01 -9.88379031e-01 9.90672815e-02 1.70942193e+02] [ 2.57553454e-01 1.26066170e-01 9.58004979e-01 -3.66803680e+01] [-9.59361065e-01 -8.49365181e-02 2.69095028e-01 -9.29829804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-35.74, Z:-9.34 [[ 1.33975272e-02 4.43716824e-01 8.96066899e-01 1.69394926e+02] [ 1.23931417e-01 8.88500623e-01 -4.41823093e-01 -3.57374915e+01] [-9.92200338e-01 1.16970178e-01 -4.30867436e-02 -9.34394955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:171.54, Y:-35.43, Z:-9.40 [[ 6.27980281e-02 -3.46570200e-01 -9.35919603e-01 1.71537924e+02] [ 2.38570284e-01 -9.05371028e-01 3.51265600e-01 -3.54280534e+01] [-9.69092683e-01 -2.45341392e-01 2.58258357e-02 -9.39962463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.42, Y:-35.68, Z:-9.73 [[ 4.32631137e-03 4.30875290e-01 9.02401112e-01 1.69417859e+02] [ 1.25842470e-01 8.95000893e-01 -4.27945176e-01 -3.56842339e+01] [-9.92040803e-01 1.15411809e-01 -5.03503583e-02 -9.72933971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.06, Y:-36.48, Z:-9.87 [[ 5.79413214e-02 -9.96846871e-01 5.42136338e-02 1.71056731e+02] [ 1.69472829e-01 6.33381637e-02 9.83497452e-01 -3.64754451e+01] [-9.83830150e-01 -4.77974040e-02 1.72608356e-01 -9.86642769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:-35.96, Z:-9.96 [[ 7.14580625e-03 1.03747062e-01 9.94578043e-01 1.69541041e+02] [ 4.52602666e-02 9.93550589e-01 -1.03965070e-01 -3.59582448e+01] [-9.98949671e-01 4.57577816e-02 2.40410033e-03 -9.95980627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.46, Y:-35.41, Z:-10.06 [[-2.10167905e-02 5.33560356e-01 8.45500822e-01 1.69462429e+02] [-3.92100530e-02 8.44597101e-01 -5.33964708e-01 -3.54123624e+01] [-9.99009943e-01 -4.43743565e-02 3.17020951e-03 -1.00620934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:-34.40, Z:-10.15 [[-3.19373959e-02 5.48292692e-01 -8.35676449e-01 1.71015007e+02] [ 4.34718295e-02 -8.34549740e-01 -5.49214832e-01 -3.43978024e+01] [-9.98544041e-01 -5.38688757e-02 2.81805905e-03 -1.01459326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.68, Y:-35.49, Z:-10.16 [[ 1.77464697e-02 -6.07183681e-01 -7.94363292e-01 1.71681343e+02] [ 2.05805516e-02 -7.94098249e-01 6.07440871e-01 -3.54927032e+01] [-9.99630684e-01 -2.71283658e-02 -1.59626541e-03 -1.01565253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-36.33, Z:-10.31 [[ 6.90659036e-02 -4.60683790e-01 8.84873068e-01 1.70017778e+02] [-1.46853486e-01 8.72633326e-01 4.65773692e-01 -3.63263862e+01] [-9.86744118e-01 -1.62115776e-01 -7.38381130e-03 -1.03058228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:-34.82, Z:-10.58 [[ 1.47188860e-02 8.99750814e-01 4.36155737e-01 1.69611055e+02] [-1.28468930e-01 4.34289348e-01 -8.91565195e-01 -3.48163237e+01] [-9.91604300e-01 -4.29096145e-02 1.21982280e-01 -1.05783826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:-34.78, Z:-10.69 [[ 2.77030918e-04 9.22216687e-01 3.86673383e-01 1.69658706e+02] [-1.30610594e-01 3.83394423e-01 -9.14302788e-01 -3.47755035e+01] [-9.91433707e-01 -5.02503500e-02 1.20557481e-01 -1.06940088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:-34.69, Z:-10.76 [[-5.18759035e-03 9.58362833e-01 2.85506165e-01 1.69733839e+02] [-1.26777477e-01 2.82575913e-01 -9.50830334e-01 -3.46870911e+01] [-9.91917618e-01 -4.11282695e-02 1.20032934e-01 -1.07631166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-34.76, Z:-10.83 [[-1.18790304e-02 9.33804134e-01 3.57587370e-01 1.69688510e+02] [-1.71676064e-01 3.50397918e-01 -9.20732658e-01 -3.47637221e+01] [-9.85081833e-01 -7.23266035e-02 1.56149431e-01 -1.08282647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:171.30, Y:-34.62, Z:-10.95 [[-2.67042185e-02 3.04375494e-01 -9.52177737e-01 1.71299209e+02] [-1.69367650e-02 -9.52518463e-01 -3.04009413e-01 -3.46224085e+01] [-9.99499890e-01 8.00847680e-03 3.05913974e-02 -1.09499679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:-36.43, Z:-11.01 [[ 1.23514234e-01 -9.91957263e-01 2.76590538e-02 1.71124288e+02] [-6.30838490e-02 1.99672763e-02 9.97808467e-01 -3.64274089e+01] [-9.90335631e-01 -1.24988388e-01 -6.01102394e-02 -1.10121567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.45, Y:-35.54, Z:-11.29 [[ 6.18585485e-02 5.19648314e-01 8.52137987e-01 1.69452386e+02] [-8.48850934e-02 8.53418771e-01 -5.14267365e-01 -3.55407278e+01] [-9.94468723e-01 -4.05219799e-02 9.69016421e-02 -1.12856534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.46, Y:-35.47, Z:-11.35 [[ 5.79603056e-02 5.74605371e-01 8.16375692e-01 1.69459608e+02] [-8.66739567e-02 8.17558960e-01 -5.69284614e-01 -3.54705339e+01] [-9.94549259e-01 -3.77626011e-02 9.71892882e-02 -1.13525696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:-35.41, Z:-11.51 [[ 4.25254946e-02 6.12060210e-01 7.89666943e-01 1.69488295e+02] [-1.02699011e-01 7.88873093e-01 -6.05914315e-01 -3.54096917e+01] [-9.93803047e-01 -5.53312080e-02 9.64051966e-02 -1.15078075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.55, Y:-35.14, Z:-11.61 [[ 3.51279001e-02 7.88758499e-01 6.13698673e-01 1.69551946e+02] [-9.93449491e-02 6.13792089e-01 -7.83192092e-01 -3.51416614e+01] [-9.94432809e-01 -3.34559699e-02 9.99204001e-02 -1.16057152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.58, Y:-35.07, Z:-11.67 [[ 3.39787836e-02 8.28859480e-01 5.58424036e-01 1.69583324e+02] [-9.75898327e-02 5.58828199e-01 -8.23521261e-01 -3.50749186e+01] [-9.94646503e-01 -2.65142576e-02 9.98765604e-02 -1.16715062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.60, Y:-35.04, Z:-11.74 [[ 3.50780789e-02 8.49998891e-01 5.25615272e-01 1.69604121e+02] [-9.44598408e-02 5.26404315e-01 -8.44970908e-01 -3.50442091e+01] [-9.94910482e-01 -2.00095787e-02 9.87560119e-02 -1.17414798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.64, Y:-35.00, Z:-11.81 [[ 3.07253122e-02 8.75242758e-01 4.82707022e-01 1.69635201e+02] [-9.60200189e-02 4.83286091e-01 -8.70180849e-01 -3.49988923e+01] [-9.94905076e-01 -1.96129591e-02 9.88899422e-02 -1.18105957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:-34.96, Z:-11.88 [[ 3.21583060e-02 8.96462519e-01 4.41951123e-01 1.69663513e+02] [-9.38843982e-02 4.42934104e-01 -8.91624977e-01 -3.49605693e+01] [-9.95063598e-01 -1.28191664e-02 9.84078546e-02 -1.18769998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-34.92, Z:-11.94 [[ 3.09506790e-02 9.14731584e-01 4.02874900e-01 1.69692439e+02] [-9.27344162e-02 4.03957441e-01 -9.10065225e-01 -3.49231038e+01] [-9.95209718e-01 -9.19323198e-03 9.73298565e-02 -1.19397863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.72, Y:-34.89, Z:-12.02 [[ 2.59730644e-02 9.29650377e-01 3.67526292e-01 1.69722988e+02] [-9.48378675e-02 3.68283591e-01 -9.24863761e-01 -3.48921305e+01] [-9.95153847e-01 -1.08338638e-02 9.77315128e-02 -1.20226210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:-34.84, Z:-12.10 [[ 2.15204596e-02 9.53285257e-01 3.01303980e-01 1.69772222e+02] [-9.60471444e-02 3.01951147e-01 -9.48472694e-01 -3.48388872e+01] [-9.95144118e-01 -8.52781858e-03 9.80584542e-02 -1.21041001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:-34.79, Z:-12.18 [[ 1.66135166e-02 9.70713677e-01 2.39664240e-01 1.69822601e+02] [-9.80229666e-02 2.40123906e-01 -9.65780517e-01 -3.47929530e+01] [-9.95045471e-01 -7.44758908e-03 9.91415368e-02 -1.21809149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.87, Y:-34.75, Z:-12.27 [[ 7.71224520e-03 9.83005953e-01 1.83411608e-01 1.69872369e+02] [-1.00829521e-01 1.83246714e-01 -9.77882431e-01 -3.47534433e+01] [-9.94873826e-01 -1.09516355e-02 1.00529263e-01 -1.22663339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-34.71, Z:-12.35 [[-5.07389462e-04 9.93707699e-01 1.12003358e-01 1.69937559e+02] [-9.96507520e-02 1.11395629e-01 -9.88767284e-01 -3.47053496e+01] [-9.95022347e-01 -1.16629090e-02 9.89671985e-02 -1.23467268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-34.67, Z:-12.41 [[-5.55936019e-03 9.98739756e-01 4.98797932e-02 1.69993877e+02] [-9.73114773e-02 4.91034978e-02 -9.94041912e-01 -3.46675923e+01] [-9.95238449e-01 -1.03801134e-02 9.69158571e-02 -1.24119406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-36.57, Z:-12.36 [[ 3.51162610e-02 -5.96576066e-01 8.01787906e-01 1.70277185e+02] [-1.80066903e-01 7.85375607e-01 5.92250847e-01 -3.65688024e+01] [-9.83027344e-01 -1.65173101e-01 -7.98441499e-02 -1.23601462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.63, Y:-36.61, Z:-12.50 [[ 1.01530654e-01 -8.39693163e-01 5.33485631e-01 1.70629221e+02] [-2.16654169e-01 5.04722388e-01 8.35653207e-01 -3.66102914e+01] [-9.70954426e-01 -2.00426303e-01 -1.30678230e-01 -1.24979895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:-35.00, Z:-13.09 [[ 3.40018785e-02 8.98960508e-01 4.36707999e-01 1.69662087e+02] [-2.18357010e-01 4.33086091e-01 -8.74503662e-01 -3.50002341e+01] [-9.75276417e-01 -6.56234855e-02 2.11020069e-01 -1.30892125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:-34.82, Z:-13.18 [[ 2.79834228e-02 9.72325278e-01 2.31949308e-01 1.69810744e+02] [-2.15360007e-01 2.32455293e-01 -9.48464340e-01 -3.48151161e+01] [-9.76133698e-01 -2.34113259e-02 2.15904873e-01 -1.31842703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:-34.81, Z:-13.25 [[ 1.82358756e-02 9.76369728e-01 2.15336035e-01 1.69832385e+02] [-2.15159054e-01 2.14158102e-01 -9.52807897e-01 -3.48129946e+01] [-9.76408743e-01 -2.89562113e-02 2.13980148e-01 -1.32452607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:-34.82, Z:-13.35 [[ 3.14168395e-03 9.80152333e-01 1.98220921e-01 1.69861424e+02] [-2.18151266e-01 1.94119437e-01 -9.56413963e-01 -3.48209883e+01] [-9.75909911e-01 -4.02373946e-02 2.14431335e-01 -1.33542040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:-34.79, Z:-13.42 [[-5.50826623e-03 9.89673259e-01 1.43235819e-01 1.69909102e+02] [-2.18540337e-01 1.38584142e-01 -9.65937139e-01 -3.47929988e+01] [-9.75812369e-01 -3.66234432e-02 2.15520169e-01 -1.34216645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-34.79, Z:-13.48 [[-1.07605685e-02 9.92012302e-01 1.25681351e-01 1.69928765e+02] [-2.19612518e-01 1.20275303e-01 -9.68144717e-01 -3.47917215e+01] [-9.75527832e-01 -3.80189855e-02 2.16564089e-01 -1.34834971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-34.91, Z:-13.54 [[-3.53086910e-02 9.67312000e-01 2.51119077e-01 1.69836583e+02] [-2.76462838e-01 2.32015472e-01 -9.32596976e-01 -3.49113452e+01] [-9.60375757e-01 -1.02353871e-01 2.59233659e-01 -1.35418572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-35.36, Z:-13.56 [[ 6.19474132e-02 -2.64359611e-01 -9.62432602e-01 1.71743453e+02] [-1.17944857e-01 -9.59466961e-01 2.55953438e-01 -3.53605973e+01] [-9.91086035e-01 9.76583219e-02 -9.06163526e-02 -1.35574583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.69, Y:-36.19, Z:-13.68 [[ 1.17008680e-02 1.43111815e-01 9.89637357e-01 1.69688228e+02] [-2.46997576e-01 9.59449579e-01 -1.35826001e-01 -3.61917746e+01] [-9.68945451e-01 -2.42848747e-01 4.65746642e-02 -1.36761625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:-34.91, Z:-14.11 [[-6.15542235e-02 9.88889569e-01 1.35308899e-01 1.70008121e+02] [-2.14393265e-01 1.19301754e-01 -9.69434175e-01 -3.49102546e+01] [-9.74805932e-01 -8.86820845e-02 2.04667736e-01 -1.41121352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.27, Y:-34.73, Z:-14.17 [[-5.56106893e-02 9.86659542e-01 -1.53004575e-01 1.70273611e+02] [-2.07766113e-01 -1.61322509e-01 -9.64784064e-01 -3.47334103e+01] [-9.76596484e-01 -2.18631409e-02 2.13965674e-01 -1.41669398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.29, Y:-34.72, Z:-14.17 [[-5.18224747e-02 9.83311103e-01 -1.74395259e-01 1.70287606e+02] [-2.07126560e-01 -1.81415696e-01 -9.61346417e-01 -3.47219713e+01] [-9.76940643e-01 -1.36974604e-02 2.13071256e-01 -1.41730536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-34.70, Z:-14.20 [[-4.73351868e-02 9.73523961e-01 -2.23630224e-01 1.70334869e+02] [-2.07643907e-01 -2.28580616e-01 -9.51122973e-01 -3.47006396e+01] [-9.77058539e-01 1.41386993e-03 2.12966225e-01 -1.41954493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.35, Y:-34.70, Z:-14.24 [[-4.51156959e-02 9.69194952e-01 -2.42127486e-01 1.70348284e+02] [-2.06489746e-01 -2.46187409e-01 -9.46970826e-01 -3.46984122e+01] [-9.77408082e-01 7.27359536e-03 2.11235736e-01 -1.42378796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.35, Y:-34.70, Z:-14.28 [[-3.73729502e-02 9.64770993e-01 -2.60423107e-01 1.70351879e+02] [-2.08114328e-01 -2.62405356e-01 -9.42248298e-01 -3.46967408e+01] [-9.77390244e-01 1.89831812e-02 2.10589529e-01 -1.42815463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.41, Y:-36.71, Z:-13.96 [[-2.61891123e-02 -9.99058222e-01 3.45947772e-02 1.71411861e+02] [-2.37899280e-01 3.98411678e-02 9.70472366e-01 -3.67062056e+01] [-9.70936694e-01 1.71857372e-02 -2.38718636e-01 -1.39579924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-34.90, Z:-14.48 [[ 2.95607590e-02 9.99461260e-01 1.42601306e-02 1.70038394e+02] [-2.05708784e-01 2.00439315e-02 -9.78407960e-01 -3.49020431e+01] [-9.78166682e-01 2.59890478e-02 2.06190474e-01 -1.44778605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:-34.87, Z:-14.51 [[ 2.83164242e-02 9.98944486e-01 -3.61675781e-02 1.70078114e+02] [-2.06203632e-01 -2.95664034e-02 -9.78062314e-01 -3.48708932e+01] [-9.78099301e-01 3.51531134e-02 2.05148767e-01 -1.45068036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.08, Y:-34.86, Z:-14.53 [[ 2.27893722e-02 9.98127658e-01 -5.67611011e-02 1.70082066e+02] [-2.07048975e-01 -5.08327716e-02 -9.77009085e-01 -3.48606418e+01] [-9.78065114e-01 3.40177515e-02 2.05502862e-01 -1.45269599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.10, Y:-34.85, Z:-14.54 [[ 1.89985613e-02 9.96478139e-01 -8.16723494e-02 1.70098862e+02] [-2.06622748e-01 -7.60105759e-02 -9.75463701e-01 -3.48468897e+01] [-9.78236216e-01 3.54077722e-02 2.04450959e-01 -1.45447641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:-34.84, Z:-14.56 [[ 1.19507695e-02 9.94830113e-01 -1.00847539e-01 1.70112400e+02] [-2.09341964e-01 -9.61305094e-02 -9.73105784e-01 -3.48362871e+01] [-9.77769462e-01 3.27409848e-02 2.07110856e-01 -1.45648280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-34.82, Z:-14.58 [[ 5.39122796e-03 9.91544918e-01 -1.29651880e-01 1.70129653e+02] [-2.11745483e-01 -1.25581809e-01 -9.69222915e-01 -3.48162566e+01] [-9.77309974e-01 3.26785015e-02 2.09278117e-01 -1.45797982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:-34.81, Z:-14.60 [[ 5.18187052e-04 9.88864842e-01 -1.48815508e-01 1.70142454e+02] [-2.12996756e-01 -1.45291500e-01 -9.66189817e-01 -3.48060039e+01] [-9.77052769e-01 3.21978875e-02 2.10549715e-01 -1.45970447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-34.80, Z:-14.64 [[-6.49807669e-02 9.83554692e-01 -1.68516073e-01 1.70163659e+02] [-2.02586177e-01 -1.78358920e-01 -9.62884695e-01 -3.48035612e+01] [-9.77106105e-01 -2.84299589e-02 2.10844485e-01 -1.46351387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:-34.68, Z:-14.72 [[-7.06320378e-02 8.94380718e-01 -4.41694744e-01 1.70481317e+02] [-2.10565725e-01 -4.46191131e-01 -8.69813515e-01 -3.46847121e+01] [-9.75024713e-01 3.15690728e-02 2.19841313e-01 -1.47187822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.52, Y:-34.66, Z:-14.63 [[-1.05947921e-01 8.78692499e-01 -4.65483114e-01 1.70516078e+02] [-1.90029447e-01 -4.77381975e-01 -8.57901660e-01 -3.46605518e+01] [-9.76045003e-01 -2.43739830e-03 2.17555078e-01 -1.46268947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:-34.66, Z:-14.66 [[-1.05900659e-01 8.68433083e-01 -4.84364563e-01 1.70534234e+02] [-1.89913504e-01 -4.95801309e-01 -8.47416027e-01 -3.46584611e+01] [-9.76072698e-01 2.24545608e-03 2.17432855e-01 -1.46613413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:-34.66, Z:-14.70 [[-1.26406140e-01 8.54556266e-01 -5.03741081e-01 1.70555110e+02] [-1.76616336e-01 -5.19088934e-01 -8.36273489e-01 -3.46601435e+01] [-9.76129171e-01 -1.67411995e-02 2.16544625e-01 -1.47037828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:-34.65, Z:-14.75 [[-1.28954297e-01 7.88487415e-01 -6.01380400e-01 1.70691569e+02] [-1.76099096e-01 -6.15013429e-01 -7.68601061e-01 -3.46483217e+01] [-9.75889286e-01 6.78813534e-03 2.18160545e-01 -1.47497910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:-34.65, Z:-14.77 [[-1.33718681e-01 7.77004756e-01 -6.15128380e-01 1.70710908e+02] [-1.72487743e-01 -6.29476482e-01 -7.57632719e-01 -3.46507943e+01] [-9.75893075e-01 4.79245805e-03 2.18196562e-01 -1.47680411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:-34.65, Z:-14.79 [[-1.38512078e-01 7.59757703e-01 -6.35281542e-01 1.70734768e+02] [-1.67855492e-01 -6.50194004e-01 -7.40994124e-01 -3.46522987e+01] [-9.76032242e-01 3.99885984e-03 2.17589225e-01 -1.47864687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-34.66, Z:-14.80 [[-1.41490525e-01 7.41900770e-01 -6.55411076e-01 1.70765714e+02] [-1.65529438e-01 -6.70481393e-01 -7.23225212e-01 -3.46551048e+01] [-9.76002273e-01 6.16031207e-03 2.17673182e-01 -1.48031149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:-34.66, Z:-14.83 [[-1.54553464e-01 7.27569200e-01 -6.68398299e-01 1.70778784e+02] [-1.54085762e-01 -6.85999476e-01 -7.11099358e-01 -3.46603087e+01] [-9.75894874e-01 -6.91220811e-03 2.18131650e-01 -1.48305542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-34.67, Z:-14.85 [[-1.56990035e-01 6.83867374e-01 -7.12516346e-01 1.70853030e+02] [-1.52149118e-01 -7.29596769e-01 -6.66737730e-01 -3.46683036e+01] [-9.75809805e-01 3.73755396e-03 2.18589240e-01 -1.48536558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:-34.67, Z:-14.87 [[-1.67270762e-01 6.69164053e-01 -7.24044171e-01 1.70870616e+02] [-1.41788633e-01 -7.43084191e-01 -6.54004487e-01 -3.46726704e+01] [-9.75662070e-01 -6.73459549e-03 2.19176115e-01 -1.48703701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:169.58, Y:-35.50, Z:-14.54 [[-2.55858417e-01 8.12889872e-01 5.23207919e-01 1.69581095e+02] [-1.84674981e-01 4.90155347e-01 -8.51846751e-01 -3.54978561e+01] [-9.48910755e-01 -3.14575574e-01 2.47100507e-02 -1.45366309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.95, Y:-34.71, Z:-15.05 [[-2.46685787e-01 6.02368944e-01 -7.59142792e-01 1.70947237e+02] [-1.56741537e-01 -7.97838136e-01 -5.82139501e-01 -3.47051229e+01] [-9.56335827e-01 -2.46163330e-02 2.91231562e-01 -1.50477294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-35.90, Z:-14.50 [[-3.03227030e-01 5.76726123e-01 7.58577845e-01 1.69534747e+02] [-2.38731820e-01 7.24694400e-01 -6.46393954e-01 -3.58991042e+01] [-9.22529396e-01 -3.77100789e-01 -8.20640539e-02 -1.44950558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:-34.72, Z:-15.20 [[-2.91963923e-01 6.21621779e-01 -7.26872362e-01 1.70880094e+02] [-1.99484399e-01 -7.82849515e-01 -5.89366280e-01 -3.47240582e+01] [-9.35394592e-01 -2.70739946e-02 3.52567663e-01 -1.52036352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:-34.74, Z:-15.25 [[-3.07001643e-01 6.03981856e-01 -7.35497049e-01 1.70885233e+02] [-1.78831181e-01 -7.95661077e-01 -5.78742482e-01 -3.47400232e+01] [-9.34756332e-01 -4.61450871e-02 3.52280046e-01 -1.52494848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:170.95, Y:-34.76, Z:-15.29 [[-3.11510680e-01 5.56232351e-01 -7.70432780e-01 1.70946912e+02] [-1.68368949e-01 -8.30255217e-01 -5.31345623e-01 -3.47636828e+01] [-9.35207460e-01 -3.58028797e-02 3.52285624e-01 -1.52921703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.51, Y:-36.85, Z:-15.06 [[-2.10662164e-01 -9.75202780e-01 -6.78306043e-02 1.71507656e+02] [-2.07970837e-01 -2.30899820e-02 9.77862456e-01 -3.68487581e+01] [-9.55180393e-01 2.20105409e-01 -1.97949553e-01 -1.50570716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.81, Y:-34.76, Z:-15.36 [[-2.70683846e-01 6.20004834e-01 -7.36426684e-01 1.70814329e+02] [-1.39506617e-01 -7.82173405e-01 -6.07241854e-01 -3.47648574e+01] [-9.52506251e-01 -6.16341651e-02 2.98216483e-01 -1.53637540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21232058799995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:170.93, Y:-34.80, Z:-15.41 [[-2.70247380e-01 5.41084591e-01 -7.96362869e-01 1.70927528e+02] [-1.30243275e-01 -8.40082350e-01 -5.26591241e-01 -3.47976736e+01] [-9.53940796e-01 -3.85889950e-02 2.97502683e-01 -1.54062223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-36.59, Z:-15.33 [[-1.59247475e-01 -9.20236350e-01 -3.57498673e-01 1.71679083e+02] [-1.46032308e-01 -3.36179056e-01 9.30407549e-01 -3.65871415e+01] [-9.76378414e-01 2.00371409e-01 -8.08485721e-02 -1.53302734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27232058799996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:171.42, Y:-36.90, Z:-15.25 [[-9.05793486e-02 -9.94956055e-01 -4.31025502e-02 1.71423480e+02] [-1.56799757e-01 -2.84925659e-02 9.87219332e-01 -3.69012257e+01] [-9.83467955e-01 9.61801535e-02 -1.53428029e-01 -1.52471648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-36.08, Z:-15.13 [[-2.14014386e-01 5.61456217e-01 7.99352712e-01 1.69358290e+02] [-2.28888273e-01 7.66707603e-01 -5.99807977e-01 -3.60783491e+01] [-9.49635720e-01 -3.11329998e-01 -3.55757127e-02 -1.51303073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:-34.80, Z:-15.64 [[-2.11834527e-01 7.42239141e-01 -6.35772908e-01 1.70545410e+02] [-1.52659094e-01 -6.67681598e-01 -7.28626437e-01 -3.48008754e+01] [-9.65308932e-01 -5.72917204e-02 2.54747570e-01 -1.56385640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:170.56, Y:-34.81, Z:-15.67 [[-2.23616685e-01 7.29886004e-01 -6.45958203e-01 1.70561666e+02] [-1.45539727e-01 -6.80315103e-01 -7.18324125e-01 -3.48106664e+01] [-9.63749846e-01 -6.66166788e-02 2.58357218e-01 -1.56731840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39232058799996 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:170.56, Y:-34.81, Z:-15.68 [[-2.21136131e-01 7.31393553e-01 -6.45106411e-01 1.70561575e+02] [-1.35946960e-01 -6.78142576e-01 -7.22247237e-01 -3.48139056e+01] [-9.65721096e-01 -7.20147046e-02 2.49392555e-01 -1.56783766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:171.57, Y:-36.69, Z:-15.54 [[-6.53594601e-02 -9.48199810e-01 -3.10878211e-01 1.71570214e+02] [-1.70460021e-01 -2.96355692e-01 9.39742882e-01 -3.66898270e+01] [-9.83194550e-01 1.14413394e-01 -1.42260511e-01 -1.55399669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:169.38, Y:-36.43, Z:-15.37 [[-1.80986674e-01 3.21990936e-01 9.29282337e-01 1.69384273e+02] [-2.93391081e-01 8.84186070e-01 -3.63506076e-01 -3.64301964e+01] [-9.38704158e-01 -3.38432905e-01 -6.55566274e-02 -1.53686367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:170.33, Y:-34.86, Z:-15.87 [[-2.25967651e-01 8.28583406e-01 -5.12238382e-01 1.70329094e+02] [-1.81750050e-01 -5.52466585e-01 -8.13478698e-01 -3.48643972e+01] [-9.57029540e-01 -9.07205186e-02 2.75434652e-01 -1.58737478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:171.26, Y:-37.01, Z:-15.56 [[-2.48789678e-02 -9.99285945e-01 2.84365525e-02 1.71259136e+02] [-2.35090453e-01 3.34958837e-02 9.71396163e-01 -3.70104470e+01] [-9.71655039e-01 1.74821718e-02 -2.35755929e-01 -1.55573173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:170.09, Y:-34.94, Z:-15.95 [[-1.72870134e-01 9.18631731e-01 -3.55290950e-01 1.70088966e+02] [-1.95361963e-01 -3.85534747e-01 -9.01774175e-01 -3.49376646e+01] [-9.65375378e-01 -8.64794846e-02 2.46113142e-01 -1.59477969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57232058799997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:171.45, Y:-36.82, Z:-15.73 [[ 3.43719150e-02 -9.73830230e-01 -2.24662533e-01 1.71449507e+02] [-2.05697812e-01 -2.26875836e-01 9.51953657e-01 -3.68237087e+01] [-9.78011749e-01 1.34921213e-02 -2.08112905e-01 -1.57283617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:169.32, Y:-36.47, Z:-15.75 [[-1.00746556e-01 3.57569751e-01 9.28436322e-01 1.69319249e+02] [-3.38385484e-01 8.65236109e-01 -3.69948293e-01 -3.64661967e+01] [-9.35598950e-01 -3.51440391e-01 3.38268554e-02 -1.57494631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63232058799997 meters Centerline goodness : 0.999900 Centerline is valid? [True, True] Translation: X:169.89, Y:-35.09, Z:-16.25 [[-1.54052145e-01 9.67815803e-01 -1.98998765e-01 1.69886108e+02] [-2.49669524e-01 -2.32996249e-01 -9.39881842e-01 -3.50872240e+01] [-9.55998465e-01 -9.51068870e-02 2.77527683e-01 -1.62532633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-35.07, Z:-16.27 [[-1.56850408e-01 9.60015454e-01 -2.31879876e-01 1.69927856e+02] [-2.35692290e-01 -2.64387624e-01 -9.35172887e-01 -3.50710605e+01] [-9.59086594e-01 -9.20299504e-02 2.67737547e-01 -1.62655367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.66, Y:-36.22, Z:-16.14 [[ 3.18492512e-02 -6.63694247e-01 -7.47325613e-01 1.71662477e+02] [-1.60541134e-01 -7.41393646e-01 6.51584228e-01 -3.62150359e+01] [-9.86515164e-01 9.92240319e-02 -1.30163060e-01 -1.61387415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.83, Y:-37.18, Z:-15.89 [[ 1.09744230e-02 -3.43614043e-01 9.39046831e-01 1.69834556e+02] [-3.68567106e-01 8.71593295e-01 3.23238946e-01 -3.71776411e+01] [-9.29536363e-01 -3.49649134e-01 -1.17079600e-01 -1.58903959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.63, Y:-35.32, Z:-16.46 [[-1.13478608e-01 9.92460121e-01 4.63196933e-02 1.69630055e+02] [-2.73878052e-01 1.35671955e-02 -9.61668729e-01 -3.53193558e+01] [-9.55046291e-01 -1.21814776e-01 2.70273458e-01 -1.64575454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:-35.84, Z:-16.38 [[ 5.48375099e-02 -3.55776002e-01 -9.32961030e-01 1.71583445e+02] [-1.41505965e-01 -9.27705408e-01 3.45454393e-01 -3.58413345e+01] [-9.88417376e-01 1.13075693e-01 -1.01217481e-01 -1.63776208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:-37.38, Z:-16.17 [[ 0.17955133 -0.79697351 0.5767101 170.47956539] [ -0.33363103 0.50216169 0.79782452 -37.38158933] [ -0.92544673 -0.33565884 -0.17573129 -16.17414015] [ 0. 0. 0. 1. ]] SLAMing on 267.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:-35.79, Z:-16.82 [[-3.48957514e-02 8.99459441e-01 4.35608770e-01 1.69313103e+02] [-3.27123210e-01 4.01583048e-01 -8.55407190e-01 -3.57928030e+01] [-9.44337171e-01 -1.72347816e-01 2.80220518e-01 -1.68165843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:-35.59, Z:-16.96 [[-5.02446759e-02 9.73503003e-01 2.23086027e-01 1.69466143e+02] [-3.05757032e-01 1.97649752e-01 -9.31368463e-01 -3.55920095e+01] [-9.50782893e-01 -1.15006428e-01 2.87724541e-01 -1.69600919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.49, Y:-35.58, Z:-17.03 [[-5.46683290e-02 9.79201160e-01 1.95387980e-01 1.69494014e+02] [-3.03455312e-01 1.70132025e-01 -9.37533982e-01 -3.55835572e+01] [-9.51276115e-01 -1.10544937e-01 2.87842960e-01 -1.70263834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.932320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:169.48, Y:-35.64, Z:-17.08 [[-7.29022538e-02 9.70229548e-01 2.30954293e-01 1.69477217e+02] [-3.26227340e-01 1.95633931e-01 -9.24825977e-01 -3.56370283e+01] [-9.42475986e-01 -1.42765503e-01 3.02253251e-01 -1.70788284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:171.41, Y:-35.76, Z:-17.09 [[ 6.27215865e-02 -6.97428449e-02 -9.95591251e-01 1.71410895e+02] [-9.43963661e-02 -9.93497908e-01 6.36492945e-02 -3.57550775e+01] [-9.93556908e-01 8.99880115e-02 -6.88972361e-02 -1.70923048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.992320588 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:170.46, Y:-37.59, Z:-16.89 [[ 2.15825960e-01 -7.86175947e-01 5.79091129e-01 1.70461680e+02] [-3.32160780e-01 4.98584976e-01 8.00676113e-01 -3.75933148e+01] [-9.18198438e-01 -3.65158052e-01 -1.53529234e-01 -1.68897256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.35, Y:-35.97, Z:-17.55 [[-6.96561603e-03 9.16859277e-01 3.99149780e-01 1.69354748e+02] [-3.10936282e-01 3.77386559e-01 -8.72294683e-01 -3.59689842e+01] [-9.50405234e-01 -1.30186218e-01 2.82456085e-01 -1.75473413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.09, Y:-37.38, Z:-17.13 [[ 3.13856053e-01 -9.49445312e-01 -6.92659674e-03 1.71090855e+02] [-2.55870167e-01 -9.16032639e-02 9.62361315e-01 -3.73760580e+01] [-9.14343937e-01 -3.00270614e-01 -2.71684969e-01 -1.71267019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-36.29, Z:-17.84 [[ 6.30455530e-02 8.13312693e-01 5.78401004e-01 1.69247374e+02] [-3.52823966e-01 5.60292302e-01 -7.49391610e-01 -3.62942423e+01] [-9.33563339e-01 -1.56827928e-01 3.22280148e-01 -1.78441502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.112320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.02, Y:-35.64, Z:-17.85 [[ 9.79128184e-02 3.74766703e-01 -9.21934378e-01 1.71017856e+02] [-6.39642253e-02 -9.22100371e-01 -3.81627415e-01 -3.56410952e+01] [-9.93137280e-01 9.63370341e-02 -6.63137844e-02 -1.78535661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:171.08, Y:-37.59, Z:-17.61 [[ 3.65432202e-01 -9.30560480e-01 2.27266301e-02 1.71081941e+02] [-1.94866566e-01 -5.26044753e-02 9.79418088e-01 -3.75888738e+01] [-9.10212243e-01 -3.62339569e-01 -2.00558494e-01 -1.76059704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:-36.71, Z:-18.29 [[ 1.27347947e-01 6.61543845e-01 7.39014372e-01 1.69266338e+02] [-3.20023211e-01 7.32637740e-01 -6.00688843e-01 -3.67117269e+01] [-9.38811826e-01 -1.60005262e-01 3.05009298e-01 -1.82861167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:170.68, Y:-35.66, Z:-18.30 [[ 5.92145504e-02 6.97027911e-01 -7.14594801e-01 1.70676326e+02] [-4.02074348e-02 -7.13604643e-01 -6.99393863e-01 -3.56553778e+01] [-9.97435211e-01 7.01463170e-02 -1.42300738e-02 -1.83033705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:171.59, Y:-37.09, Z:-18.05 [[ 3.41292957e-01 -6.94863614e-01 -6.32995794e-01 1.71588132e+02] [ 1.37591165e-02 -6.69665262e-01 7.42535604e-01 -3.70927475e+01] [-9.39856268e-01 -2.62131635e-01 -2.18991328e-01 -1.80485472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-37.50, Z:-18.60 [[ 2.25735293e-01 1.60264694e-01 9.60915608e-01 1.69503749e+02] [-2.65919521e-01 9.59053418e-01 -9.74851279e-02 -3.74966410e+01] [-9.37192822e-01 -2.33520384e-01 2.59109715e-01 -1.85959254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.17, Y:-35.84, Z:-18.78 [[ 2.73700234e-02 9.60307350e-01 -2.77598046e-01 1.70172127e+02] [-5.97178690e-02 -2.75635314e-01 -9.59405519e-01 -3.58439324e+01] [-9.97839996e-01 4.28365153e-02 4.98033636e-02 -1.87814218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:171.70, Y:-36.69, Z:-18.59 [[ 2.56069653e-01 -3.41796553e-01 -9.04214272e-01 1.71704009e+02] [ 1.19165338e-01 -9.17105655e-01 3.80416666e-01 -3.66945482e+01] [-9.59285127e-01 -2.05164163e-01 -1.94112625e-01 -1.85851985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:-37.78, Z:-19.06 [[ 2.26528009e-01 -4.11228819e-02 9.73136152e-01 1.69773164e+02] [-1.85654038e-01 9.78967704e-01 8.45861217e-02 -3.77810111e+01] [-9.56147289e-01 -1.99827782e-01 2.14128976e-01 -1.90642778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.15, Y:-36.01, Z:-19.21 [[-6.65881319e-03 9.91373182e-01 -1.30900249e-01 1.70154886e+02] [-1.28779802e-02 -1.30977311e-01 -9.91301721e-01 -3.60094470e+01] [-9.99894903e-01 -4.91516216e-03 1.36390377e-02 -1.92092396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-36.72, Z:-19.11 [[ 2.08508444e-01 -2.92951949e-01 -9.33114883e-01 1.71823934e+02] [ 1.82876953e-01 -9.25578992e-01 3.31450675e-01 -3.67230390e+01] [-9.60770654e-01 -2.39755471e-01 -1.39416876e-01 -1.91075804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:-38.12, Z:-19.51 [[ 2.36594882e-01 -4.19576398e-01 8.76343830e-01 1.70250035e+02] [-9.30304504e-02 8.88024984e-01 4.50285424e-01 -3.81232880e+01] [-9.67144352e-01 -1.88061888e-01 1.71068785e-01 -1.95059277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:-37.94, Z:-19.63 [[ 1.99867862e-01 -1.68053997e-01 9.65303420e-01 1.70002296e+02] [-1.10961877e-01 9.74961641e-01 1.92710303e-01 -3.79354622e+01] [-9.73519542e-01 -1.45628476e-01 1.76215912e-01 -1.96343546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.01, Y:-37.93, Z:-19.70 [[ 2.10286334e-01 -1.63159217e-01 9.63928798e-01 1.70012378e+02] [-1.15986989e-01 9.74848125e-01 1.90310670e-01 -3.79284396e+01] [-9.70735121e-01 -1.51822932e-01 1.86072892e-01 -1.96999619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:170.12, Y:-36.18, Z:-19.80 [[-3.17234874e-02 9.97127179e-01 6.87823371e-02 1.70116228e+02] [ 1.06597612e-03 6.88506879e-02 -9.97626406e-01 -3.61825473e+01] [-9.99496115e-01 -3.15748684e-02 -3.24709769e-03 -1.97986001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.88, Y:-36.55, Z:-19.77 [[ 1.24684062e-01 -1.09224758e-01 -9.86166232e-01 1.71884922e+02] [ 2.26046439e-01 -9.64657359e-01 1.35422255e-01 -3.65530330e+01] [-9.66103976e-01 -2.39804361e-01 -9.55875305e-02 -1.97713182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.03, Y:-38.26, Z:-20.10 [[ 2.40990694e-01 -8.33166332e-01 4.97752296e-01 1.71030435e+02] [ 2.39341186e-02 5.17813775e-01 8.55158495e-01 -3.82573301e+01] [-9.70232263e-01 -1.94171977e-01 1.44729403e-01 -2.01035569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:-36.92, Z:-20.30 [[-5.47705845e-03 6.83994770e-01 7.29466351e-01 1.69816811e+02] [-6.45605395e-02 7.27713537e-01 -6.82835958e-01 -3.69243411e+01] [-9.97898762e-01 -5.08346737e-02 4.01733418e-02 -2.02987624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:-35.99, Z:-20.30 [[-4.33074476e-02 5.87191559e-01 -8.08288648e-01 1.71354305e+02] [ 1.90395428e-01 -7.89369305e-01 -5.83648594e-01 -3.59940610e+01] [-9.80751776e-01 -1.79170794e-01 -7.76130184e-02 -2.03036079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-37.92, Z:-20.54 [[ 1.54196253e-01 -9.79906990e-01 -1.26514057e-01 1.71819906e+02] [ 1.04795230e-01 -1.11103185e-01 9.88268203e-01 -3.79150519e+01] [-9.82467035e-01 -1.65645324e-01 8.55578836e-02 -2.05448567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-38.20, Z:-20.66 [[ 1.45347168e-01 -8.98457105e-01 4.14305481e-01 1.71263792e+02] [ 4.44760825e-02 4.24262406e-01 9.04446399e-01 -3.82039999e+01] [-9.88380533e-01 -1.13032038e-01 1.01625191e-01 -2.06574665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:-38.19, Z:-20.74 [[ 1.58813666e-01 -9.03379361e-01 3.98351540e-01 1.71282807e+02] [ 5.09183292e-02 4.10429469e-01 9.10469645e-01 -3.81876358e+01] [-9.85994697e-01 -1.24311628e-01 1.11180377e-01 -2.07361936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:-36.61, Z:-20.81 [[-9.54249313e-02 8.35717760e-01 5.40804870e-01 1.70000715e+02] [ 5.50152994e-03 5.43718549e-01 -8.39249589e-01 -3.66136909e+01] [-9.95421426e-01 -7.71100802e-02 -5.64820315e-02 -2.08131311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:-37.85, Z:-20.90 [[ 9.39013619e-02 -9.88639967e-01 -1.17360770e-01 1.71877564e+02] [ 5.75984721e-02 -1.12289482e-01 9.92004782e-01 -3.78479390e+01] [-9.93913955e-01 -9.99104011e-02 4.64000162e-02 -2.08965246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.81, Y:-37.91, Z:-20.91 [[ 9.38193826e-02 -9.94655923e-01 -4.30989339e-02 1.71811657e+02] [ 5.01495490e-02 -3.85135065e-02 9.97998864e-01 -3.79052342e+01] [-9.94325372e-01 -9.57930294e-02 4.62682326e-02 -2.09080151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:-37.96, Z:-20.97 [[ 8.70375862e-02 -9.95611271e-01 3.43897632e-02 1.71733828e+02] [ 4.12651548e-02 3.80942930e-02 9.98421761e-01 -3.79570480e+01] [-9.95350012e-01 -8.54811211e-02 4.43996885e-02 -2.09722205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.63, Y:-37.96, Z:-21.13 [[ 1.61280772e-01 -9.83930153e-01 7.66157088e-02 1.71627987e+02] [ 4.47992537e-02 8.48510066e-02 9.95386022e-01 -3.79648161e+01] [-9.85891241e-01 -1.57104300e-01 5.77641724e-02 -2.11255949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.92, Y:-36.91, Z:-21.35 [[-2.58567547e-02 6.08039726e-01 7.93485425e-01 1.69921397e+02] [-5.66030245e-02 7.91586882e-01 -6.08429376e-01 -3.69072310e+01] [-9.98061885e-01 -6.06456841e-02 1.39490196e-02 -2.13489921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-37.12, Z:-21.41 [[-1.53199766e-02 4.47071123e-01 8.94367211e-01 1.69941385e+02] [-6.65929329e-02 8.92029983e-01 -4.47043500e-01 -3.71220116e+01] [-9.97662608e-01 -6.64072317e-02 1.61058988e-02 -2.14145699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.41, Y:-37.98, Z:-21.52 [[ 1.37497647e-01 -9.50371154e-01 2.79086129e-01 1.71409311e+02] [-6.31044277e-02 2.72784880e-01 9.60003250e-01 -3.79835276e+01] [-9.88489873e-01 -1.49609758e-01 -2.24653487e-02 -2.15222364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.94, Y:-37.30, Z:-21.75 [[ 9.06598233e-02 2.93453297e-01 9.51664835e-01 1.69941224e+02] [-1.15569552e-01 9.52243868e-01 -2.82622177e-01 -3.72996162e+01] [-9.89153413e-01 -8.43610021e-02 1.20244527e-01 -2.17479836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:-35.84, Z:-21.84 [[ 1.44798071e-02 6.72898777e-01 -7.39592842e-01 1.71310213e+02] [ 5.35374862e-02 -7.39131108e-01 -6.71430520e-01 -3.58375000e+01] [-9.98460852e-01 -2.98737571e-02 -4.67277849e-02 -2.18401430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:-36.11, Z:-22.03 [[-6.61887229e-02 9.91548954e-01 1.11578335e-01 1.70384295e+02] [ 1.78082604e-02 1.12979627e-01 -9.93437703e-01 -3.61111752e+01] [-9.97648194e-01 -6.37673568e-02 -2.51357392e-02 -2.20312298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.21, Y:-36.49, Z:-22.10 [[ 1.47351256e-02 -2.03953973e-01 -9.78869579e-01 1.72208272e+02] [ 7.68082155e-02 -9.75852348e-01 2.04481523e-01 -3.64919236e+01] [-9.96936996e-01 -7.81982865e-02 1.28603380e-03 -2.20955688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-37.78, Z:-22.27 [[ 1.19776342e-01 -9.82877854e-01 -1.40016967e-01 1.71926194e+02] [-5.27040550e-04 -1.41095202e-01 9.89995892e-01 -3.77833038e+01] [-9.92800761e-01 -1.18504292e-01 -1.74178837e-02 -2.22654071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:-36.22, Z:-22.56 [[ 1.81210800e-02 9.67941762e-01 2.50520201e-01 1.70314036e+02] [ 7.38214166e-03 2.50424987e-01 -9.68107861e-01 -3.62198694e+01] [-9.99808547e-01 1.93925356e-02 -2.60751197e-03 -2.25601058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-37.92, Z:-22.66 [[ 1.00557829e-01 -9.90146245e-01 9.74604389e-02 1.71740935e+02] [-2.78061459e-02 9.51218433e-02 9.95077210e-01 -3.79238860e+01] [-9.94542579e-01 -1.02772803e-01 -1.79669048e-02 -2.26609986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-37.82, Z:-22.81 [[ 1.57429376e-01 -9.85139854e-01 -6.86692106e-02 1.71840227e+02] [-2.31848658e-02 -7.32042656e-02 9.97047440e-01 -3.78185967e+01] [-9.87258048e-01 -1.55372469e-01 -3.43648371e-02 -2.28094974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:-37.70, Z:-22.96 [[ 2.19227643e-01 -9.49856625e-01 -2.22961057e-01 1.71922429e+02] [-9.41711405e-03 -2.30569427e-01 9.73010307e-01 -3.77045075e+01] [-9.75628289e-01 -2.11211106e-01 -5.94921001e-02 -2.29557382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.95, Y:-37.65, Z:-23.11 [[ 2.74355785e-01 -9.14469150e-01 -2.97447605e-01 1.71949800e+02] [ 5.22818249e-03 -3.07893584e-01 9.51406436e-01 -3.76476030e+01] [-9.61614044e-01 -2.62578970e-01 -7.96913742e-02 -2.31101660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.98, Y:-37.60, Z:-23.27 [[ 3.31989666e-01 -8.71789061e-01 -3.60231445e-01 1.71975632e+02] [ 2.69479976e-02 -3.72969750e-01 9.27452086e-01 -3.75994407e+01] [-9.42898015e-01 -3.17612025e-01 -1.00329133e-01 -2.32652171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.14, Y:-36.45, Z:-24.06 [[ 3.23339439e-01 8.44682416e-01 4.26571476e-01 1.70144975e+02] [ 5.64746300e-02 4.32757666e-01 -8.99739640e-01 -3.64458180e+01] [-9.44596328e-01 3.15011777e-01 9.22244939e-02 -2.40572380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-37.60, Z:-23.61 [[ 3.19453263e-01 -8.87562628e-01 -3.31937033e-01 1.72112967e+02] [ 1.93857503e-02 -3.44097086e-01 9.38733928e-01 -3.75952423e+01] [-9.47403718e-01 -3.06316465e-01 -9.27168692e-02 -2.36108271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.26, Y:-36.41, Z:-24.38 [[ 3.30303543e-01 8.52772834e-01 4.04571457e-01 1.70262009e+02] [ 5.22098961e-02 4.11464990e-01 -9.09928947e-01 -3.64069730e+01] [-9.42429677e-01 3.21675389e-01 9.13851632e-02 -2.43839398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.38, Y:-36.32, Z:-24.48 [[ 2.76006509e-01 8.96724094e-01 3.45985991e-01 1.70375669e+02] [ 2.70319648e-02 3.52584144e-01 -9.35389595e-01 -3.63199500e+01] [-9.60775562e-01 2.67526298e-01 7.30753046e-02 -2.44767685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-37.66, Z:-24.18 [[ 2.47225914e-01 -9.40093842e-01 -2.34740101e-01 1.72256747e+02] [-1.45905242e-02 -2.45844735e-01 9.69199403e-01 -3.76616434e+01] [-9.68848009e-01 -2.36186227e-01 -7.44956513e-02 -2.41821221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:-36.29, Z:-24.86 [[ 2.89426214e-01 9.05090615e-01 3.11517969e-01 1.70459297e+02] [ 2.47089731e-02 3.18274085e-01 -9.47676671e-01 -3.62872946e+01] [-9.56881358e-01 2.81979760e-01 6.97530039e-02 -2.48581196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:-37.65, Z:-24.51 [[ 2.40599898e-01 -9.42346002e-01 -2.32584826e-01 1.72370480e+02] [-2.46758204e-02 -2.45484956e-01 9.69086292e-01 -3.76526523e+01] [-9.70310668e-01 -2.27422842e-01 -8.23168160e-02 -2.45098168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.56, Y:-36.30, Z:-25.24 [[ 2.96847220e-01 8.97430294e-01 3.26344291e-01 1.70558373e+02] [ 2.42024540e-02 3.34568261e-01 -9.42060678e-01 -3.62981527e+01] [-9.54618232e-01 2.87546426e-01 7.75956427e-02 -2.52395105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:170.82, Y:-36.08, Z:-25.34 [[ 2.32125399e-01 9.68236846e-01 9.29258241e-02 1.70817004e+02] [-4.57577032e-02 1.06299362e-01 -9.93280765e-01 -3.60778231e+01] [-9.71608991e-01 2.26313622e-01 6.89790760e-02 -2.53417238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:-36.73, Z:-25.12 [[ 1.86962744e-01 -4.82621246e-01 -8.55641085e-01 1.72869333e+02] [-2.83351282e-02 -8.73286368e-01 4.86382607e-01 -3.67302838e+01] [-9.81958275e-01 -6.66907270e-02 -1.76947150e-01 -2.51234546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:-37.97, Z:-25.64 [[ 1.75518882e-01 -2.27132728e-01 9.57916409e-01 1.70987324e+02] [ 1.12423812e-01 9.71280551e-01 2.09702117e-01 -3.79681977e+01] [-9.78035791e-01 7.08859326e-02 1.96013204e-01 -2.56435095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.99, Y:-37.97, Z:-25.70 [[ 1.74094222e-01 -2.11604050e-01 9.61724975e-01 1.70985494e+02] [ 1.11739232e-01 9.74576332e-01 1.94204320e-01 -3.79720669e+01] [-9.78368819e-01 7.36525605e-02 1.93312582e-01 -2.57044660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:170.99, Y:-37.96, Z:-25.78 [[ 1.76221418e-01 -1.95267934e-01 9.64788291e-01 1.70985970e+02] [ 1.07390173e-01 9.78090180e-01 1.78345034e-01 -3.79629724e+01] [-9.78475019e-01 7.21805664e-02 1.93330296e-01 -2.57823671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.03, Y:-37.97, Z:-25.85 [[ 2.19181695e-01 -2.07008854e-01 9.53470880e-01 1.71027817e+02] [ 7.85807889e-02 9.77803967e-01 1.94227859e-01 -3.79737454e+01] [-9.72514496e-01 3.23533024e-02 2.30583650e-01 -2.58473299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.04, Y:-36.00, Z:-25.93 [[ 1.77501425e-01 9.83373189e-01 -3.83460065e-02 1.71037507e+02] [ 1.50016725e-02 -4.16639478e-02 -9.99019052e-01 -3.59984624e+01] [-9.84006196e-01 1.76752051e-01 -2.21476526e-02 -2.59314358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:-37.07, Z:-25.81 [[ 1.86186003e-01 -6.96470736e-01 -6.93010308e-01 1.73074314e+02] [ 3.83290921e-02 -6.99657921e-01 7.13449139e-01 -3.70663056e+01] [-9.81766598e-01 -1.59396699e-01 -1.03571421e-01 -2.58074511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.27, Y:-35.93, Z:-26.23 [[ 1.87840946e-01 9.68373644e-01 -1.64220172e-01 1.71272227e+02] [ 1.25785368e-01 -1.89536855e-01 -9.73783252e-01 -3.59254231e+01] [-9.74111811e-01 1.62259873e-01 -1.57410018e-01 -2.62317292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-38.22, Z:-26.51 [[ 9.84595983e-02 -6.22466110e-01 7.76428780e-01 1.71764664e+02] [ 1.22462450e-01 7.81868444e-01 6.11297542e-01 -3.82208869e+01] [-9.87577165e-01 3.48952601e-02 1.53211178e-01 -2.65120529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.70, Y:-38.20, Z:-26.58 [[ 1.00662820e-01 -5.80459998e-01 8.08042813e-01 1.71704561e+02] [ 1.26675479e-01 8.13035750e-01 5.68265953e-01 -3.81992932e+01] [-9.86823348e-01 4.51559565e-02 1.55372520e-01 -2.65778006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-38.18, Z:-26.64 [[ 1.02658038e-01 -5.63800169e-01 8.19506374e-01 1.71686051e+02] [ 1.26611634e-01 8.24564197e-01 5.51419423e-01 -3.81843594e+01] [-9.86625979e-01 4.71514048e-02 1.56031803e-01 -2.66408195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.74, Y:-38.18, Z:-26.71 [[ 1.55070119e-01 -5.90171376e-01 7.92244284e-01 1.71740844e+02] [ 1.36857154e-01 8.07046037e-01 5.74409970e-01 -3.81793207e+01] [-9.78377932e-01 1.93504759e-02 2.05917900e-01 -2.67064249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:-35.95, Z:-26.70 [[-5.31494032e-04 9.97029116e-01 -7.70237535e-02 1.71345013e+02] [ 9.57002830e-02 -7.66195272e-02 -9.92457004e-01 -3.59509504e+01] [-9.95410053e-01 -7.89867998e-03 -9.53752457e-02 -2.67021978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:173.27, Y:-37.11, Z:-26.81 [[ 1.81681977e-01 -7.11532162e-01 -6.78758898e-01 1.73268814e+02] [ 2.04553051e-01 -6.47802001e-01 7.33832826e-01 -3.71081790e+01] [-9.61847030e-01 -2.72166402e-01 2.78521263e-02 -2.68070481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:172.19, Y:-38.16, Z:-27.18 [[ 2.04066922e-01 -7.97817561e-01 5.67312815e-01 1.72187321e+02] [ 9.79893550e-02 5.93243723e-01 7.99036902e-01 -3.81624494e+01] [-9.74040439e-01 -1.07466385e-01 1.99239049e-01 -2.71846140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.16, Y:-36.18, Z:-27.20 [[-2.70509814e-03 9.73234496e-01 2.29798385e-01 1.71155179e+02] [ 1.09247988e-01 2.28711377e-01 -9.67344811e-01 -3.61829717e+01] [-9.94010845e-01 2.24882485e-02 -1.06942597e-01 -2.71974385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:-38.07, Z:-27.47 [[ 1.39696385e-01 -8.70275072e-01 4.72341210e-01 1.72416950e+02] [ 7.61169657e-02 4.85045256e-01 8.71170080e-01 -3.80740658e+01] [-9.87264467e-01 -8.57461310e-02 1.34001766e-01 -2.74684616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.28, Y:-38.09, Z:-27.54 [[ 1.37595387e-01 -8.08381298e-01 5.72352327e-01 1.72275565e+02] [ 6.72822559e-02 5.84142002e-01 8.08857972e-01 -3.80878994e+01] [-9.88200692e-01 -7.27859699e-02 1.34764962e-01 -2.75390406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:-38.08, Z:-27.61 [[ 1.40741241e-01 -7.92812665e-01 5.92992395e-01 1.72244364e+02] [ 6.35810596e-02 6.04955577e-01 7.93716699e-01 -3.80807048e+01] [-9.88002709e-01 -7.40055880e-02 1.35550068e-01 -2.76052834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:-38.06, Z:-27.67 [[ 1.65100560e-01 -8.17639800e-01 5.51549601e-01 1.72306019e+02] [ 7.09683003e-02 5.67623036e-01 8.20224109e-01 -3.80644188e+01] [-9.83720136e-01 -9.62769218e-02 1.51741388e-01 -2.76710597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.17, Y:-36.20, Z:-27.72 [[-4.41697175e-02 9.40031363e-01 3.38216014e-01 1.71173809e+02] [ 5.93047250e-02 3.40416588e-01 -9.38402630e-01 -3.61998535e+01] [-9.97262245e-01 -2.13911714e-02 -7.07844060e-02 -2.77195019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-37.89, Z:-27.98 [[ 1.20778183e-01 -9.60280795e-01 2.51542094e-01 1.72742087e+02] [ 4.87828386e-02 2.58832557e-01 9.64689557e-01 -3.78867250e+01] [-9.91480139e-01 -1.04242515e-01 7.81065490e-02 -2.79792195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:172.22, Y:-38.00, Z:-28.08 [[ 1.03211330e-01 -7.60795313e-01 6.40732325e-01 1.72222899e+02] [ 2.27322553e-02 6.45808525e-01 7.63160923e-01 -3.79986432e+01] [-9.94399651e-01 -6.42015630e-02 8.39493500e-02 -2.80764964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:-36.14, Z:-28.04 [[ 8.04531877e-02 -8.16861579e-02 -9.93405585e-01 1.73203831e+02] [ 1.89036610e-01 -9.77298405e-01 9.56712456e-02 -3.61372662e+01] [-9.78668710e-01 -1.95487080e-01 -6.31850977e-02 -2.80390334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:-37.98, Z:-28.41 [[ 1.46912093e-01 -9.09614591e-01 3.88610515e-01 1.72585053e+02] [ 1.16410040e-01 4.06042615e-01 9.06409454e-01 -3.79764437e+01] [-9.82275694e-01 -8.79243439e-02 1.65540842e-01 -2.84122967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.15, Y:-36.33, Z:-28.44 [[-4.16138924e-02 8.76785824e-01 4.79077137e-01 1.71150671e+02] [ 7.95519319e-02 4.80877808e-01 -8.73171245e-01 -3.63269380e+01] [-9.95961733e-01 1.77545752e-03 -8.97612035e-02 -2.84442532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.99, Y:-37.75, Z:-28.62 [[ 6.10667262e-02 -9.93777611e-01 9.31499624e-02 1.72990816e+02] [ 8.21646772e-02 9.80123718e-02 9.91787548e-01 -3.77495250e+01] [-9.94746109e-01 -5.29115821e-02 8.76387112e-02 -2.86227288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.95, Y:-37.77, Z:-28.68 [[ 6.21121917e-02 -9.89101344e-01 1.33493844e-01 1.72948162e+02] [ 7.94243406e-02 1.38226272e-01 9.87210855e-01 -3.77708613e+01] [-9.94903940e-01 -5.07151694e-02 8.71442588e-02 -2.86834624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.91, Y:-37.79, Z:-28.74 [[ 5.98798351e-02 -9.83451349e-01 1.70990786e-01 1.72908286e+02] [ 7.69946771e-02 1.75338282e-01 9.81492897e-01 -3.77866859e+01] [-9.95231744e-01 -4.56062525e-02 8.62197465e-02 -2.87446829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.86, Y:-37.80, Z:-28.81 [[ 6.08564061e-02 -9.75480379e-01 2.11505387e-01 1.72861624e+02] [ 7.52785072e-02 2.15780107e-01 9.73535871e-01 -3.78042998e+01] [-9.95303795e-01 -4.33240845e-02 8.65643086e-02 -2.88111823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.81, Y:-37.83, Z:-28.87 [[ 6.01815175e-02 -9.63973221e-01 2.59101937e-01 1.72806132e+02] [ 7.46697350e-02 2.63192733e-01 9.61849269e-01 -3.78250828e+01] [-9.95390685e-01 -3.85384756e-02 8.78189631e-02 -2.88733096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:172.87, Y:-37.78, Z:-28.95 [[ 9.56278864e-02 -9.77242375e-01 1.89347955e-01 1.72874279e+02] [ 1.15494916e-01 1.99827777e-01 9.73000403e-01 -3.77799177e+01] [-9.88694205e-01 -7.11772459e-02 1.31975634e-01 -2.89523733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:-36.57, Z:-29.04 [[-3.96045254e-02 6.97628831e-01 7.15363890e-01 1.71114410e+02] [ 2.30761391e-02 7.16373217e-01 -6.97335576e-01 -3.65687675e+01] [-9.98948934e-01 -1.11098080e-02 -4.44702012e-02 -2.90447398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:173.47, Y:-37.12, Z:-29.08 [[ 1.04955464e-02 -8.91625203e-01 -4.52652562e-01 1.73465063e+02] [ 2.71478577e-02 -4.52256553e-01 8.91474623e-01 -3.71166746e+01] [-9.99576329e-01 -2.16450606e-02 1.94590345e-02 -2.90841116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63232058799997 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:171.47, Y:-37.50, Z:-29.10 [[-1.53329625e-02 -7.82082571e-02 9.96819125e-01 1.71469377e+02] [-4.36582845e-02 9.96037908e-01 7.74754176e-02 -3.75040272e+01] [-9.98928854e-01 -4.23314853e-02 -1.86866502e-02 -2.91042516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:171.71, Y:-35.58, Z:-29.17 [[-1.90490582e-02 9.83144106e-01 -1.81837293e-01 1.71713535e+02] [-1.61896029e-02 -1.82149757e-01 -9.83137510e-01 -3.55760021e+01] [-9.99687466e-01 -1.57839701e-02 1.93864940e-02 -2.91658055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692320588 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:173.51, Y:-36.62, Z:-29.29 [[ 5.98802476e-02 -6.01373982e-01 -7.96720585e-01 1.73513920e+02] [ 5.62304915e-02 -7.94853271e-01 6.04190706e-01 -3.66150639e+01] [-9.96620533e-01 -8.09790791e-02 -1.37804561e-02 -2.92934813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:172.29, Y:-37.92, Z:-29.51 [[ 4.96842576e-02 -7.52443771e-01 6.56779906e-01 1.72287829e+02] [ 5.89659226e-02 6.58654876e-01 7.50131172e-01 -3.79192037e+01] [-9.97022815e-01 1.45792277e-03 7.70933197e-02 -2.95074212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:173.39, Y:-36.22, Z:-29.48 [[ 3.87792146e-02 -2.66078894e-01 -9.63170906e-01 1.73385154e+02] [ 1.42844495e-01 -9.52520230e-01 2.68887822e-01 -3.62218973e+01] [-9.88985148e-01 -1.48010920e-01 1.06991886e-03 -2.94802261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:173.12, Y:-37.63, Z:-29.76 [[ 9.98875253e-02 -9.94137662e-01 -4.13858794e-02 1.73121598e+02] [ 1.62586072e-01 -2.47270270e-02 9.86384480e-01 -3.76320873e+01] [-9.81625311e-01 -1.05256272e-01 1.59163016e-01 -2.97594991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:171.16, Y:-37.07, Z:-30.02 [[ 8.86833131e-02 3.57546473e-01 9.29675099e-01 1.71160645e+02] [ 4.35927231e-02 9.31065119e-01 -3.62239450e-01 -3.70742408e+01] [-9.95105494e-01 7.26516638e-02 6.69835150e-02 -3.00210120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:171.75, Y:-35.60, Z:-30.05 [[-7.88929200e-03 9.83585140e-01 -1.80272103e-01 1.71747950e+02] [ 1.63561163e-02 -1.80126668e-01 -9.83507428e-01 -3.55965336e+01] [-9.99835105e-01 -1.07077288e-02 -1.46665611e-02 -3.00540314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872320588 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:172.61, Y:-35.43, Z:-30.13 [[-3.96707801e-02 6.22640505e-01 -7.81501779e-01 1.72606996e+02] [ 4.67937012e-02 -7.80101700e-01 -6.23900382e-01 -3.54332227e+01] [-9.98116516e-01 -6.13199756e-02 1.81158931e-03 -3.01261305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-36.10, Z:-30.27 [[-4.05838782e-02 -2.64761752e-01 -9.63459477e-01 1.73511518e+02] [ 9.82310427e-02 -9.60639936e-01 2.59849139e-01 -3.60961508e+01] [-9.94335764e-01 -8.40959432e-02 6.49943171e-02 -3.02674621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-37.07, Z:-30.44 [[-1.01919383e-02 -8.80420167e-01 -4.74084859e-01 1.73571280e+02] [ 1.36625955e-01 -4.70889254e-01 8.71548426e-01 -3.70650328e+01] [-9.90570277e-01 -5.58895289e-02 1.25087521e-01 -3.04430230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.20, Y:-37.83, Z:-30.67 [[ 5.34767736e-02 -6.46900275e-01 7.60697226e-01 1.72202022e+02] [ 5.19063044e-02 7.62558208e-01 6.44833866e-01 -3.78268052e+01] [-9.97219118e-01 5.00134709e-03 7.43573552e-02 -3.06742456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:172.01, Y:-37.78, Z:-30.77 [[ 1.01364396e-01 -5.16855055e-01 8.50050652e-01 1.72012602e+02] [ 5.54328638e-02 8.56058497e-01 5.13897897e-01 -3.77779811e+01] [-9.93303809e-01 -4.97020762e-03 1.15424608e-01 -3.07678937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.59, Y:-37.56, Z:-30.87 [[ 9.66532935e-02 -1.60956940e-01 9.82217392e-01 1.71594825e+02] [ 3.20991952e-02 9.86828407e-01 1.58553889e-01 -3.75580361e+01] [-9.94800373e-01 1.62036322e-02 1.00546804e-01 -3.08669166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:171.32, Y:-37.24, Z:-30.96 [[ 9.80306595e-02 1.80134660e-01 9.78744856e-01 1.71317203e+02] [ 6.02708003e-03 9.83356401e-01 -1.81587069e-01 -3.72361790e+01] [-9.95165144e-01 2.37000737e-02 9.53133904e-02 -3.09592146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:171.17, Y:-36.86, Z:-31.04 [[ 7.76174928e-02 4.85624931e-01 8.70714621e-01 1.71165895e+02] [-1.52196438e-02 8.73824713e-01 -4.86002813e-01 -3.68567114e+01] [-9.96867036e-01 2.44703534e-02 7.52151218e-02 -3.10412087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:-35.34, Z:-31.13 [[-3.71948584e-02 7.66970852e-01 -6.40603040e-01 1.72379617e+02] [ 4.87176410e-02 -6.38892673e-01 -7.67751746e-01 -3.53356699e+01] [-9.98119799e-01 -5.97650865e-02 -1.36014881e-02 -3.11312664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:173.62, Y:-36.12, Z:-31.26 [[-4.46394009e-02 -3.50865507e-01 -9.35361278e-01 1.73623563e+02] [ 1.67431687e-02 -9.36425862e-01 3.50465791e-01 -3.61179752e+01] [-9.98862849e-01 -1.63287223e-05 4.76760899e-02 -3.12564078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:173.71, Y:-36.66, Z:-31.33 [[-1.34319841e-02 -7.15153681e-01 -6.98838175e-01 1.73711545e+02] [ 3.86925499e-02 -6.98749512e-01 7.14319260e-01 -3.66649002e+01] [-9.99160882e-01 -1.74451060e-02 3.70567118e-02 -3.13315604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.88, Y:-37.69, Z:-31.49 [[ 7.13268508e-02 -3.67173892e-01 9.27413507e-01 1.71875828e+02] [-7.15983321e-02 9.25498502e-01 3.71922306e-01 -3.76899519e+01] [-9.94879972e-01 -9.29293072e-02 3.97238553e-02 -3.14895607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-36.31, Z:-31.72 [[ 5.13031137e-02 8.08922269e-01 5.85672906e-01 1.71185917e+02] [-1.36874070e-01 5.86606486e-01 -7.98221974e-01 -3.63082776e+01] [-9.89259056e-01 -3.92121616e-02 1.40815222e-01 -3.17157103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:-35.46, Z:-31.86 [[-2.28198901e-02 4.14739969e-01 -9.09653786e-01 1.72950505e+02] [-1.87189159e-02 -9.09908474e-01 -4.14386500e-01 -3.54588493e+01] [-9.99564333e-01 7.57147834e-03 2.85274939e-02 -3.18567939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:-37.16, Z:-31.95 [[ 7.58230600e-02 -9.10986896e-01 -4.05405648e-01 1.73560248e+02] [ 5.38447666e-02 -4.02242068e-01 9.13948609e-01 -3.71561596e+01] [-9.95666412e-01 -9.11273527e-02 1.85526523e-02 -3.19533352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:-37.91, Z:-32.12 [[ 1.26672276e-01 -7.89639718e-01 6.00352605e-01 1.72522770e+02] [ 1.89465358e-02 6.07043574e-01 7.94442652e-01 -3.79093891e+01] [-9.91763663e-01 -8.92592571e-02 9.18565286e-02 -3.21201771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:-37.54, Z:-32.33 [[ 9.82474654e-02 -5.03364548e-02 9.93888161e-01 1.71539274e+02] [-4.07703282e-02 9.97677874e-01 5.45586019e-02 -3.75400523e+01] [-9.94326514e-01 -4.58813909e-02 9.59670886e-02 -3.23307285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.26, Y:-37.12, Z:-32.46 [[ 1.03190920e-01 3.44530408e-01 9.33086508e-01 1.71264704e+02] [-8.06832820e-02 9.37902464e-01 -3.37385798e-01 -3.71203394e+01] [-9.91383802e-01 -4.04693310e-02 1.24580862e-01 -3.24551044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.19, Y:-36.59, Z:-32.59 [[ 6.25353379e-02 7.06670282e-01 7.04774038e-01 1.71186100e+02] [-9.06704823e-02 7.07258654e-01 -7.01116296e-01 -3.65852160e+01] [-9.93915588e-01 -2.00576575e-02 1.08302794e-01 -3.25870298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-35.50, Z:-32.68 [[-2.07217724e-02 4.66519547e-01 -8.84268127e-01 1.72908292e+02] [ 3.14609345e-02 -8.83715760e-01 -4.66965380e-01 -3.54971201e+01] [-9.99290157e-01 -3.74962520e-02 3.63501588e-03 -3.26773870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47232058799995 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:173.74, Y:-36.47, Z:-32.76 [[ 7.66730649e-03 -5.36900690e-01 -8.43610610e-01 1.73737926e+02] [ 7.50874106e-02 -8.40944526e-01 5.35886355e-01 -3.64678644e+01] [-9.97147478e-01 -6.74533412e-02 3.38667032e-02 -3.27619719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:173.57, Y:-37.35, Z:-32.88 [[ 4.99480537e-02 -9.60228835e-01 -2.74710349e-01 1.73570379e+02] [ 7.61459930e-02 -2.70591882e-01 9.59677978e-01 -3.73532230e+01] [-9.95844857e-01 -6.88521395e-02 5.96020403e-02 -3.28753372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53232058799995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:171.47, Y:-37.36, Z:-33.09 [[ 2.14492505e-02 1.29653225e-01 9.91327378e-01 1.71467350e+02] [-4.82626212e-02 9.90533765e-01 -1.28505176e-01 -3.73573753e+01] [-9.98604351e-01 -4.50877180e-02 2.75036113e-02 -3.30903121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:172.16, Y:-37.79, Z:-33.18 [[ 1.07615016e-01 -5.31762759e-01 8.40028200e-01 1.72157049e+02] [-1.03198120e-01 8.34396006e-01 5.41418002e-01 -3.77865893e+01] [-9.88822106e-01 -1.44954038e-01 3.49166222e-02 -3.31827485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:171.28, Y:-36.95, Z:-33.40 [[ 7.38412277e-02 4.30133876e-01 8.99740141e-01 1.71277866e+02] [-1.56492412e-01 8.96023624e-01 -4.15513886e-01 -3.69529031e+01] [-9.84915021e-01 -1.10120450e-01 1.33476172e-01 -3.34044334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:171.27, Y:-36.24, Z:-33.56 [[ 3.44558845e-02 8.51153240e-01 5.23785218e-01 1.71273294e+02] [-1.64587350e-01 5.21773133e-01 -8.37056630e-01 -3.62438768e+01] [-9.85760517e-01 -5.73668944e-02 1.58067211e-01 -3.35617661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65232058799995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:171.57, Y:-35.75, Z:-33.70 [[-1.92409532e-03 9.95761346e-01 9.19545532e-02 1.71566533e+02] [-1.45651297e-01 9.06950534e-02 -9.85170090e-01 -3.57527150e+01] [-9.89334118e-01 -1.52888611e-02 1.44859426e-01 -3.37005513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:172.01, Y:-35.48, Z:-33.85 [[-4.25345497e-02 9.48945311e-01 -3.12559769e-01 1.72013381e+02] [-1.04511105e-01 -3.15352587e-01 -9.43202086e-01 -3.54783593e+01] [-9.93613728e-01 -7.45270930e-03 1.12588703e-01 -3.38491369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.41, Y:-35.39, Z:-33.97 [[-5.50794130e-02 8.00844306e-01 -5.96334348e-01 1.72409625e+02] [-6.88411691e-02 -5.98865609e-01 -7.97885252e-01 -3.53933521e+01] [-9.96105994e-01 -2.89469762e-03 8.81162246e-02 -3.39674901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:172.80, Y:-35.43, Z:-34.07 [[-5.66512090e-02 5.80134583e-01 -8.12548156e-01 1.72801996e+02] [-3.92985368e-02 -8.14520183e-01 -5.78802640e-01 -3.54282580e+01] [-9.97620301e-01 -8.57915702e-04 6.89419934e-02 -3.40664457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:173.27, Y:-35.64, Z:-34.15 [[-4.58919935e-02 2.15301021e-01 -9.75468808e-01 1.73266102e+02] [-6.73763655e-03 -9.76542139e-01 -2.15220943e-01 -3.56387262e+01] [-9.98923685e-01 -3.30456382e-03 4.62660856e-02 -3.41511092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-36.14, Z:-34.23 [[-2.18616741e-02 -2.90506140e-01 -9.56623358e-01 1.73683417e+02] [ 2.61352617e-02 -9.56691102e-01 2.89929444e-01 -3.61367320e+01] [-9.99419339e-01 -1.86632588e-02 2.85073231e-02 -3.42302395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83232058799996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:173.79, Y:-36.89, Z:-34.30 [[ 1.89987431e-02 -7.85216004e-01 -6.18930428e-01 1.73790596e+02] [ 3.95165325e-02 -6.17968737e-01 7.85208943e-01 -3.68913196e+01] [-9.99038283e-01 -3.93759673e-02 1.92883844e-02 -3.42991184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:173.32, Y:-37.69, Z:-34.39 [[ 6.94663580e-02 -9.94805838e-01 7.44027584e-02 1.73322936e+02] [ 2.83631992e-02 7.65223357e-02 9.96664367e-01 -3.76887943e+01] [-9.97181004e-01 -6.71243435e-02 3.35316041e-02 -3.43911756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89232058799996 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:172.40, Y:-37.96, Z:-34.52 [[ 9.57030044e-02 -6.53903364e-01 7.50500717e-01 1.72402215e+02] [-1.34313197e-02 7.53044502e-01 6.57832484e-01 -3.79581226e+01] [-9.95319313e-01 -7.30367602e-02 6.32858362e-02 -3.45169907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:171.54, Y:-37.47, Z:-34.66 [[ 8.32323812e-02 8.95985061e-02 9.92494070e-01 1.71543891e+02] [-7.17533564e-02 9.93903598e-01 -8.37083842e-02 -3.74707759e+01] [-9.93943573e-01 -6.42475326e-02 8.91539567e-02 -3.46564615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95232058799996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:171.28, Y:-36.74, Z:-34.78 [[ 4.35725266e-02 6.58548024e-01 7.51276204e-01 1.71284288e+02] [-9.50488978e-02 7.51311925e-01 -6.53066688e-01 -3.67359360e+01] [-9.94518548e-01 -4.29522095e-02 9.53308226e-02 -3.47810491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:171.44, Y:-36.10, Z:-34.89 [[ 7.52554649e-03 9.47205050e-01 3.20540104e-01 1.71440678e+02] [-9.52500427e-02 3.19770686e-01 -9.42695146e-01 -3.61010198e+01] [-9.95424932e-01 -2.34371625e-02 9.26277707e-02 -3.48941536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01232058799997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:171.82, Y:-35.68, Z:-34.99 [[-2.36999355e-02 9.91787458e-01 -1.25681945e-01 1.71820232e+02] [-7.95375752e-02 -1.27189349e-01 -9.88684299e-01 -3.56783339e+01] [-9.96550093e-01 -1.34353170e-02 8.18987489e-02 -3.49872272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:-36.67, Z:-35.08 [[ 5.93926938e-02 -6.29765938e-01 -7.74511053e-01 1.73786372e+02] [ 1.91857064e-02 -7.75017249e-01 6.31648773e-01 -3.66728613e+01] [-9.98050308e-01 -5.23748638e-02 -3.39478578e-02 -3.50813539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.23, Y:-37.99, Z:-35.29 [[ 4.52822023e-02 -5.51929005e-01 8.32660733e-01 1.72233615e+02] [ 4.23710582e-02 8.33826778e-01 5.50397672e-01 -3.79928788e+01] [-9.98075255e-01 1.03574976e-02 6.11433289e-02 -3.52932885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.14, Y:-37.96, Z:-35.38 [[ 4.97148653e-02 -4.83982890e-01 8.73664120e-01 1.72138551e+02] [ 3.71294143e-02 8.75036713e-01 4.82630457e-01 -3.79580859e+01] [-9.98073063e-01 8.44472887e-03 6.14723336e-02 -3.53755373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13232058799997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:173.75, Y:-36.65, Z:-35.36 [[ 8.12872459e-02 -5.90032079e-01 -8.03277368e-01 1.73745427e+02] [ 1.16576425e-01 -7.94784199e-01 5.95590475e-01 -3.66480305e+01] [-9.89849646e-01 -1.42057113e-01 4.17801164e-03 -3.53646201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:172.87, Y:-37.98, Z:-35.64 [[ 1.13302087e-01 -8.95140760e-01 4.31144590e-01 1.72874210e+02] [ 4.93321676e-02 4.38472073e-01 8.97389870e-01 -3.79767462e+01] [-9.92335112e-01 -8.04068478e-02 9.38390350e-02 -3.56425642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192320588 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:172.11, Y:-37.96, Z:-35.82 [[ 1.77539759e-01 -4.66475703e-01 8.66533354e-01 1.72106097e+02] [ 5.74613885e-02 8.83933115e-01 4.64069431e-01 -3.79601466e+01] [-9.82434640e-01 -3.25985653e-02 1.83737614e-01 -3.58206313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:171.56, Y:-37.53, Z:-36.00 [[ 1.50388123e-01 7.34368069e-02 9.85895759e-01 1.71555873e+02] [ 2.77784753e-03 9.97201980e-01 -7.47027096e-02 -3.75276143e+01] [-9.88623132e-01 1.39730683e-02 1.49763337e-01 -3.59996952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:-35.51, Z:-35.97 [[ 5.58517026e-02 7.69449572e-01 -6.36260909e-01 1.72537614e+02] [ 7.88821211e-02 -6.38664246e-01 -7.65431638e-01 -3.55118215e+01] [-9.95318139e-01 -7.43894982e-03 -9.63662998e-02 -3.59672117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:-37.99, Z:-36.22 [[ 4.08475803e-02 -8.67986224e-01 4.94905435e-01 1.72903654e+02] [ 7.51141940e-02 4.96584820e-01 8.64731967e-01 -3.79945600e+01] [-9.96337961e-01 1.85221444e-03 8.54823739e-02 -3.62219592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:-38.00, Z:-36.29 [[ 4.61953220e-02 -8.32807936e-01 5.51631157e-01 1.72819915e+02] [ 7.37762174e-02 5.53556947e-01 8.29537085e-01 -3.80032616e+01] [-9.96204327e-01 2.37652743e-03 8.70131607e-02 -3.62932555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.92, Y:-37.96, Z:-36.40 [[ 1.08518415e-01 -8.72136105e-01 4.77076900e-01 1.72918603e+02] [ 9.43669548e-02 4.86781438e-01 8.68411601e-01 -3.79641981e+01] [-9.89605291e-01 -4.92183561e-02 1.35125578e-01 -3.64007981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:172.27, Y:-37.93, Z:-36.53 [[ 1.13963952e-01 -5.10483140e-01 8.52302283e-01 1.72266668e+02] [ 5.73534677e-02 8.59841342e-01 5.07329722e-01 -3.79348671e+01] [-9.91828008e-01 -8.93480866e-03 1.27268896e-01 -3.65258701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-35.75, Z:-36.56 [[-1.60172067e-02 9.97954931e-01 -6.18821783e-02 1.71901580e+02] [ 6.78848782e-02 -6.06619297e-02 -9.95847264e-01 -3.57470304e+01] [-9.97564581e-01 -2.01515556e-02 -6.67744143e-02 -3.65582344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:173.86, Y:-37.21, Z:-36.71 [[-2.67932016e-02 -9.15483671e-01 -4.01462044e-01 1.73860339e+02] [ 4.78554407e-02 -4.02320436e-01 9.14247299e-01 -3.72129670e+01] [-9.98494858e-01 5.28346918e-03 5.45903271e-02 -3.67096290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:-37.29, Z:-36.74 [[-2.11306680e-02 -9.39583811e-01 -3.41666149e-01 1.73822496e+02] [ 5.13682026e-02 -3.42311398e-01 9.38181334e-01 -3.72867144e+01] [-9.98456210e-01 2.27362230e-03 5.54980001e-02 -3.67368720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:-35.99, Z:-36.65 [[-6.57490507e-02 9.76265402e-01 2.06356310e-01 1.71686198e+02] [ 7.55183240e-02 2.11079136e-01 -9.74547372e-01 -3.59865113e+01] [-9.94974394e-01 -4.84918819e-02 -8.76041798e-02 -3.66499133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.57, Y:-35.79, Z:-36.81 [[-4.77305779e-02 7.43210246e-02 -9.96091450e-01 1.73570021e+02] [ 3.77396994e-02 -9.96381817e-01 -7.61510956e-02 -3.57857859e+01] [-9.98147037e-01 -4.12269277e-02 4.47530268e-02 -3.68097658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.95, Y:-37.89, Z:-36.98 [[ 6.63966244e-02 -8.72711967e-01 4.83699608e-01 1.72948786e+02] [-2.44625662e-02 4.83199870e-01 8.75168252e-01 -3.78896294e+01] [-9.97493394e-01 -6.99407514e-02 1.07340660e-02 -3.69826121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:172.54, Y:-35.47, Z:-37.20 [[-1.11056593e-02 8.18575551e-01 -5.74291504e-01 1.72542813e+02] [-9.70681434e-03 -5.74388115e-01 -8.18525547e-01 -3.54724014e+01] [-9.99891215e-01 -3.51572486e-03 1.43247196e-02 -3.72037852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:-37.31, Z:-37.33 [[ 1.05259957e-01 -9.31353617e-01 -3.48569623e-01 1.73763524e+02] [ 3.98541134e-02 -3.46284390e-01 9.37282653e-01 -3.73140203e+01] [-9.93645808e-01 -1.12550265e-01 6.68392827e-04 -3.73309714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:-37.48, Z:-37.51 [[ 1.70397627e-01 -9.63768784e-01 -2.05217885e-01 1.73605766e+02] [ 5.44960092e-02 -1.98727746e-01 9.78538435e-01 -3.74831483e+01] [-9.83867285e-01 -1.77924183e-01 1.86588162e-02 -3.75067039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.672320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.81, Y:-35.85, Z:-37.88 [[ 1.25523398e-01 9.89993173e-01 6.44778559e-02 1.71810203e+02] [ 6.90166319e-02 5.61206357e-02 -9.96035732e-01 -3.58544892e+01] [-9.89687113e-01 1.29475834e-01 -6.12815415e-02 -3.78793533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:171.79, Y:-35.97, Z:-38.04 [[ 5.89280291e-02 9.75894331e-01 2.10137436e-01 1.71785515e+02] [ 5.72544536e-02 2.06852696e-01 -9.76695393e-01 -3.59726409e+01] [-9.96618992e-01 6.95860386e-02 -4.36848751e-02 -3.80363526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.732320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:171.74, Y:-36.15, Z:-38.20 [[-2.49622491e-03 9.18133091e-01 3.96264300e-01 1.71741917e+02] [ 3.26802676e-02 3.96128771e-01 -9.17613207e-01 -3.61469451e+01] [-9.99462740e-01 1.06594544e-02 -3.09936616e-02 -3.81964008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.94, Y:-37.90, Z:-38.28 [[-1.30957663e-02 -7.72695134e-01 6.34642207e-01 1.72943077e+02] [-1.95162445e-02 6.34773249e-01 7.72451965e-01 -3.79036632e+01] [-9.99723770e-01 -2.26998206e-03 -2.33929493e-02 -3.82774360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:171.92, Y:-37.46, Z:-38.36 [[ 2.25624067e-03 3.61116962e-02 9.99345213e-01 1.71920764e+02] [ 5.01781131e-03 9.99334767e-01 -3.61226475e-02 -3.74640350e+01] [-9.99984865e-01 5.09602710e-03 2.07353807e-03 -3.83583393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.78, Y:-35.41, Z:-38.44 [[-4.88811480e-03 7.91370170e-01 -6.11317724e-01 1.72778331e+02] [ 3.60948378e-04 -6.11323591e-01 -7.91380652e-01 -3.54090562e+01] [-9.99987988e-01 -4.08901361e-03 2.70257611e-03 -3.84400052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-36.00, Z:-38.53 [[-3.51267359e-02 -1.87714380e-01 -9.81595346e-01 1.73955005e+02] [-2.95634735e-02 -9.81576474e-01 1.88768710e-01 -3.59986808e+01] [-9.98945501e-01 3.56501966e-02 2.89300885e-02 -3.85293902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:-37.87, Z:-38.61 [[ 3.20433236e-02 -6.59937948e-01 7.50636483e-01 1.72720405e+02] [-7.82430998e-02 7.47061099e-01 6.60134631e-01 -3.78690764e+01] [-9.96419210e-01 -7.98850329e-02 -2.76972702e-02 -3.86113550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.69, Y:-36.31, Z:-38.99 [[ 3.80821204e-02 8.33306811e-01 5.51497516e-01 1.71691518e+02] [-1.00893818e-01 5.52283954e-01 -8.27528170e-01 -3.63111772e+01] [-9.94168089e-01 -2.41286624e-02 1.05107649e-01 -3.89862961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.98, Y:-35.78, Z:-39.12 [[ 4.75742144e-02 9.94843040e-01 8.95768889e-02 1.71980944e+02] [-1.17729219e-01 9.46379953e-02 -9.88525913e-01 -3.57770282e+01] [-9.91905502e-01 3.64825265e-02 1.21624422e-01 -3.91213904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.01, Y:-35.75, Z:-39.19 [[ 4.33806925e-02 9.97630022e-01 5.34083791e-02 1.72013777e+02] [-1.21016451e-01 5.83122764e-02 -9.90936273e-01 -3.57507504e+01] [-9.91702140e-01 3.65242092e-02 1.23259272e-01 -3.91904331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:-35.73, Z:-39.25 [[ 3.62033309e-02 9.99143240e-01 2.00525378e-02 1.72047345e+02] [-1.21232885e-01 2.43085235e-02 -9.92326400e-01 -3.57296910e+01] [-9.91963662e-01 3.34944939e-02 1.22009067e-01 -3.92547875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:-35.71, Z:-39.26 [[ 2.33191123e-02 9.99679749e-01 -9.82944901e-03 1.72072208e+02] [-1.24565207e-01 -6.85010287e-03 -9.92187777e-01 -3.57051814e+01] [-9.91937361e-01 2.43613455e-02 1.24365577e-01 -3.92569547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:-35.67, Z:-39.28 [[ 1.59416857e-02 9.98027888e-01 -6.07140617e-02 1.72120541e+02] [-1.26319485e-01 -5.82249637e-02 -9.90279375e-01 -3.56656228e+01] [-9.91861508e-01 2.34560916e-02 1.25142165e-01 -3.92816026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-35.63, Z:-39.27 [[ 6.61060657e-03 9.95507663e-01 -9.44499477e-02 1.72155071e+02] [-1.27695555e-01 -9.28383483e-02 -9.87458802e-01 -3.56349107e+01] [-9.91791382e-01 1.85885402e-02 1.26508186e-01 -3.92704321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.19, Y:-35.61, Z:-39.29 [[-1.24915307e-04 9.91633098e-01 -1.29088278e-01 1.72189810e+02] [-1.26956611e-01 -1.28059458e-01 -9.83607032e-01 -3.56111316e+01] [-9.91908264e-01 1.62657428e-02 1.25910374e-01 -3.92915565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.22, Y:-35.59, Z:-39.29 [[-8.00173363e-03 9.87259659e-01 -1.58916138e-01 1.72219277e+02] [-1.27887033e-01 -1.58626544e-01 -9.79021208e-01 -3.55906887e+01] [-9.91756462e-01 1.24894465e-02 1.27526996e-01 -3.92903661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:-35.57, Z:-39.31 [[-1.40110562e-02 9.81893442e-01 -1.88915214e-01 1.72251822e+02] [-1.28203288e-01 -1.89138440e-01 -9.73545360e-01 -3.55714747e+01] [-9.91648933e-01 1.05791529e-02 1.28531997e-01 -3.93082297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-35.55, Z:-39.33 [[-1.87285640e-02 9.74015242e-01 -2.25706776e-01 1.72292410e+02] [-1.27708231e-01 -2.26227718e-01 -9.65666416e-01 -3.55487381e+01] [-9.91634937e-01 1.07390679e-02 1.28626684e-01 -3.93252599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.29, Y:-35.56, Z:-39.38 [[-2.54936059e-02 9.75580131e-01 -2.18159308e-01 1.72287561e+02] [-1.26569370e-01 -2.19623991e-01 -9.67339391e-01 -3.55617866e+01] [-9.91630108e-01 2.95131706e-03 1.29077570e-01 -3.93844061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.13, Y:-36.89, Z:-39.41 [[ 5.64908999e-02 -7.83137270e-01 -6.19277639e-01 1.74127891e+02] [-4.30404465e-02 -6.21601723e-01 7.82150125e-01 -3.68934853e+01] [-9.97474961e-01 -1.75303783e-02 -6.88214185e-02 -3.94060888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.66, Y:-37.05, Z:-39.63 [[ 6.04575024e-02 4.64793446e-01 8.83352672e-01 1.71661655e+02] [-2.81238108e-02 8.85413335e-01 -4.63952884e-01 -3.70463759e+01] [-9.97774494e-01 3.20618915e-03 6.66016417e-02 -3.96269912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:-36.95, Z:-39.79 [[ 6.17575557e-02 5.25019801e-01 8.48846401e-01 1.71667719e+02] [-8.82475421e-02 8.50011310e-01 -5.19319886e-01 -3.69510945e+01] [-9.94182265e-01 -4.28366818e-02 9.88263278e-02 -3.97858229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:-35.51, Z:-39.94 [[-3.93115619e-02 6.16175206e-01 -7.86627432e-01 1.73144038e+02] [-1.26608157e-02 -7.87479924e-01 -6.16210251e-01 -3.55079526e+01] [-9.99146788e-01 -1.42648425e-02 3.87583465e-02 -3.99379007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:173.73, Y:-35.78, Z:-40.02 [[-3.49426419e-02 1.48020159e-01 -9.88366857e-01 1.73734408e+02] [ 2.69778683e-02 -9.88470702e-01 -1.48989485e-01 -3.57780360e+01] [-9.99025128e-01 -3.18701171e-02 3.05465094e-02 -4.00191578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:-37.26, Z:-40.14 [[ 9.45931918e-02 -9.02593655e-01 -4.19972406e-01 1.74063574e+02] [ 4.93818695e-02 -4.17090452e-01 9.07522444e-01 -3.72646307e+01] [-9.94290480e-01 -1.06584467e-01 5.11784498e-03 -4.01409542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.75, Y:-38.04, Z:-40.35 [[ 1.43979643e-01 -6.40217897e-01 7.54579954e-01 1.72752260e+02] [ 2.01343579e-02 7.64262360e-01 6.44591075e-01 -3.80375700e+01] [-9.89375798e-01 -7.76150101e-02 1.22928598e-01 -4.03494647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:-35.93, Z:-40.52 [[ 7.80730311e-03 9.95691564e-01 9.23978152e-02 1.72041666e+02] [ 7.41815317e-03 9.23404190e-02 -9.95699863e-01 -3.59295587e+01] [-9.99942007e-01 8.45915179e-03 -6.66526288e-03 -4.05201614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.49, Y:-37.93, Z:-40.61 [[ 5.27708171e-02 -4.02235448e-01 9.14014160e-01 1.72488901e+02] [-1.61007146e-02 9.14827790e-01 4.03523086e-01 -3.79273436e+01] [-9.98476844e-01 -3.60105241e-02 4.17999318e-02 -4.06129591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.19, Y:-35.85, Z:-40.76 [[-8.10982291e-02 9.96579751e-01 1.58706087e-02 1.72190270e+02] [-3.12662136e-02 1.33715293e-02 -9.99421646e-01 -3.58516704e+01] [-9.96215590e-01 -8.15475395e-02 3.00748680e-02 -4.07631564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.56, Y:-35.61, Z:-40.87 [[-7.85321345e-02 4.04994758e-01 -9.10940146e-01 1.73556753e+02] [ 8.34104931e-04 -9.13735212e-01 -4.06309324e-01 -3.56051043e+01] [-9.96911234e-01 -3.26681581e-02 7.14197684e-02 -4.08711711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:173.95, Y:-37.65, Z:-40.89 [[ 1.84438499e-03 -9.98730291e-01 -5.03428605e-02 1.73950946e+02] [-1.85528248e-02 -5.03684564e-02 9.98558366e-01 -3.76480252e+01] [-9.99826180e-01 -9.07723789e-04 -1.86221669e-02 -4.08934317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.85, Y:-37.14, Z:-40.93 [[-4.71254597e-02 4.27905615e-01 9.02594026e-01 1.71846677e+02] [-8.32121613e-02 8.98775417e-01 -4.30439875e-01 -3.71378815e+01] [-9.95416962e-01 -9.53914767e-02 -6.74825365e-03 -4.09276515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:171.80, Y:-36.72, Z:-40.92 [[-9.67617381e-02 6.89173116e-01 7.18106943e-01 1.71800990e+02] [-1.18279907e-01 7.08417677e-01 -6.95811942e-01 -3.67187585e+01] [-9.88254537e-01 -1.52265595e-01 1.29676062e-02 -4.09184038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-35.56, Z:-41.14 [[-1.00133440e-01 9.03614788e-01 -4.16477622e-01 1.72671406e+02] [-1.04280949e-01 -4.25807191e-01 -8.98784579e-01 -3.55607144e+01] [-9.89494203e-01 -4.65677095e-02 1.36867346e-01 -4.11426304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:-36.85, Z:-41.19 [[-2.47057820e-02 -7.14727756e-01 -6.98966279e-01 1.74295115e+02] [-6.46319900e-02 -6.96574968e-01 7.14567015e-01 -3.68465573e+01] [-9.97603293e-01 6.28295185e-02 -2.89848478e-02 -4.11923076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.47, Y:-37.88, Z:-41.02 [[-1.93443736e-02 -3.58345389e-01 9.33388653e-01 1.72474321e+02] [-1.59294266e-01 9.22742953e-01 3.50956949e-01 -3.78787106e+01] [-9.87041606e-01 -1.41894418e-01 -7.49322502e-02 -4.10218118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.13, Y:-35.92, Z:-41.37 [[-4.72019762e-02 9.96729182e-01 6.55965750e-02 1.72125235e+02] [-1.36090121e-01 5.86404317e-02 -9.88959442e-01 -3.59176769e+01] [-9.89571348e-01 -5.56078859e-02 1.32877051e-01 -4.13733135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:-35.74, Z:-41.38 [[-5.77110963e-02 9.86492689e-01 -1.53302327e-01 1.72340964e+02] [-1.30017652e-01 -1.59677278e-01 -9.78569659e-01 -3.57393454e+01] [-9.89830713e-01 -3.65423193e-02 1.37476614e-01 -4.13835988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:-36.68, Z:-41.37 [[ 2.51865390e-02 -5.96296293e-01 -8.02369222e-01 1.74268486e+02] [-5.97636236e-02 -8.02086422e-01 5.94210132e-01 -3.66753392e+01] [-9.97894758e-01 3.29863956e-02 -5.58386082e-02 -4.13733487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.22, Y:-36.70, Z:-41.51 [[ 5.06460246e-02 -5.61596820e-01 -8.25859548e-01 1.74215981e+02] [ 2.59540433e-02 -8.25901387e-01 5.63216909e-01 -3.66978763e+01] [-9.98379371e-01 -4.99590919e-02 -2.72529138e-02 -4.15083390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:-38.09, Z:-41.60 [[ 1.00756945e-01 -8.57378982e-01 5.04726975e-01 1.73235675e+02] [-3.75641599e-02 5.03668578e-01 8.63079891e-01 -3.80921526e+01] [-9.94201676e-01 -1.05920938e-01 1.85413859e-02 -4.15954010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-37.38, Z:-41.77 [[ 7.56782330e-02 3.18388029e-01 9.44934849e-01 1.71842533e+02] [-9.42014271e-02 9.45696914e-01 -3.11100367e-01 -3.73785184e+01] [-9.92672603e-01 -6.54706852e-02 1.01561278e-01 -4.17677970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-35.69, Z:-41.91 [[-5.50989681e-02 8.41370343e-01 -5.37643051e-01 1.72838753e+02] [-8.69903053e-05 -5.38465071e-01 -8.42647826e-01 -3.56878050e+01] [-9.98480894e-01 -4.63822560e-02 2.97420609e-02 -4.19107207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.992320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:174.19, Y:-37.30, Z:-42.06 [[ 8.05075395e-02 -8.49353717e-01 -5.21648158e-01 1.74189190e+02] [ 5.53083915e-02 -5.18734009e-01 8.53144777e-01 -3.73041818e+01] [-9.95218327e-01 -9.75361073e-02 5.21438918e-03 -4.20586223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.69, Y:-38.16, Z:-42.27 [[ 8.04354213e-02 -5.54429663e-01 8.28334408e-01 1.72694730e+02] [ 1.54753257e-02 8.31621549e-01 5.55127115e-01 -3.81597002e+01] [-9.96639683e-01 -3.18331386e-02 7.54718092e-02 -4.22694279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.19, Y:-36.83, Z:-42.27 [[ 1.13884995e-01 -5.50164845e-01 -8.27253801e-01 1.74192683e+02] [ 1.10175833e-01 -8.20541351e-01 5.60868235e-01 -3.68286230e+01] [-9.87365937e-01 -1.55017853e-01 -3.28324772e-02 -4.22723603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-38.22, Z:-42.66 [[ 1.29547579e-01 -6.50803679e-01 7.48112288e-01 1.72826028e+02] [ 6.06377035e-02 7.58257617e-01 6.49128997e-01 -3.82150482e+01] [-9.89717381e-01 -3.87292786e-02 1.37693679e-01 -4.26625208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-38.16, Z:-42.81 [[ 1.80923662e-01 -5.89604615e-01 7.87167724e-01 1.72744323e+02] [ 3.75110823e-02 8.03930703e-01 5.93538831e-01 -3.81639379e+01] [-9.82781536e-01 -7.78577056e-02 1.67566794e-01 -4.28132470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.90, Y:-36.45, Z:-42.97 [[ 4.31689271e-02 8.94474022e-01 4.45031085e-01 1.71898169e+02] [-2.56548654e-02 4.46291921e-01 -8.94519619e-01 -3.64514186e+01] [-9.98738340e-01 2.71982396e-02 4.22135540e-02 -4.29745205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.30, Y:-35.72, Z:-43.00 [[-3.91932473e-02 6.25611096e-01 -7.79149951e-01 1.73303114e+02] [ 8.42279894e-02 -7.74905545e-01 -6.26439975e-01 -3.57218548e+01] [-9.95675417e-01 -9.01784507e-02 -2.23229001e-02 -4.29960637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:-36.69, Z:-43.13 [[ 1.96433798e-02 -4.93507390e-01 -8.69519749e-01 1.74327404e+02] [ 1.54413260e-01 -8.57755291e-01 4.90318678e-01 -3.66855124e+01] [-9.87811056e-01 -1.43896895e-01 5.93548720e-02 -4.31263585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.232320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:-37.84, Z:-43.33 [[ 9.07395521e-02 -9.95308683e-01 -3.35702085e-02 1.73979374e+02] [ 1.27232552e-01 -2.18467681e-02 9.91632289e-01 -3.78422977e+01] [-9.87713628e-01 -9.42514930e-02 1.24653297e-01 -4.33269999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:-38.12, Z:-43.46 [[ 1.18675495e-01 -9.04609793e-01 4.09386430e-01 1.73491200e+02] [ 1.09524740e-01 4.21710201e-01 9.00091572e-01 -3.81221862e+01] [-9.86874084e-01 -6.19808703e-02 1.49123819e-01 -4.34580726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:171.93, Y:-36.67, Z:-43.57 [[-9.11448119e-03 7.86904609e-01 6.17007344e-01 1.71932099e+02] [ 2.35514439e-02 6.17030742e-01 -7.86586545e-01 -3.66688019e+01] [-9.99681077e-01 7.36208556e-03 -2.41566548e-02 -4.35726570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.13, Y:-35.62, Z:-43.56 [[-6.06249888e-02 7.57508898e-01 -6.50003754e-01 1.73133570e+02] [ 7.71671120e-02 -6.45695728e-01 -7.59685635e-01 -3.56249207e+01] [-9.95173275e-01 -9.62148456e-02 -1.93094777e-02 -4.35614560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:-37.09, Z:-43.74 [[-4.08890684e-02 -7.97647072e-01 -6.01736847e-01 1.74415803e+02] [ 9.44832696e-02 -6.02628566e-01 7.92408810e-01 -3.70906190e+01] [-9.94686381e-01 -2.44532067e-02 1.00005224e-01 -4.37433367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.57, Y:-37.97, Z:-43.73 [[-6.78045380e-03 -3.16731623e-01 9.48490962e-01 1.72570881e+02] [-1.20447684e-03 9.48514664e-01 3.16730928e-01 -3.79683310e+01] [-9.99976287e-01 1.00514403e-03 -6.81285577e-03 -4.37345859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.99, Y:-36.46, Z:-43.72 [[-9.35021540e-02 8.74333029e-01 4.76234293e-01 1.71986357e+02] [-3.30715344e-02 4.75338348e-01 -8.79181283e-01 -3.64558705e+01] [-9.95069656e-01 -9.79551425e-02 -1.55296245e-02 -4.37151274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:-35.78, Z:-43.89 [[-8.45821221e-02 2.61832148e-01 -9.61399912e-01 1.73839398e+02] [-1.37560589e-02 -9.65072357e-01 -2.61622087e-01 -3.57800350e+01] [-9.96321552e-01 -8.90347747e-03 8.52296463e-02 -4.38928135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-37.90, Z:-43.88 [[ 1.95214050e-03 -9.88104018e-01 1.53774635e-01 1.73874464e+02] [-1.52942168e-02 1.53727440e-01 9.87994920e-01 -3.78974223e+01] [-9.99881131e-01 -4.28056750e-03 -1.48121795e-02 -4.38817178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-38.04, Z:-43.87 [[ 3.15467224e-02 -4.58498962e-01 8.88134847e-01 1.72733636e+02] [-9.03225349e-02 8.83633746e-01 4.59383546e-01 -3.80351259e+01] [-9.95412801e-01 -9.47106359e-02 -1.35370399e-02 -4.38749408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:174.13, Y:-37.57, Z:-44.03 [[ 8.80869629e-02 -9.71967062e-01 -2.17992471e-01 1.74131471e+02] [-1.82347417e-02 -2.20379914e-01 9.75243656e-01 -3.75732845e+01] [-9.95945873e-01 -8.19312153e-02 -3.71361656e-02 -4.40297842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.79, Y:-38.09, Z:-44.18 [[ 1.41640973e-01 -5.32992998e-01 8.34180016e-01 1.72786408e+02] [-9.28278940e-02 8.31811217e-01 5.47241337e-01 -3.80905332e+01] [-9.85556095e-01 -1.54946969e-01 6.83419325e-02 -4.41820978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:-37.19, Z:-44.43 [[ 7.97716877e-02 4.84587129e-01 8.71098038e-01 1.71888340e+02] [-1.48940262e-01 8.69867422e-01 -4.70263188e-01 -3.71925437e+01] [-9.85623293e-01 -9.22278820e-02 1.41565326e-01 -4.44283959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:171.93, Y:-36.52, Z:-44.62 [[ 3.74556136e-02 8.69645799e-01 4.92253249e-01 1.71926021e+02] [-1.60214820e-01 4.91452631e-01 -8.56040608e-01 -3.65177477e+01] [-9.86371273e-01 -4.68027396e-02 1.57737805e-01 -4.46191117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-36.15, Z:-44.79 [[-1.04825842e-02 9.84984666e-01 1.72323311e-01 1.72158847e+02] [-1.60354373e-01 1.68446591e-01 -9.72580187e-01 -3.61494543e+01] [-9.87003845e-01 -3.78279501e-02 1.56180843e-01 -4.47909075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:-35.98, Z:-44.91 [[-3.81780901e-02 1.67865872e-01 -9.85070293e-01 1.73939279e+02] [-6.56813977e-03 -9.85809842e-01 -1.67737339e-01 -3.59801430e+01] [-9.99249365e-01 6.61881192e-05 3.87389035e-02 -4.49099948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.72, Y:-38.08, Z:-44.97 [[ 1.24552453e-01 -9.61336540e-01 2.45598747e-01 1.73718013e+02] [-4.05428452e-02 2.42388536e-01 9.69331767e-01 -3.80774178e+01] [-9.91384368e-01 -1.30689921e-01 -8.78523191e-03 -4.49722931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:-37.55, Z:-45.22 [[ 1.04336378e-01 2.81564172e-01 9.53852996e-01 1.71998741e+02] [-1.05839763e-01 9.56784686e-01 -2.70852376e-01 -3.75547869e+01] [-9.88894264e-01 -7.26958192e-02 1.29628134e-01 -4.52224460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.97, Y:-35.79, Z:-45.39 [[-2.21269856e-02 8.34934553e-01 -5.49904255e-01 1.72972570e+02] [-2.97312132e-02 -5.50345188e-01 -8.34407712e-01 -3.57863027e+01] [-9.99312990e-01 -2.11360677e-03 3.70010972e-02 -4.53860535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-37.09, Z:-45.45 [[ 8.42343796e-02 -6.81482627e-01 -7.26970425e-01 1.74400813e+02] [ 8.22659999e-02 -7.22316525e-01 6.86652127e-01 -3.70872664e+01] [-9.93044246e-01 -1.17644665e-01 -4.78103467e-03 -4.54476214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:-38.32, Z:-45.64 [[ 1.36346308e-01 -8.21686020e-01 5.53391154e-01 1.73345886e+02] [ 1.50316906e-02 5.60259511e-01 8.28180734e-01 -3.83155997e+01] [-9.90547188e-01 -1.04600981e-01 8.87406457e-02 -4.56425516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.46, Y:-38.10, Z:-45.85 [[ 1.30619824e-01 -2.20530184e-01 9.66594485e-01 1.72461023e+02] [-4.19694747e-02 9.72843426e-01 2.27627396e-01 -3.80951867e+01] [-9.90543803e-01 -7.03001132e-02 1.17817101e-01 -4.58478563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-35.93, Z:-45.97 [[-5.70049401e-03 9.45405520e-01 -3.25846448e-01 1.72735232e+02] [ 2.39301827e-02 -3.25629456e-01 -9.45194585e-01 -3.59251750e+01] [-9.99697380e-01 -1.31856411e-02 -2.07674780e-02 -4.59727377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-38.31, Z:-46.14 [[ 7.46681913e-02 -6.90527841e-01 7.19441424e-01 1.73168655e+02] [-1.43352710e-02 7.20637588e-01 6.93163738e-01 -3.83131890e+01] [-9.97105391e-01 -6.20706703e-02 4.39098016e-02 -4.61381284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-36.36, Z:-46.30 [[-7.46967437e-02 9.65929354e-01 2.47792007e-01 1.72262013e+02] [-4.99946799e-02 2.44546279e-01 -9.68347897e-01 -3.63594064e+01] [-9.95952272e-01 -8.47207168e-02 3.00245182e-02 -4.62961076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:174.47, Y:-36.59, Z:-46.36 [[-1.72635239e-02 -3.56032553e-01 -9.34314076e-01 1.74473045e+02] [ 6.70984418e-02 -9.32759319e-01 3.54200300e-01 -3.65878276e+01] [-9.97596998e-01 -5.65762733e-02 3.99919423e-02 -4.63573505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.90, Y:-38.23, Z:-46.40 [[ 3.27834736e-02 -4.78728914e-01 8.77350484e-01 1.72901927e+02] [-6.83758883e-02 8.74691418e-01 4.79832951e-01 -3.82321268e+01] [-9.97120846e-01 -7.57202096e-02 -4.05809167e-03 -4.64029492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.08, Y:-36.78, Z:-46.49 [[-2.56338789e-02 8.18357986e-01 5.74136840e-01 1.72080097e+02] [-6.71710106e-02 5.71617564e-01 -8.17766113e-01 -3.67816557e+01] [-9.97412131e-01 -5.95278693e-02 4.03171575e-02 -4.64932011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:-36.30, Z:-46.63 [[-6.46476339e-03 -2.01176892e-02 -9.99776718e-01 1.74235752e+02] [ 9.97660117e-02 -9.94822313e-01 1.93728880e-02 -3.62991629e+01] [-9.94989924e-01 -9.96184946e-02 8.43835248e-03 -4.66270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:-37.76, Z:-46.77 [[ 6.63177619e-02 -9.54848570e-01 -2.89596550e-01 1.74364191e+02] [ 9.22572255e-02 -2.83124364e-01 9.54635637e-01 -3.77583033e+01] [-9.93524312e-01 -9.00266731e-02 6.93155057e-02 -4.67674181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-38.29, Z:-46.92 [[ 9.45591412e-02 -9.00440127e-01 4.24577609e-01 1.73653961e+02] [ 3.28030209e-02 4.29075215e-01 9.02672932e-01 -3.82931231e+01] [-9.94978658e-01 -7.14285490e-02 7.01101402e-02 -4.69174881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-36.79, Z:-47.04 [[-6.82991524e-02 8.16797651e-01 5.72867195e-01 1.72135445e+02] [-5.55059703e-02 5.70207658e-01 -8.19623275e-01 -3.67878265e+01] [-9.96119628e-01 -8.77771245e-02 6.39244642e-03 -4.70444448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.19, Y:-35.83, Z:-47.12 [[-7.38570214e-02 8.17650088e-01 -5.70958382e-01 1.73185386e+02] [-4.73351620e-03 -5.72803003e-01 -8.19679397e-01 -3.58287288e+01] [-9.97257607e-01 -5.78364380e-02 4.61758836e-02 -4.71151236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.33, Y:-37.80, Z:-47.15 [[ 6.45420770e-02 -9.79131734e-01 -1.92705393e-01 1.74334970e+02] [-1.25215104e-02 -1.93887433e-01 9.80943870e-01 -3.78005384e+01] [-9.97836426e-01 -6.08991922e-02 -2.47741058e-02 -4.71470540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-37.87, Z:-47.24 [[ 3.10206537e-02 2.40183763e-02 9.99230122e-01 1.72405615e+02] [-1.08780059e-01 9.93854190e-01 -2.05121272e-02 -3.78719982e+01] [-9.93581712e-01 -1.08060012e-01 3.34427270e-02 -4.72404105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:-36.78, Z:-47.40 [[-4.44613133e-02 8.23461251e-01 5.65627757e-01 1.72148909e+02] [-9.82969799e-02 5.59834242e-01 -8.22753502e-01 -3.67755804e+01] [-9.94163415e-01 -9.21802015e-02 5.60527884e-02 -4.73987778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:-36.32, Z:-47.51 [[ 7.61042440e-03 -6.65071422e-02 -9.97756925e-01 1.74321598e+02] [ 3.19127796e-02 -9.97261423e-01 6.67175295e-02 -3.63166609e+01] [-9.99461683e-01 -3.23489456e-02 -5.46715490e-03 -4.75121320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.81, Y:-35.97, Z:-47.52 [[-3.83581977e-02 9.62435270e-01 -2.68788020e-01 1.72805884e+02] [ 1.35496928e-02 -2.68460295e-01 -9.63195451e-01 -3.59738597e+01] [-9.99172185e-01 -4.05884366e-02 -2.74304918e-03 -4.75207455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.15, Y:-36.88, Z:-47.54 [[-9.10257180e-02 7.70527866e-01 6.30873305e-01 1.72145978e+02] [-6.37556554e-02 6.27694605e-01 -7.75844508e-01 -3.68775516e+01] [-9.93805582e-01 -1.10843544e-01 -8.01084293e-03 -4.75354251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.55, Y:-35.86, Z:-47.68 [[-7.72624376e-02 6.31457597e-01 -7.71551566e-01 1.73546120e+02] [-1.07205190e-02 -7.74346246e-01 -6.32671291e-01 -3.58585500e+01] [-9.96953151e-01 -4.06102929e-02 6.65974317e-02 -4.76831390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.69, Y:-35.89, Z:-47.71 [[-7.98600318e-02 5.36205812e-01 -8.40300959e-01 1.73687079e+02] [-2.35737578e-04 -8.43003543e-01 -5.37907958e-01 -3.58913585e+01] [-9.96806059e-01 -4.27592561e-02 6.74486936e-02 -4.77146504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.83, Y:-35.95, Z:-47.73 [[-7.35656786e-02 4.27694362e-01 -9.00924871e-01 1.73833696e+02] [ 1.32363084e-02 -9.02874375e-01 -4.29700667e-01 -3.59450607e+01] [-9.97202533e-01 -4.35361406e-02 6.07594716e-02 -4.77333653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:-37.99, Z:-47.74 [[ 5.70410521e-03 -9.99909452e-01 -1.21881885e-02 1.74168715e+02] [-3.46214882e-02 -1.23785527e-02 9.99323833e-01 -3.79895437e+01] [-9.99384218e-01 -5.27827506e-03 -3.46889618e-02 -4.77389430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.19, Y:-37.48, Z:-47.72 [[-6.14340420e-02 3.70827473e-01 9.26667602e-01 1.72188028e+02] [-7.75370246e-02 9.23842516e-01 -3.74837318e-01 -3.74816997e+01] [-9.95094904e-01 -9.48788202e-02 -2.80025210e-02 -4.77186943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:-36.06, Z:-47.91 [[-7.05863445e-02 9.89892856e-01 -1.23002850e-01 1.72641990e+02] [-6.22047207e-02 -1.27438617e-01 -9.89893919e-01 -3.60633282e+01] [-9.95564232e-01 -6.22216353e-02 7.05714348e-02 -4.79123043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.18, Y:-35.86, Z:-47.95 [[-7.88102124e-02 8.22106265e-01 -5.63853030e-01 1.73182069e+02] [-5.61194808e-02 -5.68374069e-01 -8.20854141e-01 -3.58576413e+01] [-9.95308773e-01 -3.30485499e-02 9.09298578e-02 -4.79518352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:-37.67, Z:-47.90 [[ 1.43931777e-02 -9.40525970e-01 -3.39416758e-01 1.74410319e+02] [-7.18049739e-02 -3.39547745e-01 9.37844003e-01 -3.76698319e+01] [-9.97314836e-01 1.08732560e-02 -7.24216138e-02 -4.79013644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-38.12, Z:-47.92 [[ 8.34042351e-03 -2.65301482e-01 9.64129432e-01 1.72659982e+02] [-7.60929471e-02 9.61199018e-01 2.65153374e-01 -3.81183434e+01] [-9.97065846e-01 -7.55749413e-02 -1.21707648e-02 -4.79193014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-36.31, Z:-48.19 [[-3.39835259e-02 9.87236410e-01 1.55593670e-01 1.72406527e+02] [-6.39478881e-02 1.53216660e-01 -9.86121353e-01 -3.63106879e+01] [-9.97374447e-01 -4.34617671e-02 5.79248411e-02 -4.81873306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:172.87, Y:-35.96, Z:-48.23 [[-3.34308167e-02 9.47289474e-01 -3.18629931e-01 1.72872185e+02] [-5.75592582e-02 -3.20103852e-01 -9.45632305e-01 -3.59603851e+01] [-9.97782197e-01 -1.32731578e-02 6.52266126e-02 -4.82302837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.94, Y:-35.93, Z:-48.24 [[-3.25350027e-02 9.27012325e-01 -3.73616947e-01 1.72935098e+02] [-5.44255290e-02 -3.74903435e-01 -9.25464898e-01 -3.59337650e+01] [-9.97987643e-01 -9.77570294e-03 6.26506204e-02 -4.82414447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:-35.91, Z:-48.25 [[-3.28290759e-02 9.01724476e-01 -4.31062897e-01 1.73009577e+02] [-5.39276068e-02 -4.32265225e-01 -9.00132539e-01 -3.59075538e+01] [-9.98005043e-01 -6.30432903e-03 6.28187108e-02 -4.82515213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.08, Y:-35.88, Z:-48.27 [[-3.39374059e-02 8.73423126e-01 -4.85778031e-01 1.73083101e+02] [-5.48082007e-02 -4.86953065e-01 -8.71706816e-01 -3.58844152e+01] [-9.97919994e-01 -2.95884825e-03 6.43966738e-02 -4.82679453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-35.87, Z:-48.29 [[-3.51850822e-02 8.34959550e-01 -5.49185360e-01 1.73170003e+02] [-5.25120499e-02 -5.50311110e-01 -8.33306766e-01 -3.58669660e+01] [-9.98000248e-01 -4.81118089e-04 6.32081792e-02 -4.82893340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.17, Y:-35.87, Z:-48.32 [[-8.57154811e-03 8.35090124e-01 -5.50046374e-01 1.73171905e+02] [-4.63982198e-02 -5.49806272e-01 -8.34002559e-01 -3.58663296e+01] [-9.98886247e-01 1.83724795e-02 4.34593861e-02 -4.83206417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.42, Y:-37.67, Z:-48.36 [[ 1.17124764e-01 -9.22686780e-01 -3.67329410e-01 1.74424096e+02] [ 2.69971416e-03 -3.69578002e-01 9.29195788e-01 -3.76690001e+01] [-9.93113539e-01 -1.09823522e-01 -4.07957457e-02 -4.83626028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-38.19, Z:-48.59 [[ 1.74644341e-01 -9.60013431e-01 2.18800290e-01 1.73868187e+02] [-6.95400548e-03 2.21007252e-01 9.75247372e-01 -3.81901932e+01] [-9.84607026e-01 -1.71842973e-01 3.19217273e-02 -4.85878633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:-38.13, Z:-48.71 [[ 2.73223490e-01 -9.51294691e-01 1.42784225e-01 1.73904170e+02] [ 2.81829734e-02 1.56284415e-01 9.87309932e-01 -3.81265432e+01] [-9.61537646e-01 -2.65732182e-01 6.95108863e-02 -4.87138540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:-37.97, Z:-49.19 [[ 2.27005070e-01 -4.17423193e-02 9.72998601e-01 1.72410807e+02] [-2.89096349e-02 9.98351931e-01 4.95747463e-02 -3.79667509e+01] [-9.73464396e-01 -3.93827530e-02 2.25424195e-01 -4.91902189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.44, Y:-36.78, Z:-48.89 [[ 2.33916940e-01 -4.23419301e-01 -8.75213666e-01 1.74440619e+02] [ 4.73678010e-02 -8.94155876e-01 4.45243261e-01 -3.67773964e+01] [-9.71102032e-01 -1.45606888e-01 -1.89101765e-01 -4.88894924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.99, Y:-38.33, Z:-49.40 [[ 2.70620827e-01 -5.11102537e-01 8.15805470e-01 1.72985377e+02] [-4.68082424e-03 8.46717714e-01 5.32021807e-01 -3.83315126e+01] [-9.62674638e-01 -1.47794824e-01 2.26747067e-01 -4.93985769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.39, Y:-37.93, Z:-49.64 [[ 2.77303005e-01 4.56403827e-02 9.59697869e-01 1.72393031e+02] [-3.77481134e-03 9.98915124e-01 -4.64147139e-02 -3.79271191e+01] [-9.60775101e-01 9.24826125e-03 2.77174449e-01 -4.96387851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:-38.04, Z:-49.29 [[ 3.36801004e-01 -9.41564050e-01 4.71418728e-03 1.74105097e+02] [-2.01085990e-02 -2.18718370e-03 9.99795409e-01 -3.80381411e+01] [-9.41361104e-01 -3.36826893e-01 -1.96701796e-02 -4.92867791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.61, Y:-36.22, Z:-50.03 [[ 2.88300585e-01 9.57417377e-01 1.53211693e-02 1.72605785e+02] [-1.57888026e-02 2.07515357e-02 -9.99659986e-01 -3.62155254e+01] [-9.57409780e-01 2.87960656e-01 2.10991538e-02 -5.00259763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-36.20, Z:-50.14 [[ 2.18030431e-01 9.75936278e-01 -3.33352758e-03 1.72738469e+02] [-1.57374738e-02 1.00553161e-04 -9.99876153e-01 -3.62007109e+01] [-9.75815076e-01 2.18055890e-01 1.53806953e-02 -5.01370794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.88, Y:-36.17, Z:-50.24 [[ 1.19024276e-01 9.90580316e-01 -6.77042089e-02 1.72884872e+02] [-5.52918836e-02 -6.14703609e-02 -9.96576240e-01 -3.61693161e+01] [-9.91350609e-01 1.22360258e-01 4.74545863e-02 -5.02364866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-36.36, Z:-50.08 [[ 1.27628795e-01 -2.52492136e-03 -9.91818792e-01 1.74611579e+02] [ 1.01058306e-01 -9.94759181e-01 1.55367479e-02 -3.63640128e+01] [-9.86660078e-01 -1.02214463e-01 -1.26704752e-01 -5.00839745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-38.30, Z:-50.36 [[ 2.41035359e-01 -9.44745582e-01 2.22166019e-01 1.74312182e+02] [ 9.30541746e-02 2.50357682e-01 9.63671081e-01 -3.82972601e+01] [-9.66044966e-01 -2.11605329e-01 1.48257574e-01 -5.03640223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:-37.12, Z:-50.78 [[ 1.30579650e-01 6.85255999e-01 7.16500642e-01 1.72541589e+02] [-1.20852871e-03 7.22797908e-01 -6.91058408e-01 -3.71180116e+01] [-9.91437085e-01 8.93722536e-02 9.52108495e-02 -5.07787280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.70, Y:-36.67, Z:-50.90 [[ 6.97831071e-02 8.90014986e-01 4.50559255e-01 1.72702393e+02] [-3.02945421e-02 4.53342739e-01 -8.90821307e-01 -3.66673842e+01] [-9.97102080e-01 4.85147924e-02 5.85982613e-02 -5.09005967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-37.57, Z:-50.97 [[ 6.81857809e-02 3.61874795e-01 9.29729709e-01 1.72729219e+02] [-4.75020954e-02 9.32019246e-01 -3.59282169e-01 -3.75661853e+01] [-9.96541143e-01 -1.96661741e-02 8.07402711e-02 -5.09688360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-37.41, Z:-51.05 [[ 6.69086097e-02 4.81000227e-01 8.74163612e-01 1.72683911e+02] [-5.05846759e-02 8.76635521e-01 -4.78488613e-01 -3.74089863e+01] [-9.96476005e-01 -1.22042751e-02 8.29857046e-02 -5.10472495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-37.33, Z:-51.12 [[ 6.36349905e-02 5.38191771e-01 8.40416686e-01 1.72673694e+02] [-5.55660073e-02 8.42727859e-01 -5.35464447e-01 -3.73267858e+01] [-9.96425114e-01 -1.26243246e-02 8.35321472e-02 -5.11203884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:172.67, Y:-37.24, Z:-51.19 [[ 6.03347198e-02 5.92702023e-01 8.03158785e-01 1.72667778e+02] [-5.95661390e-02 8.05328599e-01 -5.89828553e-01 -3.72422945e+01] [-9.96399316e-01 -1.22539274e-02 8.38942465e-02 -5.11875168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-37.17, Z:-51.26 [[ 5.63810341e-02 6.35122504e-01 7.70350949e-01 1.72668817e+02] [-6.29999201e-02 7.72303821e-01 -6.32121680e-01 -3.71739244e+01] [-9.96419685e-01 -1.28923743e-02 8.35559551e-02 -5.12596303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:-38.17, Z:-51.23 [[ 1.34793044e-01 -9.65383690e-01 2.23305097e-01 1.74499215e+02] [-7.70100665e-02 2.14473609e-01 9.73689129e-01 -3.81675933e+01] [-9.87876655e-01 -1.48443262e-01 -4.54347117e-02 -5.12303874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:-37.33, Z:-51.59 [[ 1.19522044e-01 5.35640781e-01 8.35944636e-01 1.72644982e+02] [-9.21875424e-02 8.44330282e-01 -5.27833148e-01 -3.73339176e+01] [-9.88542330e-01 -1.39759851e-02 1.50295488e-01 -5.15900655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:172.74, Y:-37.57, Z:-51.68 [[ 1.22020606e-01 3.53553069e-01 9.27421802e-01 1.72736623e+02] [-9.91580053e-02 9.34071681e-01 -3.43041957e-01 -3.75736045e+01] [-9.87561979e-01 -5.01031084e-02 1.49033610e-01 -5.16752483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.66, Y:-37.24, Z:-51.78 [[ 1.17602543e-01 5.97484464e-01 7.93209907e-01 1.72659793e+02] [-1.03672605e-01 8.01774821e-01 -5.88565313e-01 -3.72356489e+01] [-9.87634362e-01 -1.30173594e-02 1.56233529e-01 -5.17782438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:172.66, Y:-37.16, Z:-51.84 [[ 1.10551067e-01 6.52365414e-01 7.49798525e-01 1.72660866e+02] [-1.13531148e-01 7.57773621e-01 -6.42565030e-01 -3.71557334e+01] [-9.87364745e-01 -1.40892374e-02 1.57836477e-01 -5.18396007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:-37.51, Z:-51.87 [[ 1.17070779e-01 4.08607004e-01 9.05171116e-01 1.72740009e+02] [-1.17539902e-01 9.10733269e-01 -3.95915754e-01 -3.75132848e+01] [-9.86143399e-01 -6.00435587e-02 1.54647880e-01 -5.18682254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:-37.13, Z:-52.01 [[ 1.07641145e-01 6.71198328e-01 7.33420881e-01 1.72687779e+02] [-1.25063272e-01 7.40988581e-01 -6.59768975e-01 -3.71277779e+01] [-9.86292331e-01 -2.07057268e-02 1.63703119e-01 -5.20088892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.48, Y:-38.19, Z:-51.83 [[ 1.87318580e-01 -9.48036273e-01 2.57174987e-01 1.74477962e+02] [-1.30128110e-01 2.35552682e-01 9.63110383e-01 -3.81871936e+01] [-9.73641836e-01 -2.13874164e-01 -7.92427743e-02 -5.18285807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.68, Y:-37.27, Z:-52.36 [[ 1.67683715e-01 5.96966502e-01 7.84546473e-01 1.72677053e+02] [-1.43905156e-01 8.02112234e-01 -5.79575078e-01 -3.72654670e+01] [-9.75281230e-01 -1.57149805e-02 2.20407717e-01 -5.23619592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:-37.28, Z:-52.44 [[ 1.71133333e-01 5.94603075e-01 7.85595675e-01 1.72697166e+02] [-1.78181519e-01 8.02888727e-01 -5.68876998e-01 -3.72834513e+01] [-9.69001924e-01 -4.26248138e-02 2.43348303e-01 -5.24392869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-36.07, Z:-52.45 [[ 1.40058029e-01 3.57437560e-01 -9.23375405e-01 1.74530751e+02] [-6.94730580e-02 -9.26721512e-01 -3.69270542e-01 -3.60670930e+01] [-9.87703013e-01 1.15869017e-01 -1.04962508e-01 -5.24454019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-37.54, Z:-52.69 [[ 1.32781080e-01 4.78890864e-01 8.67774582e-01 1.72803638e+02] [-9.73216841e-02 8.77595636e-01 -4.69419205e-01 -3.75384866e+01] [-9.86355755e-01 -2.21232949e-02 1.63134561e-01 -5.26856908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:-37.44, Z:-52.76 [[ 1.30019127e-01 5.45440357e-01 8.28003529e-01 1.72792205e+02] [-1.00184752e-01 8.38045358e-01 -5.36323591e-01 -3.74447171e+01] [-9.86437044e-01 -1.32210032e-02 1.63606733e-01 -5.27552570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:172.82, Y:-37.52, Z:-52.81 [[ 1.49479889e-01 4.96155025e-01 8.55269521e-01 1.72821740e+02] [-1.46124222e-01 8.66574941e-01 -4.77174584e-01 -3.75229983e+01] [-9.77907702e-01 -5.36475895e-02 2.02035793e-01 -5.28140432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-36.07, Z:-52.88 [[ 8.34112981e-02 5.45916641e-01 -8.33677141e-01 1.74401099e+02] [-2.33853164e-02 -8.35289779e-01 -5.49312399e-01 -3.60689608e+01] [-9.96240775e-01 6.53146640e-02 -5.69061714e-02 -5.28843679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:-38.50, Z:-52.96 [[ 1.78154067e-01 -7.96833771e-01 5.77336184e-01 1.74219819e+02] [-7.00891653e-02 5.74955997e-01 8.15176735e-01 -3.85027575e+01] [-9.81503254e-01 -1.85692062e-01 4.65813356e-02 -5.29633413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.94, Y:-37.79, Z:-53.27 [[ 1.59214201e-01 3.21947643e-01 9.33274104e-01 1.72938102e+02] [-1.17360365e-01 9.44801565e-01 -3.05902842e-01 -3.77893438e+01] [-9.80243532e-01 -6.08253128e-02 1.88209719e-01 -5.32713884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.07, Y:-36.06, Z:-53.39 [[ 4.77012183e-02 7.74732140e-01 -6.30487672e-01 1.74071631e+02] [-3.16355679e-02 -6.29717768e-01 -7.76179569e-01 -3.60645824e+01] [-9.98360548e-01 5.69705466e-02 -5.52921349e-03 -5.33863749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.33, Y:-37.65, Z:-53.37 [[ 1.54418498e-01 -8.14660871e-01 -5.59001425e-01 1.75331049e+02] [ 4.22734678e-02 -5.59821766e-01 8.27534014e-01 -3.76452935e+01] [-9.87100745e-01 -1.51417488e-01 -5.20082963e-02 -5.33683696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:-38.43, Z:-53.71 [[ 1.72954385e-01 -2.51316428e-01 9.52327062e-01 1.73464977e+02] [-2.09057016e-02 9.65743837e-01 2.58653811e-01 -3.84316308e+01] [-9.84707943e-01 -6.46443761e-02 1.61775685e-01 -5.37140235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:173.68, Y:-36.25, Z:-53.83 [[ 6.27042770e-02 9.52051531e-01 -2.99442910e-01 1.73682801e+02] [ 2.10791907e-02 -3.01229749e-01 -9.53318575e-01 -3.62480185e+01] [-9.97809522e-01 5.34651378e-02 -3.89568694e-02 -5.38278602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.74, Y:-36.28, Z:-53.96 [[-2.52934392e-02 9.59346141e-01 -2.81096466e-01 1.73744209e+02] [ 1.88211948e-02 -2.80679595e-01 -9.59616969e-01 -3.62798877e+01] [-9.99502879e-01 -2.95625848e-02 -1.09566884e-02 -5.39648955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.48, Y:-36.94, Z:-54.04 [[ 5.91408138e-03 -3.60718419e-01 -9.32656017e-01 1.75477388e+02] [ 8.62881308e-02 -9.29009460e-01 3.59855223e-01 -3.69411574e+01] [-9.96252670e-01 -8.26053574e-02 2.56314806e-02 -5.40374608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.29, Y:-38.19, Z:-54.18 [[ 5.41583972e-02 -9.87379565e-01 -1.48823593e-01 1.75289089e+02] [ 1.00239993e-01 -1.42913345e-01 9.84645987e-01 -3.81872725e+01] [-9.93488204e-01 -6.82449244e-02 9.12349634e-02 -5.41788718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:173.37, Y:-38.15, Z:-54.35 [[ 4.02152491e-02 3.77310979e-02 9.98478391e-01 1.73365243e+02] [-5.07086524e-02 9.98076165e-01 -3.56735296e-02 -3.81485103e+01] [-9.97903485e-01 -4.91968738e-02 4.20511748e-02 -5.43545301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:174.08, Y:-36.14, Z:-54.53 [[-7.77233946e-02 8.70727213e-01 -4.85585414e-01 1.74083800e+02] [ 8.69002374e-03 -4.86448604e-01 -8.73665977e-01 -3.61426135e+01] [-9.96937088e-01 -7.21240343e-02 3.02417966e-02 -5.45303477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.50, Y:-36.78, Z:-54.63 [[-5.61362728e-02 -2.62801974e-01 -9.63215366e-01 1.75498689e+02] [ 5.31572876e-02 -9.64155031e-01 2.59960339e-01 -3.67755187e+01] [-9.97007032e-01 -3.66087117e-02 6.80939100e-02 -5.46277024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:-37.00, Z:-54.65 [[-4.10872490e-02 -4.39315083e-01 -8.97392944e-01 1.75588382e+02] [ 3.74131562e-02 -8.98197960e-01 4.37996210e-01 -3.69962293e+01] [-9.98454853e-01 -1.55782430e-02 5.33406471e-02 -5.46489202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.30, Y:-36.12, Z:-54.58 [[-1.12320566e-01 7.71031083e-01 -6.26813496e-01 1.74297843e+02] [ 7.73876634e-02 -6.22101665e-01 -7.79102476e-01 -3.61182148e+01] [-9.90653946e-01 -1.36016863e-01 1.02065173e-02 -5.45782039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:-36.53, Z:-54.53 [[-1.73891259e-01 9.81582781e-01 7.91016658e-02 1.73475654e+02] [ 5.99163902e-02 9.07225569e-02 -9.94072152e-01 -3.65285666e+01] [-9.82940413e-01 -1.68120972e-01 -7.45887566e-02 -5.45321841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:-36.74, Z:-54.91 [[-1.63501184e-01 -2.39280297e-01 -9.57085316e-01 1.75477987e+02] [ 8.33921757e-02 -9.70020323e-01 2.28268084e-01 -3.67370768e+01] [-9.83012262e-01 -4.24913249e-02 1.78553576e-01 -5.49105143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:-36.16, Z:-54.61 [[-2.48894731e-01 8.57930983e-01 -4.49450600e-01 1.74068248e+02] [ 9.74343995e-02 -4.39520351e-01 -8.92932472e-01 -3.61627746e+01] [-9.63617118e-01 -2.66038136e-01 2.58023092e-02 -5.46103072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:175.56, Y:-36.93, Z:-55.06 [[-2.12579634e-01 -4.09035704e-01 -8.87411794e-01 1.75555304e+02] [ 1.34646192e-01 -9.11767783e-01 3.88007620e-01 -3.69349497e+01] [-9.67822454e-01 -3.70041004e-02 2.48898361e-01 -5.50614380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:174.22, Y:-38.60, Z:-54.98 [[-1.49204762e-01 -6.38892340e-01 7.54688357e-01 1.74216973e+02] [ 6.45629095e-02 7.55308415e-01 6.52181592e-01 -3.86003944e+01] [-9.86696291e-01 1.46033475e-01 -7.14468637e-02 -5.49829865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:173.26, Y:-36.77, Z:-54.74 [[-2.39372879e-01 9.13621621e-01 3.28627689e-01 1.73263264e+02] [ 3.74543541e-02 3.46904790e-01 -9.37152196e-01 -3.67693492e+01] [-9.70205028e-01 -2.12020282e-01 -1.17258706e-01 -5.47365207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:175.29, Y:-36.51, Z:-55.23 [[-2.44123529e-01 -5.76459319e-02 -9.68029260e-01 1.75290652e+02] [ 7.46323987e-02 -9.96387810e-01 4.05134234e-02 -3.65140659e+01] [-9.66867989e-01 -6.23560658e-02 2.47543963e-01 -5.52312111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:174.74, Y:-38.51, Z:-55.24 [[-1.65215061e-01 -9.08545682e-01 3.83730019e-01 1.74743475e+02] [ 2.99790109e-02 3.84270804e-01 9.22733552e-01 -3.85078333e+01] [-9.85801827e-01 1.63953327e-01 -3.62500235e-02 -5.52425895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:173.10, Y:-37.12, Z:-54.92 [[-2.38418915e-01 7.61887048e-01 6.02232968e-01 1.73102903e+02] [-3.12282299e-02 6.13780497e-01 -7.88858859e-01 -3.71178434e+01] [-9.70660197e-01 -2.06885543e-01 -1.22544496e-01 -5.49237024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.05, Y:-36.31, Z:-55.41 [[-2.41461684e-01 1.64326898e-01 -9.56395800e-01 1.75047997e+02] [ 7.74389022e-03 -9.85200443e-01 -1.71231185e-01 -3.63148331e+01] [-9.70379455e-01 -4.87519942e-02 2.36615628e-01 -5.54132632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:174.33, Y:-38.57, Z:-55.25 [[-1.61151770e-01 -7.52073472e-01 6.39074017e-01 1.74333560e+02] [-6.22168438e-02 6.53991188e-01 7.53939381e-01 -3.85686832e+01] [-9.84966584e-01 8.17374976e-02 -1.52183475e-01 -5.52530870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:-38.16, Z:-55.41 [[-8.89565573e-02 -9.92356537e-01 -8.55291398e-02 1.75190262e+02] [-3.49565294e-02 -8.27062116e-02 9.95960704e-01 -3.81637723e+01] [-9.95421907e-01 9.15870374e-02 -2.73320806e-02 -5.54120548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:173.06, Y:-37.58, Z:-55.14 [[-1.44204411e-01 4.78955734e-01 8.65913675e-01 1.73056337e+02] [-1.30345279e-01 8.58241391e-01 -4.96418999e-01 -3.75797480e+01] [-9.80925683e-01 -1.84453569e-01 -6.13325750e-02 -5.51431762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:-36.07, Z:-55.61 [[-1.71512216e-01 6.57244747e-01 -7.33902515e-01 1.74369908e+02] [-9.30021591e-02 -7.52415795e-01 -6.52089771e-01 -3.60710712e+01] [-9.80782421e-01 -4.35868430e-02 1.90173681e-01 -5.56120322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-38.23, Z:-55.53 [[-5.54593536e-02 -9.98201246e-01 -2.27713067e-02 1.75100344e+02] [-9.56852382e-02 -1.73880005e-02 9.95259761e-01 -3.82306686e+01] [-9.93865481e-01 5.73753409e-02 -9.45487967e-02 -5.55291114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:-36.08, Z:-55.69 [[-1.03359910e-01 7.91210294e-01 -6.02746215e-01 1.74103658e+02] [-8.81739800e-02 -6.10894756e-01 -7.86786468e-01 -3.60803092e+01] [-9.90728055e-01 -2.81756461e-02 1.32906188e-01 -5.56877623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.59, Y:-38.38, Z:-55.35 [[-4.42583365e-02 -2.93403179e-01 9.54963756e-01 1.73593649e+02] [-1.79739726e-01 9.42640613e-01 2.81286875e-01 -3.83829907e+01] [-9.82718083e-01 -1.59195635e-01 -9.44559124e-02 -5.53484958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:-36.21, Z:-55.73 [[-9.00074718e-02 9.61525507e-01 -2.59552218e-01 1.73637816e+02] [-1.64603888e-01 -2.71387898e-01 -9.48290129e-01 -3.62090652e+01] [-9.82244478e-01 -4.26298928e-02 1.82697775e-01 -5.57254436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:-37.50, Z:-55.65 [[-1.27085736e-02 -7.67767361e-01 -6.40602662e-01 1.75460510e+02] [-1.07100519e-01 -6.35923712e-01 7.64284313e-01 -3.74965954e+01] [-9.94166973e-01 7.83218410e-02 -7.41465996e-02 -5.56499391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:-38.17, Z:-55.61 [[-2.19166755e-03 1.18227466e-02 9.99927707e-01 1.73274676e+02] [-2.11815148e-01 9.77235843e-01 -1.20187090e-02 -3.81717578e+01] [-9.77307290e-01 -2.11826177e-01 3.62460747e-04 -5.56126562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-36.39, Z:-55.98 [[-4.87596774e-02 9.97354100e-01 -5.39193210e-02 1.73401764e+02] [-2.00980202e-01 -6.26764556e-02 -9.77588165e-01 -3.63935262e+01] [-9.78381036e-01 -3.68301675e-02 2.03504512e-01 -5.59775615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.36, Y:-37.84, Z:-55.75 [[ 4.98124353e-02 -9.12184614e-01 -4.06740644e-01 1.75355803e+02] [-1.36594396e-01 -4.09641603e-01 9.01962154e-01 -3.78442746e+01] [-9.89373889e-01 1.06295612e-02 -1.45004552e-01 -5.57516816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:-36.80, Z:-56.08 [[-1.46063560e-04 9.44438810e-01 3.28687256e-01 1.73091080e+02] [-1.99510665e-01 3.22051695e-01 -9.25461074e-01 -3.68003606e+01] [-9.79895644e-01 -6.57117891e-02 1.88378575e-01 -5.60831125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.27, Y:-36.57, Z:-56.21 [[-1.17837859e-02 9.95226497e-01 9.68780733e-02 1.73271095e+02] [-1.94745876e-01 9.27453512e-02 -9.76459085e-01 -3.65729975e+01] [-9.80782946e-01 -3.03729900e-02 1.92723364e-01 -5.62067318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:-36.58, Z:-56.28 [[-3.83544898e-02 9.95504951e-01 8.65957578e-02 1.73286448e+02] [-2.17730474e-01 7.62517164e-02 -9.73025753e-01 -3.65775189e+01] [-9.75255030e-01 -5.61744417e-02 2.13827169e-01 -5.62754452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.40, Y:-37.21, Z:-56.29 [[ 4.08092629e-02 -4.90104937e-01 -8.70707617e-01 1.75402380e+02] [-7.56129110e-02 -8.70449537e-01 4.86415761e-01 -3.72089155e+01] [-9.96301808e-01 4.59864689e-02 -7.25806650e-02 -5.62856261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.52, Y:-38.52, Z:-56.34 [[ 7.47846696e-02 -2.71771281e-01 9.59451731e-01 1.73519813e+02] [-2.24907999e-01 9.32758563e-01 2.81740760e-01 -3.85179054e+01] [-9.71505865e-01 -2.36858259e-01 8.63250589e-03 -5.63351985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:173.08, Y:-36.91, Z:-56.76 [[ 1.89950979e-02 9.45773799e-01 3.24270114e-01 1.73075012e+02] [-2.44024878e-01 3.18905753e-01 -9.15833489e-01 -3.69055224e+01] [-9.69582923e-01 -6.17336283e-02 2.36849982e-01 -5.67566540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:-36.89, Z:-56.77 [[ 4.89622460e-02 -1.61649256e-01 -9.85632901e-01 1.75219201e+02] [-7.52279724e-02 -9.84610287e-01 1.57744521e-01 -3.68898799e+01] [-9.95963579e-01 6.64236387e-02 -6.03692769e-02 -5.67745484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:-38.79, Z:-56.73 [[ 1.83405009e-01 -7.78609560e-01 6.00108120e-01 1.74245505e+02] [-1.85324236e-01 5.72131250e-01 7.98949786e-01 -3.87868754e+01] [-9.65410550e-01 -2.57745971e-01 -3.93634851e-02 -5.67303377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.91, Y:-37.51, Z:-57.21 [[ 9.47257992e-02 7.26798366e-01 6.80287556e-01 1.72913105e+02] [-2.26652742e-01 6.81158686e-01 -6.96169074e-01 -3.75144021e+01] [-9.69358323e-01 -8.82438679e-02 2.29254143e-01 -5.72064765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-36.92, Z:-57.19 [[ 1.06729388e-01 -8.99010398e-02 -9.90215452e-01 1.75151889e+02] [-5.78718887e-02 -9.94777267e-01 8.40775402e-02 -3.69199285e+01] [-9.92602479e-01 4.83320940e-02 -1.11374712e-01 -5.71875836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:-38.88, Z:-57.23 [[ 2.28160077e-01 -6.97388676e-01 6.79405633e-01 1.74107635e+02] [-1.81330748e-01 6.55165095e-01 7.33401567e-01 -3.88830100e+01] [-9.56588803e-01 -2.90530090e-01 2.30245083e-02 -5.72346551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:-37.72, Z:-57.74 [[ 1.45591609e-01 6.60884451e-01 7.36230145e-01 1.72934986e+02] [-1.98044459e-01 7.48565654e-01 -6.32793689e-01 -3.77184141e+01] [-9.69320110e-01 -5.36768496e-02 2.39869382e-01 -5.77359966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-37.67, Z:-57.83 [[ 1.41360834e-01 6.97664172e-01 7.02340243e-01 1.72956415e+02] [-2.31640839e-01 7.13079843e-01 -6.61709649e-01 -3.76747972e+01] [-9.62475785e-01 -6.91508552e-02 2.62409075e-01 -5.78346926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:174.90, Y:-36.72, Z:-57.83 [[ 1.05821976e-01 2.61794010e-01 -9.59304751e-01 1.74895363e+02] [-6.78753233e-02 -9.60569835e-01 -2.69626653e-01 -3.67206805e+01] [-9.92065850e-01 9.36455454e-02 -8.38800449e-02 -5.78285000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-38.91, Z:-57.76 [[ 2.65190915e-01 -8.98983939e-01 3.48570877e-01 1.74638785e+02] [-1.27971469e-01 3.25499722e-01 9.36842161e-01 -3.89104813e+01] [-9.55665779e-01 -2.93049157e-01 -2.87247262e-02 -5.77597635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:-38.15, Z:-58.29 [[ 2.02771213e-01 4.49434109e-01 8.69995872e-01 1.73044652e+02] [-1.93650566e-01 8.89310703e-01 -4.14277602e-01 -3.81500424e+01] [-9.59887125e-01 -8.44716214e-02 2.67359779e-01 -5.82890425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-36.67, Z:-58.31 [[ 1.33112792e-01 5.08258015e-01 -8.50855320e-01 1.74643169e+02] [-5.51293118e-02 -8.53368919e-01 -5.18384265e-01 -3.66731607e+01] [-9.89566442e-01 1.15910645e-01 -8.55744046e-02 -5.83092468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-38.82, Z:-58.20 [[ 2.92036650e-01 -9.55110394e-01 4.97868556e-02 1.75021182e+02] [-6.86831887e-02 3.09779121e-02 9.97157454e-01 -3.88193715e+01] [-9.53937742e-01 -2.94626042e-01 -5.65533417e-02 -5.81984829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:-38.52, Z:-58.76 [[ 2.53199763e-01 2.23249097e-01 9.41302141e-01 1.73227413e+02] [-1.45121261e-01 9.70763711e-01 -1.91200514e-01 -3.85241731e+01] [-9.56467302e-01 -8.81910290e-02 2.78195332e-01 -5.87550269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:-36.71, Z:-58.83 [[ 1.33841603e-01 8.09620857e-01 -5.71489714e-01 1.74222886e+02] [-4.71089811e-02 -5.70828414e-01 -8.19716820e-01 -3.67073627e+01] [-9.89882402e-01 1.36634511e-01 -3.82601763e-02 -5.88260599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:-38.62, Z:-58.64 [[ 2.93577093e-01 -9.18420509e-01 -2.65172131e-01 1.75372370e+02] [-6.01659542e-03 -2.79165198e-01 9.60224241e-01 -3.86162615e+01] [-9.55916467e-01 -2.80304408e-01 -8.74822718e-02 -5.86423294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-38.72, Z:-59.24 [[ 2.48958908e-01 1.12679050e-01 9.61937053e-01 1.73396377e+02] [-6.68324629e-02 9.92840375e-01 -9.90020839e-02 -3.87182868e+01] [-9.66205405e-01 -3.96411718e-02 2.54707074e-01 -5.92360194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.38, Y:-38.67, Z:-59.30 [[ 2.48279776e-01 1.58931946e-01 9.55561505e-01 1.73378717e+02] [-6.85884445e-02 9.86857248e-01 -1.46316086e-01 -3.86714924e+01] [-9.66257097e-01 -2.92131523e-02 2.55917592e-01 -5.93017331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.57, Y:-37.17, Z:-59.47 [[ 1.67837307e-01 9.78744328e-01 1.17856605e-01 1.73568189e+02] [-5.36844064e-02 1.28449436e-01 -9.90261949e-01 -3.71680456e+01] [-9.84351880e-01 1.59875836e-01 7.41019157e-02 -5.94658865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.26, Y:-38.91, Z:-59.19 [[ 2.72989276e-01 -9.61403393e-01 3.43565295e-02 1.75261094e+02] [-5.39376277e-02 2.03608500e-02 9.98336701e-01 -3.89141550e+01] [-9.60503820e-01 -2.74388323e-01 -4.62975246e-02 -5.91947126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:-38.65, Z:-59.83 [[ 2.69923831e-01 1.82969976e-01 9.45337566e-01 1.73494312e+02] [-1.19378660e-01 9.80563986e-01 -1.55701655e-01 -3.86548297e+01] [-9.55452699e-01 -7.08255448e-02 2.86520298e-01 -5.98297012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.57, Y:-36.77, Z:-59.84 [[ 1.65169469e-01 7.47619364e-01 -6.43260703e-01 1.74573047e+02] [-2.39356169e-02 -6.48988139e-01 -7.60421911e-01 -3.67679487e+01] [-9.85974712e-01 1.40995325e-01 -8.92982957e-02 -5.98447999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.57, Y:-38.78, Z:-59.72 [[ 2.79709783e-01 -9.43246749e-01 -1.79019573e-01 1.75565737e+02] [-2.18719748e-02 -1.92674296e-01 9.81018977e-01 -3.87786793e+01] [-9.59835431e-01 -2.70485093e-01 -7.45235546e-02 -5.97210219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:173.72, Y:-38.88, Z:-60.35 [[ 2.83927986e-01 3.03847279e-02 9.58364058e-01 1.73718253e+02] [-5.86876313e-02 9.98174542e-01 -1.42599263e-02 -3.88806644e+01] [-9.57047888e-01 -5.21953243e-02 2.85192896e-01 -6.03528428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-36.88, Z:-60.39 [[ 1.75615297e-01 9.03504172e-01 -3.90946901e-01 1.74314412e+02] [-7.75360924e-03 -3.95836847e-01 -9.18288120e-01 -3.68841499e+01] [-9.84428336e-01 1.64296690e-01 -6.25095870e-02 -6.03912733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:-38.19, Z:-60.19 [[ 2.59407129e-01 -6.88936381e-01 -6.76812090e-01 1.75947279e+02] [ 7.79549960e-02 -6.83578301e-01 7.25702229e-01 -3.81909536e+01] [-9.62616725e-01 -2.41013216e-01 -1.23619052e-01 -6.01877898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:-39.27, Z:-60.76 [[ 2.88382392e-01 -3.73817221e-01 8.81530647e-01 1.74259382e+02] [ 2.23879517e-02 9.23024613e-01 3.84088978e-01 -3.92654902e+01] [-9.57253559e-01 -9.10288325e-02 2.74553047e-01 -6.07628977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-37.23, Z:-60.90 [[ 1.66645890e-01 9.84790667e-01 4.91578073e-02 1.73964788e+02] [ 1.69419632e-02 4.69877919e-02 -9.98751780e-01 -3.72253337e+01] [-9.85871248e-01 1.67270709e-01 -8.85396484e-03 -6.09041992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.85, Y:-37.40, Z:-60.68 [[ 1.80053102e-01 -7.18403943e-02 -9.81029988e-01 1.75854584e+02] [ 1.38200233e-01 -9.85589605e-01 9.75388394e-02 -3.73950592e+01] [-9.73900188e-01 -1.53140743e-01 -1.67530106e-01 -6.06760893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.10, Y:-39.40, Z:-61.14 [[ 2.52499857e-01 -7.98693704e-01 5.46197940e-01 1.75099322e+02] [ 9.48237062e-02 5.82197291e-01 8.07499089e-01 -3.93951535e+01] [-9.62939399e-01 -1.52100892e-01 2.22739830e-01 -6.11362959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:-37.77, Z:-61.40 [[ 1.40683542e-01 8.39565550e-01 5.24726432e-01 1.73791292e+02] [ 2.90412506e-02 5.26269990e-01 -8.49821454e-01 -3.77740091e+01] [-9.89628590e-01 1.34794604e-01 4.96554926e-02 -6.14034174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:-37.41, Z:-61.16 [[ 1.69467083e-01 -9.28574759e-02 -9.81151567e-01 1.76014350e+02] [ 1.51701889e-01 -9.81228597e-01 1.19067116e-01 -3.74104565e+01] [-9.73790247e-01 -1.69020503e-01 -1.52199294e-01 -6.11640120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-39.39, Z:-61.69 [[ 1.74167797e-01 -6.33770035e-01 7.53658491e-01 1.74892479e+02] [ 1.17849839e-01 7.73270803e-01 6.23027833e-01 -3.93894976e+01] [-9.77638478e-01 -1.96928538e-02 2.09368569e-01 -6.16854654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:-39.37, Z:-61.75 [[ 1.73880099e-01 -6.20666192e-01 7.64551627e-01 1.74882172e+02] [ 1.11793547e-01 7.83800416e-01 6.10867507e-01 -3.93745025e+01] [-9.78400692e-01 -2.07457639e-02 2.05673769e-01 -6.17470734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:-39.37, Z:-61.80 [[ 2.10729101e-01 -6.55243908e-01 7.25429987e-01 1.74957896e+02] [ 1.13234816e-01 7.53460495e-01 6.47669019e-01 -3.93692079e+01] [-9.70964017e-01 -5.43387788e-02 2.32972477e-01 -6.18031245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-37.40, Z:-61.84 [[ 7.55250369e-02 9.66472431e-01 2.45411917e-01 1.74094810e+02] [ 9.51713176e-02 2.38004603e-01 -9.66590001e-01 -3.73982310e+01] [-9.92591753e-01 9.63579210e-02 -7.40051483e-02 -6.18400918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:-37.49, Z:-61.77 [[ 1.07114701e-01 -1.89756702e-01 -9.75970714e-01 1.76223045e+02] [ 2.11262557e-01 -9.54858457e-01 2.08838354e-01 -3.74888402e+01] [-9.71542368e-01 -2.28555727e-01 -6.21908921e-02 -6.17690414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.68, Y:-39.25, Z:-62.23 [[ 1.44906162e-01 -9.36723644e-01 3.18670705e-01 1.75683634e+02] [ 1.57336241e-01 3.39786490e-01 9.27248860e-01 -3.92542096e+01] [-9.76855932e-01 -8.42256231e-02 1.96617733e-01 -6.22255722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:-39.34, Z:-62.35 [[ 1.44420336e-01 -7.92877316e-01 5.92020548e-01 1.75312202e+02] [ 1.50372142e-01 6.08929659e-01 7.78840734e-01 -3.93377991e+01] [-9.78024021e-01 -2.34570428e-02 2.07168486e-01 -6.23470266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:-39.32, Z:-62.40 [[ 1.74113003e-01 -8.17033974e-01 5.49672765e-01 1.75375670e+02] [ 1.57119600e-01 5.74097667e-01 8.03570345e-01 -3.93158166e+01] [-9.72110124e-01 -5.35476811e-02 2.28329920e-01 -6.23989879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-37.55, Z:-62.42 [[ 4.53931901e-02 9.01428461e-01 4.30541739e-01 1.74094937e+02] [ 1.30343221e-01 4.21957115e-01 -8.97197212e-01 -3.75549636e+01] [-9.90429252e-01 9.68448407e-02 -9.83411096e-02 -6.24204674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:175.69, Y:-39.18, Z:-62.63 [[ 1.23676551e-01 -9.10161174e-01 3.95361540e-01 1.75690337e+02] [ 1.31627646e-01 4.09946627e-01 9.02561868e-01 -3.91834281e+01] [-9.83553900e-01 -5.95852305e-02 1.70503158e-01 -6.26278227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.13, Y:-37.59, Z:-62.68 [[-1.02077425e-02 8.60465078e-01 5.09407157e-01 1.74133203e+02] [ 8.49627413e-02 5.08337800e-01 -8.56956250e-01 -3.75868430e+01] [-9.96331840e-01 3.45330398e-02 -7.82964532e-02 -6.26789802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:-38.92, Z:-62.84 [[ 5.93955449e-02 -9.94503929e-01 8.62212521e-02 1.76121764e+02] [ 1.04449773e-01 9.20912124e-02 9.90257266e-01 -3.89180626e+01] [-9.92754962e-01 -4.98110797e-02 1.09345518e-01 -6.28392713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.14, Y:-38.04, Z:-62.94 [[-4.22797193e-02 5.67878679e-01 8.22025687e-01 1.74142860e+02] [ 1.21563770e-02 8.22992880e-01 -5.67921598e-01 -3.80376055e+01] [-9.99031855e-01 -1.40187116e-02 -4.16992553e-02 -6.29375708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:-38.03, Z:-63.00 [[ 4.42775125e-03 -7.77579185e-01 -6.28769438e-01 1.76636439e+02] [ 5.37064487e-02 -6.27683203e-01 7.76614070e-01 -3.80254745e+01] [-9.98546951e-01 -3.72076274e-02 3.89817915e-02 -6.30014893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:-38.91, Z:-63.03 [[ 6.03108139e-03 -2.69298161e-01 9.63037967e-01 1.74727368e+02] [-5.57993207e-02 9.61464361e-01 2.69207574e-01 -3.89137524e+01] [-9.98423789e-01 -5.53604772e-02 -9.22798464e-03 -6.30290670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:-36.94, Z:-63.16 [[-3.84441474e-02 9.98918608e-01 2.61469500e-02 1.74501146e+02] [-4.60799546e-02 2.43662491e-02 -9.98640538e-01 -3.69409423e+01] [-9.98197719e-01 -3.95967343e-02 4.50933844e-02 -6.31598511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:176.57, Y:-37.43, Z:-63.16 [[ 3.38924903e-02 -4.04740316e-01 -9.13803357e-01 1.76572320e+02] [ 5.25261651e-02 -9.12343649e-01 4.06041953e-01 -3.74331875e+01] [-9.98044238e-01 -6.17603590e-02 -9.66214157e-03 -6.31649893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.48, Y:-39.11, Z:-63.30 [[ 4.26898505e-02 -7.79504050e-01 6.24940807e-01 1.75480421e+02] [ 7.83293219e-03 6.25752948e-01 7.79981983e-01 -3.91056037e+01] [-9.99057667e-01 -2.84021953e-02 3.28191021e-02 -6.33001171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:-37.89, Z:-63.45 [[-2.91381108e-02 6.19116124e-01 7.84758687e-01 1.74175054e+02] [-5.87396468e-02 7.82674741e-01 -6.19653051e-01 -3.78935657e+01] [-9.97847997e-01 -6.41519673e-02 1.35609991e-02 -6.34482740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-36.56, Z:-63.53 [[-6.31562161e-02 8.74904739e-01 -4.80159339e-01 1.75116294e+02] [-1.44485975e-02 -4.81870961e-01 -8.76123059e-01 -3.65640607e+01] [-9.97899058e-01 -4.83949882e-02 4.30742930e-02 -6.35337273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:-38.01, Z:-63.58 [[ 4.26487899e-02 -7.98056328e-01 -6.01071691e-01 1.76664932e+02] [ 3.27223837e-02 -6.00180549e-01 7.99194942e-01 -3.80111805e+01] [-9.98554118e-01 -5.37531957e-02 5.17331300e-04 -6.35806997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:-36.63, Z:-63.73 [[-6.32102770e-02 9.11067328e-01 -4.07382849e-01 1.75078162e+02] [ 5.56910335e-02 -4.04343058e-01 -9.12910291e-01 -3.66299191e+01] [-9.96445166e-01 -8.03928843e-02 -2.51796443e-02 -6.37337435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:-38.00, Z:-63.88 [[-1.41834125e-02 -7.81160750e-01 -6.24168817e-01 1.76742323e+02] [ 6.29636282e-02 -6.23690520e-01 7.79131386e-01 -3.79959417e+01] [-9.97915033e-01 -2.82491915e-02 5.80307750e-02 -6.38810460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.72, Y:-38.10, Z:-63.90 [[-5.57798105e-03 -8.32913410e-01 -5.53375223e-01 1.76722039e+02] [ 7.06941133e-02 -5.52327698e-01 8.30624136e-01 -3.81009437e+01] [-9.97482445e-01 -3.44871650e-02 6.19629484e-02 -6.39037742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.67, Y:-38.27, Z:-63.92 [[ 6.09782480e-03 -9.02177337e-01 -4.31322233e-01 1.76669078e+02] [ 7.59710576e-02 -4.29665715e-01 8.99786514e-01 -3.82733154e+01] [-9.97091377e-01 -3.82547468e-02 6.59193402e-02 -6.39192797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:176.66, Y:-38.30, Z:-63.93 [[ 1.46152430e-02 -9.12376456e-01 -4.09091185e-01 1.76657671e+02] [ 8.55117337e-02 -4.06495460e-01 9.09642339e-01 -3.83001833e+01] [-9.96229962e-01 -4.82767403e-02 7.20778626e-02 -6.39310636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:-38.38, Z:-63.94 [[ 1.67671947e-02 -9.36618469e-01 -3.49949575e-01 1.76623161e+02] [ 5.96949090e-02 -3.48436698e-01 9.35429519e-01 -3.83768516e+01] [-9.98075838e-01 -3.65747369e-02 5.00690484e-02 -6.39418580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-38.87, Z:-63.94 [[-3.93563783e-03 -2.51836137e-01 9.67761887e-01 1.74811802e+02] [-3.13166228e-02 9.67325738e-01 2.51595283e-01 -3.88699413e+01] [-9.99501766e-01 -2.93168461e-02 -1.16937011e-02 -6.39395650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:-36.97, Z:-63.99 [[-8.45525555e-02 9.91026601e-01 1.03523631e-01 1.74544649e+02] [ 2.83298074e-03 1.04134354e-01 -9.94559204e-01 -3.69726487e+01] [-9.96414994e-01 -8.37992418e-02 -1.16123851e-02 -6.39927050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-36.62, Z:-64.12 [[-7.52192237e-02 4.41329779e-01 -8.94186834e-01 1.75935299e+02] [ 1.66807997e-02 -8.96044873e-01 -4.43650015e-01 -3.66175682e+01] [-9.97027492e-01 -4.82867613e-02 6.00380661e-02 -6.41150792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.54, Y:-36.99, Z:-64.01 [[-1.40804507e-01 9.82791999e-01 1.19557420e-01 1.74542456e+02] [ 3.13171755e-02 1.25121451e-01 -9.91647043e-01 -3.69909441e+01] [-9.89541978e-01 -1.35884172e-01 -4.83959339e-02 -6.40068053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-36.64, Z:-64.23 [[-1.40245727e-01 3.89837709e-01 -9.10141581e-01 1.75998845e+02] [ 2.67186068e-02 -9.17401695e-01 -3.97064537e-01 -3.66418512e+01] [-9.89756158e-01 -8.00043196e-02 1.18245747e-01 -6.42349002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.35, Y:-38.71, Z:-64.32 [[-4.28907804e-02 -9.99072523e-01 -3.80455939e-03 1.76346311e+02] [ 8.41659769e-03 -4.16925289e-03 9.99955888e-01 -3.87148736e+01] [-9.99044314e-01 4.28568669e-02 8.58761400e-03 -6.43190051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.43, Y:-38.62, Z:-64.29 [[ 2.34967999e-02 -9.93788792e-01 -1.08773786e-01 1.76425244e+02] [ 1.03869763e-02 -1.08555274e-01 9.94036148e-01 -3.86170812e+01] [-9.99669951e-01 -2.44864992e-02 7.77175909e-03 -6.42883747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-37.12, Z:-64.42 [[ 2.57835525e-03 -1.08467021e-01 -9.94096704e-01 1.76462594e+02] [ 1.10392774e-01 -9.87993195e-01 1.08087382e-01 -3.71232303e+01] [-9.93884695e-01 -1.10019780e-01 9.42657788e-03 -6.44158208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:-38.87, Z:-64.61 [[ 3.80473468e-02 -9.93752132e-01 1.04924259e-01 1.76212500e+02] [ 7.57680768e-02 1.07566937e-01 9.91306488e-01 -3.88749630e+01] [-9.96399317e-01 -2.97666724e-02 7.93873244e-02 -6.46143235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.16, Y:-38.90, Z:-64.68 [[ 4.26669282e-02 -9.87462197e-01 1.51980072e-01 1.76159783e+02] [ 7.02328467e-02 1.54706720e-01 9.85460896e-01 -3.89022563e+01] [-9.96617720e-01 -3.13725963e-02 7.59531416e-02 -6.46847267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:-38.90, Z:-64.74 [[ 5.93677507e-02 -9.85630661e-01 1.58138138e-01 1.76150416e+02] [ 8.73450864e-02 1.62939005e-01 9.82762289e-01 -3.89015243e+01] [-9.94407515e-01 -4.45317972e-02 9.57633175e-02 -6.47440089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:-38.45, Z:-64.88 [[ 1.77898640e-02 1.86918018e-01 9.82214424e-01 1.74406290e+02] [-3.28712997e-02 9.81948178e-01 -1.86271986e-01 -3.84450439e+01] [-9.99301255e-01 -2.89729114e-02 2.36129627e-02 -6.48843694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:-36.72, Z:-65.01 [[-1.05139935e-01 9.73844699e-01 -2.01425163e-01 1.74891372e+02] [ 1.22131658e-02 -2.01268038e-01 -9.79460063e-01 -3.67166065e+01] [-9.94382438e-01 -1.05440407e-01 9.26758170e-03 -6.50074395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.21, Y:-36.73, Z:-65.14 [[-9.83758949e-02 2.52998929e-01 -9.62451934e-01 1.76208225e+02] [ 3.65688199e-02 -9.65570964e-01 -2.57556665e-01 -3.67275266e+01] [-9.94477202e-01 -6.05330988e-02 8.57370353e-02 -6.51405682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:-36.93, Z:-65.18 [[-8.21533701e-02 6.10922330e-03 -9.96600974e-01 1.76447516e+02] [ 3.40422563e-02 -9.99380476e-01 -8.93248633e-03 -3.69269951e+01] [-9.96038126e-01 -3.46603797e-02 8.18945024e-02 -6.51832860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:-37.03, Z:-65.16 [[-8.46492763e-02 -1.04263407e-01 -9.90940786e-01 1.76538172e+02] [ 4.22662753e-02 -9.93990871e-01 1.00973809e-01 -3.70294921e+01] [-9.95513969e-01 -3.33360162e-02 8.85474338e-02 -6.51631931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.07, Y:-38.92, Z:-65.20 [[ 3.61163209e-03 -9.54952139e-01 2.96737879e-01 1.76068928e+02] [-2.38237193e-02 2.96573424e-01 9.54712855e-01 -3.89235352e+01] [-9.99709651e-01 -1.05174715e-02 -2.16793976e-02 -6.51961231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.32, Y:-38.12, Z:-65.21 [[-6.00499559e-02 4.54584272e-01 8.88677187e-01 1.74315274e+02] [-9.01896331e-02 8.84171520e-01 -4.58373813e-01 -3.81188559e+01] [-9.94112586e-01 -1.07674797e-01 -1.20956720e-02 -6.52117687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:-36.53, Z:-65.40 [[-7.94813566e-02 7.99773589e-01 -5.95016740e-01 1.75382964e+02] [-4.85008497e-02 -5.99300854e-01 -7.99053286e-01 -3.65340406e+01] [-9.95655755e-01 -3.46510217e-02 8.64229435e-02 -6.53956002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.50, Y:-36.53, Z:-65.38 [[-7.74339501e-02 7.43936719e-01 -6.63748553e-01 1.75496618e+02] [-3.28700092e-02 -6.67290484e-01 -7.44071887e-01 -3.65255404e+01] [-9.96455491e-01 -3.57990043e-02 7.61241448e-02 -6.53757459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-37.85, Z:-65.38 [[ 1.76119592e-02 -7.13195390e-01 -7.00744000e-01 1.76767260e+02] [ 1.60257941e-03 -7.00831668e-01 7.13324894e-01 -3.78509936e+01] [-9.99843613e-01 -1.36860469e-02 -1.12000665e-02 -6.53771140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:-39.00, Z:-65.48 [[ 1.02995652e-01 -7.52674910e-01 6.50286380e-01 1.75507684e+02] [-9.67176324e-02 6.43087188e-01 7.59660824e-01 -3.90001655e+01] [-9.89968482e-01 -1.41135921e-01 -6.56175068e-03 -6.54808634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:-38.13, Z:-65.70 [[ 5.84996268e-02 4.37197724e-01 8.97460831e-01 1.74270303e+02] [-1.46346785e-01 8.93043593e-01 -4.25506475e-01 -3.81285147e+01] [-9.87502107e-01 -1.06448537e-01 1.16225198e-01 -6.57022299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.25, Y:-37.53, Z:-65.86 [[ 1.82823908e-02 8.08607869e-01 5.88063831e-01 1.74252751e+02] [-1.39127101e-01 5.84497504e-01 -7.99378707e-01 -3.75264392e+01] [-9.90105754e-01 -6.72010621e-02 1.23185281e-01 -6.58553040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-36.60, Z:-66.03 [[-4.69347792e-02 6.21868753e-01 -7.81713746e-01 1.75721369e+02] [-1.91913231e-02 -7.82993113e-01 -6.21734250e-01 -3.66006063e+01] [-9.98713582e-01 -1.41788386e-02 4.86840930e-02 -6.60298334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:-38.01, Z:-66.11 [[ 7.62000001e-02 -7.40691314e-01 -6.67510252e-01 1.76719869e+02] [ 5.25015291e-02 -6.65547452e-01 7.44506668e-01 -3.80109872e+01] [-9.95709370e-01 -9.17767171e-02 -1.18272893e-02 -6.61142625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:-39.09, Z:-66.24 [[ 1.17167486e-01 -8.91345484e-01 4.37921236e-01 1.75832049e+02] [ 4.99553426e-04 4.41011326e-01 8.97501399e-01 -3.90871372e+01] [-9.93112043e-01 -1.04939218e-01 5.21174631e-02 -6.62400541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.02, Y:-39.04, Z:-66.37 [[ 1.06063495e-01 -4.24150654e-01 8.99359082e-01 1.75017139e+02] [-4.28943533e-02 9.01667252e-01 4.30297851e-01 -3.90415368e+01] [-9.93433747e-01 -8.42163203e-02 7.74403123e-02 -6.63657885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:-37.16, Z:-66.56 [[-4.89804338e-02 9.74794537e-01 2.17661496e-01 1.74539593e+02] [-3.69403891e-02 2.16005972e-01 -9.75692999e-01 -3.71586430e+01] [-9.98116388e-01 -5.58303667e-02 2.54292233e-02 -6.65581712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.08, Y:-36.72, Z:-66.58 [[-5.89996694e-02 9.39241645e-01 -3.38148149e-01 1.75079996e+02] [-9.54965559e-03 -3.39253773e-01 -9.40646417e-01 -3.67191804e+01] [-9.98212324e-01 -5.22686293e-02 2.89852947e-02 -6.65839181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.68, Y:-37.44, Z:-66.72 [[ 1.85030891e-02 -3.32168011e-01 -9.43038731e-01 1.76682940e+02] [ 1.31105192e-01 -9.34250069e-01 3.31644744e-01 -3.74429461e+01] [-9.91195775e-01 -1.29773727e-01 2.62624388e-02 -6.67169789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.49, Y:-38.73, Z:-66.88 [[ 8.39195943e-02 -9.88281117e-01 -1.27506612e-01 1.76486412e+02] [ 9.01744179e-02 -1.19901212e-01 9.88682089e-01 -3.87291367e+01] [-9.92384037e-01 -9.44676344e-02 7.90556133e-02 -6.68830727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-39.07, Z:-66.99 [[ 1.04784529e-01 -9.30899932e-01 3.49922161e-01 1.75998586e+02] [ 7.68283290e-02 3.58384957e-01 9.30407239e-01 -3.90730406e+01] [-9.91522874e-01 -7.06083498e-02 1.09072685e-01 -6.69904551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-38.27, Z:-67.15 [[ 2.14424651e-02 3.82438959e-01 9.23731922e-01 1.74404443e+02] [-5.09270280e-02 9.23162684e-01 -3.81021124e-01 -3.82691888e+01] [-9.98472162e-01 -3.88728893e-02 3.92713632e-02 -6.71508671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-36.71, Z:-67.27 [[-9.65434834e-02 9.21731663e-01 -3.75619618e-01 1.75208786e+02] [ 2.99381651e-02 -3.74522529e-01 -9.26734364e-01 -3.67068209e+01] [-9.94878416e-01 -1.00715526e-01 8.56275486e-03 -6.72669185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.35, Y:-36.85, Z:-67.40 [[-8.18757590e-02 2.17240276e-01 -9.72678273e-01 1.76347079e+02] [ 5.18337879e-02 -9.73706013e-01 -2.21832953e-01 -3.68494576e+01] [-9.95293735e-01 -6.85803407e-02 6.84625324e-02 -6.73976571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:-38.64, Z:-67.44 [[ 3.32952348e-02 -9.86507649e-01 -1.60293748e-01 1.76599533e+02] [ 1.63391620e-02 -1.59823965e-01 9.87010300e-01 -3.86447618e+01] [-9.99311993e-01 -3.54818052e-02 1.07973318e-02 -6.74396765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:174.60, Y:-38.57, Z:-67.46 [[-1.29645209e-02 1.36109551e-01 9.90608960e-01 1.74604528e+02] [-9.29652262e-02 9.86237089e-01 -1.36725532e-01 -3.85669390e+01] [-9.95584948e-01 -9.38647670e-02 -1.32636165e-04 -6.74644510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:-37.01, Z:-67.51 [[-5.13609715e-02 9.95894335e-01 7.45421007e-02 1.74721534e+02] [-4.10334466e-02 7.24731679e-02 -9.96525913e-01 -3.70104471e+01] [-9.97836814e-01 -5.42412584e-02 3.71426847e-02 -6.75082385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:176.76, Y:-37.38, Z:-67.52 [[ 1.46467097e-02 -3.30834349e-01 -9.43575173e-01 1.76760845e+02] [ 6.59502209e-02 -9.41301855e-01 3.31061000e-01 -3.73843828e+01] [-9.97715411e-01 -6.70779455e-02 8.03162342e-03 -6.75229413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:-38.94, Z:-67.61 [[ 6.89841119e-02 -9.74619993e-01 2.12971975e-01 1.76240919e+02] [ 1.76015211e-02 2.14636374e-01 9.76535413e-01 -3.89430817e+01] [-9.97462470e-01 -6.36167975e-02 3.19612939e-02 -6.76130377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.67, Y:-39.10, Z:-67.70 [[ 6.69574972e-02 -7.62260540e-01 6.43797765e-01 1.75665829e+02] [-1.31020123e-02 6.44518448e-01 7.64476493e-01 -3.91047813e+01] [-9.97669801e-01 -5.96224788e-02 3.31681952e-02 -6.76963655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-38.17, Z:-67.81 [[ 1.15534968e-01 -8.11199109e-01 -5.73243122e-01 1.76758706e+02] [ 6.99823728e-02 -5.69026058e-01 8.19336202e-01 -3.81746206e+01] [-9.90835071e-01 -1.34778896e-01 -8.97276916e-03 -6.78052587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:-39.09, Z:-68.06 [[ 1.26918002e-01 -5.51627787e-01 8.24377708e-01 1.75265619e+02] [ 3.32156687e-03 8.31330321e-01 5.55768715e-01 -3.90932829e+01] [-9.91907651e-01 -6.77988290e-02 1.07343052e-01 -6.80636541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:-37.34, Z:-68.20 [[-2.37431902e-02 9.23366237e-01 3.83185404e-01 1.74524568e+02] [-1.61603142e-02 3.82888884e-01 -9.23653045e-01 -3.73361624e+01] [-9.99587467e-01 -2.81228664e-02 5.83088494e-03 -6.81971440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:-37.18, Z:-68.30 [[ 2.65038240e-02 -7.94635787e-02 -9.96485367e-01 1.76617391e+02] [ 1.33610032e-01 -9.87609998e-01 8.23094892e-02 -3.71820503e+01] [-9.90679518e-01 -1.35321958e-01 -1.55583103e-02 -6.82987343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:-39.00, Z:-68.54 [[ 8.61689393e-02 -9.70812550e-01 2.23825616e-01 1.76241939e+02] [ 9.22029771e-02 2.31467892e-01 9.68463332e-01 -3.89988026e+01] [-9.92004801e-01 -6.28140699e-02 1.09457150e-01 -6.85356333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:174.46, Y:-37.79, Z:-68.63 [[-5.16631640e-02 7.07916383e-01 7.04404225e-01 1.74464466e+02] [ 2.77029019e-03 7.05445043e-01 -7.08759209e-01 -3.77932991e+01] [-9.98660725e-01 -3.46653391e-02 -3.84066568e-02 -6.86257826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-38.21, Z:-68.69 [[ 3.51673057e-02 -8.57584227e-01 -5.13139898e-01 1.76873451e+02] [ 7.82046543e-02 -5.09521511e-01 8.56896646e-01 -3.82108602e+01] [-9.96316864e-01 -7.02646747e-02 4.91485793e-02 -6.86856342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:-38.52, Z:-68.72 [[-1.50234220e-02 1.51966084e-01 9.88271525e-01 1.74667819e+02] [-6.75618642e-02 9.85969910e-01 -1.52639222e-01 -3.85223032e+01] [-9.97601970e-01 -6.90626299e-02 -4.54553011e-03 -6.87192734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.08, Y:-36.77, Z:-68.63 [[-6.35872966e-02 9.75107367e-01 -2.12420051e-01 1.75081222e+02] [-1.35924717e-02 -2.13677274e-01 -9.76809740e-01 -3.67726357e+01] [-9.97883711e-01 -5.92253771e-02 2.68412794e-02 -6.86321796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-38.44, Z:-68.82 [[ 8.95331693e-02 -9.41310682e-01 -3.25450476e-01 1.76766050e+02] [ 1.46570285e-02 -3.25482168e-01 9.45434572e-01 -3.84373020e+01] [-9.95875988e-01 -8.94178905e-02 -1.53446325e-02 -6.88216907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.88, Y:-38.75, Z:-69.01 [[ 5.92579341e-02 -1.09137414e-01 9.92258798e-01 1.74881658e+02] [-5.95203125e-02 9.91850776e-01 1.12647103e-01 -3.87546719e+01] [-9.96466673e-01 -6.57347884e-02 5.22791350e-02 -6.90078257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-36.67, Z:-69.13 [[-4.93005937e-02 8.49118333e-01 -5.25896861e-01 1.75548498e+02] [ 5.68761321e-02 -5.23295971e-01 -8.50250806e-01 -3.66703138e+01] [-9.97163255e-01 -7.18288488e-02 -2.24957644e-02 -6.91292953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-38.31, Z:-69.07 [[ 2.75309400e-02 -8.86270989e-01 -4.62348117e-01 1.76917847e+02] [ 2.02541421e-02 -4.61933910e-01 8.86683051e-01 -3.83072598e+01] [-9.99415738e-01 -3.37756823e-02 5.23318378e-03 -6.90718328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-38.56, Z:-69.22 [[-2.96792870e-02 1.29055591e-01 9.91193117e-01 1.74759516e+02] [-8.21136092e-02 9.87963445e-01 -1.31093808e-01 -3.85569465e+01] [-9.96180955e-01 -8.52812150e-02 -1.87248302e-02 -6.92174942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.612320588 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:175.41, Y:-36.70, Z:-69.19 [[-4.18293729e-02 9.10345142e-01 -4.11730526e-01 1.75405315e+02] [ 1.66605343e-02 -4.11398373e-01 -9.11303355e-01 -3.67011858e+01] [-9.98985851e-01 -4.49788985e-02 2.04169947e-03 -6.91908373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.88, Y:-38.25, Z:-69.30 [[ 1.22363162e-01 -8.42905923e-01 -5.23962653e-01 1.76883163e+02] [ 6.55517097e-02 -5.19913258e-01 8.51700169e-01 -3.82508103e+01] [-9.90318247e-01 -1.38563374e-01 -8.36430596e-03 -6.93033908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.672320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:175.45, Y:-39.08, Z:-69.53 [[ 1.31707800e-01 -5.72182152e-01 8.09481711e-01 1.75452605e+02] [ 1.02550722e-03 8.16673624e-01 5.77098900e-01 -3.90779535e+01] [-9.91288053e-01 -7.51782969e-02 1.08149063e-01 -6.95330768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:-37.21, Z:-69.65 [[-3.82094720e-02 9.61679168e-01 2.71501777e-01 1.74778661e+02] [-1.62150078e-03 2.71640158e-01 -9.62397524e-01 -3.72109830e+01] [-9.99268436e-01 -3.72129416e-02 -8.81986350e-03 -6.96456455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.83, Y:-37.31, Z:-69.76 [[ 2.88695099e-02 -1.77723737e-01 -9.83656863e-01 1.76826331e+02] [ 1.51061574e-01 -9.71989042e-01 1.80049167e-01 -3.73093117e+01] [-9.88102703e-01 -1.53790685e-01 -1.21361989e-03 -6.97561951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:-38.82, Z:-69.99 [[ 8.67505189e-02 -9.96182410e-01 -9.74435739e-03 1.76591577e+02] [ 8.40965972e-02 -2.42363934e-03 9.96454659e-01 -3.88205305e+01] [-9.92674221e-01 -8.72624260e-02 8.35652990e-02 -6.99888055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.19, Y:-39.05, Z:-70.10 [[ 1.08927811e-01 -9.24235770e-01 3.65954878e-01 1.76189315e+02] [ 8.05960496e-02 3.75144866e-01 9.23455796e-01 -3.90468519e+01] [-9.90776972e-01 -7.10955007e-02 1.15353461e-01 -7.00987820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:-37.46, Z:-70.17 [[-5.85624020e-02 8.67272352e-01 4.94377500e-01 1.74711235e+02] [ 3.51670127e-02 4.96712320e-01 -8.67202487e-01 -3.74637558e+01] [-9.97664135e-01 -3.33996808e-02 -5.95880444e-02 -7.01714264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:-38.46, Z:-70.27 [[ 3.16637260e-02 -9.45882866e-01 -3.22959769e-01 1.76891743e+02] [ 5.17283962e-02 -3.21137927e-01 9.45618636e-01 -3.84645591e+01] [-9.98159096e-01 -4.66480003e-02 3.87605803e-02 -7.02730643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:-38.26, Z:-70.29 [[-5.52460196e-02 3.51872687e-01 9.34416122e-01 1.74725126e+02] [-5.46101292e-02 9.33379733e-01 -3.54711161e-01 -3.82592512e+01] [-9.96978240e-01 -7.06249648e-02 -3.23497021e-02 -7.02875707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:-36.80, Z:-70.40 [[-4.69136760e-02 3.34407698e-01 -9.41260112e-01 1.76442061e+02] [ 5.42455179e-02 -9.40054259e-01 -3.36682957e-01 -3.68015174e+01] [-9.97424950e-01 -6.68541774e-02 2.59612822e-02 -7.04008845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:-37.12, Z:-70.42 [[-2.59159252e-02 -5.55787763e-02 -9.98117911e-01 1.76798937e+02] [ 5.43068739e-02 -9.97057125e-01 5.41096412e-02 -3.71153482e+01] [-9.98187922e-01 -5.28023621e-02 2.88579674e-02 -7.04197244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:175.67, Y:-39.02, Z:-70.43 [[ 3.75874916e-02 -6.59579023e-01 7.50694807e-01 1.75674377e+02] [-9.05675410e-02 7.45885470e-01 6.59888162e-01 -3.90164805e+01] [-9.95180738e-01 -9.27921234e-02 -3.17004863e-02 -7.04306371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:174.91, Y:-37.12, Z:-70.64 [[-6.88255825e-02 9.74974742e-01 2.11393687e-01 1.74905120e+02] [-7.00148797e-02 2.06653088e-01 -9.75905947e-01 -3.71203133e+01] [-9.95168808e-01 -8.19679988e-02 5.40397201e-02 -7.06437093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-37.73, Z:-70.67 [[ 5.50222813e-02 -5.61915614e-01 -8.25362582e-01 1.77029083e+02] [ 2.78975773e-02 -8.25426938e-01 5.63819204e-01 -3.77286722e+01] [-9.98095323e-01 -5.40482352e-02 -2.97407889e-02 -7.06695162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.39, Y:-38.95, Z:-70.75 [[ 7.05750285e-02 -4.50145788e-01 8.90161747e-01 1.75385934e+02] [-8.97384812e-02 8.85903243e-01 4.55107075e-01 -3.89476137e+01] [-9.93461711e-01 -1.12000958e-01 2.21272473e-02 -7.07505639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:-36.79, Z:-70.97 [[-8.85078817e-02 9.50841728e-01 -2.96759775e-01 1.75458545e+02] [ 7.12506545e-03 -2.97317024e-01 -9.54752230e-01 -3.67869855e+01] [-9.96049993e-01 -8.66175302e-02 1.95400904e-02 -7.09713763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:-36.88, Z:-71.05 [[-5.48819641e-02 3.12169275e-01 -9.48439937e-01 1.76537336e+02] [ 5.02004413e-02 -9.47807627e-01 -3.14866032e-01 -3.68759648e+01] [-9.97230107e-01 -6.48925696e-02 3.63465087e-02 -7.10485518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:-38.70, Z:-71.09 [[ 6.90564704e-02 -9.90998475e-01 -1.14687513e-01 1.76759261e+02] [ 2.38114936e-02 -1.13291860e-01 9.93276380e-01 -3.86968802e+01] [-9.97328540e-01 -7.13230419e-02 1.57736179e-02 -7.10904868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.58, Y:-36.80, Z:-71.23 [[-1.01878588e-01 9.30232460e-01 -3.52545492e-01 1.75584600e+02] [ 5.43288128e-02 -3.48657761e-01 -9.35674167e-01 -3.67954471e+01] [-9.93312203e-01 -1.14478541e-01 -1.50176649e-02 -7.12297567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-39.06, Z:-71.39 [[ 4.25076633e-02 -8.71028045e-01 4.89390686e-01 1.76170494e+02] [-5.43977026e-03 4.89624392e-01 8.71916489e-01 -3.90559581e+01] [-9.99081332e-01 -3.97253054e-02 1.60745963e-02 -7.13851588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.27, Y:-36.77, Z:-71.38 [[-6.90540418e-02 5.69823314e-01 -8.18860751e-01 1.76272674e+02] [ 1.05261412e-01 -8.12076474e-01 -5.73978950e-01 -3.67736165e+01] [-9.92044139e-01 -1.25830005e-01 -3.90324394e-03 -7.13788556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.07, Y:-38.29, Z:-71.56 [[ 1.26868285e-02 -8.56636298e-01 -5.15764769e-01 1.77066210e+02] [ 1.05598254e-01 -5.11774052e-01 8.52605611e-01 -3.82908787e+01] [-9.94327940e-01 -6.52807204e-02 8.39665080e-02 -7.15614275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:-37.53, Z:-71.49 [[-1.09365869e-01 8.38558815e-01 5.33721107e-01 1.74853758e+02] [ 2.99662564e-02 5.39479330e-01 -8.41465433e-01 -3.75299789e+01] [-9.93549762e-01 -7.60339747e-02 -8.41290942e-02 -7.14906611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.11, Y:-37.69, Z:-71.70 [[-5.15530764e-02 -4.95859579e-01 -8.66871131e-01 1.77110622e+02] [ 9.21379695e-02 -8.66684767e-01 4.90273505e-01 -3.76861881e+01] [-9.94410818e-01 -5.45966384e-02 9.03677608e-02 -7.17049905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:-37.27, Z:-71.56 [[-1.62775473e-01 9.36313924e-01 3.11159737e-01 1.74986452e+02] [ 4.06746728e-02 3.21465544e-01 -9.46047290e-01 -3.72659731e+01] [-9.85824384e-01 -1.41336975e-01 -9.04109686e-02 -7.15577656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-37.41, Z:-71.83 [[-1.07400197e-01 -2.77176597e-01 -9.54797534e-01 1.77025321e+02] [ 7.17479060e-02 -9.60009169e-01 2.70618981e-01 -3.74095613e+01] [-9.91623636e-01 -3.94401918e-02 1.22992015e-01 -7.18332784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:-38.77, Z:-71.88 [[-3.36036642e-02 -9.99338616e-01 -1.38969097e-02 1.76697718e+02] [ 3.70567868e-02 -1.51410285e-02 9.99198451e-01 -3.87692394e+01] [-9.98748010e-01 3.30617544e-02 3.75410721e-02 -7.18815243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:-37.69, Z:-71.74 [[-1.39892012e-01 7.35593198e-01 6.62821901e-01 1.74800333e+02] [-1.11139128e-02 6.68195651e-01 -7.43902583e-01 -3.76931930e+01] [-9.90104391e-01 -1.11432574e-01 -8.52999155e-02 -7.17434441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:-38.73, Z:-71.98 [[-2.08637865e-02 -9.98291461e-01 -5.45789443e-02 1.76716281e+02] [-1.00850301e-02 -5.43779059e-02 9.98469497e-01 -3.87334054e+01] [-9.99731461e-01 2.13822847e-02 -8.93327040e-03 -7.19847142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:-38.77, Z:-72.01 [[ 4.58558773e-02 -9.98898782e-01 -9.92283287e-03 1.76662612e+02] [-1.06129880e-02 -1.04198777e-02 9.99889389e-01 -3.87677950e+01] [-9.98891687e-01 -4.57454942e-02 -1.10791134e-02 -7.20093613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-37.00, Z:-72.19 [[-7.02779010e-02 9.96368503e-01 4.80710257e-02 1.75207453e+02] [ 7.71405211e-03 4.87315770e-02 -9.98782122e-01 -3.69974898e+01] [-9.97497624e-01 -6.98214887e-02 -1.11107915e-02 -7.21908047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:-37.09, Z:-72.21 [[-1.37365601e-01 9.78344354e-01 1.54832221e-01 1.75128674e+02] [-3.95182275e-03 1.55771466e-01 -9.87785216e-01 -3.70861250e+01] [-9.90512531e-01 -1.36299579e-01 -1.75313976e-02 -7.22116428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.80, Y:-37.02, Z:-72.44 [[-1.04272744e-01 1.09006508e-01 -9.88556916e-01 1.76804627e+02] [ 2.95161782e-02 -9.93198320e-01 -1.12631667e-01 -3.70246137e+01] [-9.94110653e-01 -4.09228351e-02 1.00346059e-01 -7.24392106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:-37.07, Z:-72.27 [[-2.04319303e-01 9.69207638e-01 1.37441543e-01 1.75144216e+02] [ 6.73869585e-03 1.41792710e-01 -9.89873435e-01 -3.70746529e+01] [-9.78881102e-01 -2.01324074e-01 -3.55021832e-02 -7.22731306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:-36.88, Z:-72.34 [[-2.65755117e-01 9.57571508e-01 -1.11494503e-01 1.75372622e+02] [ 1.89009992e-02 -1.10455664e-01 -9.93701313e-01 -3.68839292e+01] [-9.63855264e-01 -2.66188566e-01 1.12550996e-02 -7.23402020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-38.87, Z:-72.67 [[-1.66431317e-01 -9.75127166e-01 1.46381788e-01 1.76562008e+02] [-2.02580153e-02 1.51802281e-01 9.88203259e-01 -3.88727533e+01] [-9.85844932e-01 1.61502565e-01 -4.50187946e-02 -7.26745676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.28, Y:-36.92, Z:-72.47 [[-2.62557878e-01 9.63378520e-01 -5.44535420e-02 1.75280052e+02] [ 8.91154108e-03 -5.40100276e-02 -9.98500627e-01 -3.69202700e+01] [-9.64875093e-01 -2.62649470e-01 5.59557098e-03 -7.24731400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:-37.11, Z:-72.91 [[-2.37863766e-01 -2.08844712e-03 -9.71296282e-01 1.76821358e+02] [ 5.20646259e-02 -9.98587426e-01 -1.06031405e-02 -3.71066286e+01] [-9.69902110e-01 -5.30922805e-02 2.37636500e-01 -7.29093168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-37.26, Z:-72.96 [[-2.24959072e-01 -1.64474896e-01 -9.60386081e-01 1.76915926e+02] [ 1.13484931e-01 -9.83364672e-01 1.41827687e-01 -3.72588388e+01] [-9.67736837e-01 -7.70839234e-02 2.39882226e-01 -7.29590921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.48, Y:-38.88, Z:-73.05 [[-1.64081074e-01 -9.70552770e-01 1.76365305e-01 1.76475247e+02] [ 7.96873974e-02 1.65162859e-01 9.83041784e-01 -3.88827406e+01] [-9.83222925e-01 1.75352644e-01 5.02407250e-02 -7.30455581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.04, Y:-37.61, Z:-73.04 [[-1.54241482e-01 -4.75344287e-01 -8.66173986e-01 1.77036414e+02] [ 1.04081659e-01 -8.79604144e-01 4.64180524e-01 -3.76125644e+01] [-9.82535787e-01 -1.85569338e-02 1.85146069e-01 -7.30446691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-37.66, Z:-73.07 [[-1.49641750e-01 -5.15169972e-01 -8.43923721e-01 1.77045031e+02] [ 1.09897958e-01 -8.56911717e-01 5.03611703e-01 -3.76599381e+01] [-9.82613752e-01 -1.73841572e-02 1.84845897e-01 -7.30698558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-37.70, Z:-73.09 [[-1.45883327e-01 -5.48945877e-01 -8.23028845e-01 1.77051132e+02] [ 1.13791612e-01 -8.35718231e-01 5.37239711e-01 -3.77042543e+01] [-9.82735735e-01 -1.52794629e-02 1.84382792e-01 -7.30880381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:176.22, Y:-38.98, Z:-73.12 [[-9.26518096e-02 -9.15438039e-01 3.91648873e-01 1.76217801e+02] [ 7.10166050e-02 3.86263488e-01 9.19650564e-01 -3.89821157e+01] [-9.93162768e-01 1.13020862e-01 2.92232905e-02 -7.31206941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-37.85, Z:-73.12 [[-7.91863074e-02 -6.53781003e-01 -7.52529022e-01 1.77050004e+02] [ 9.20167515e-02 -7.56470400e-01 6.47522549e-01 -3.78453354e+01] [-9.92603872e-01 -1.79703563e-02 1.20060902e-01 -7.31223491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:177.05, Y:-37.89, Z:-73.14 [[-7.44659881e-02 -6.85399401e-01 -7.24349693e-01 1.77048073e+02] [ 9.78174327e-02 -7.27883896e-01 6.78687545e-01 -3.78904292e+01] [-9.92414513e-01 -2.03148886e-02 1.21246603e-01 -7.31429511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.10, Y:-39.00, Z:-73.18 [[-2.26629272e-02 -8.79066271e-01 4.76160564e-01 1.76099782e+02] [ 4.45233868e-02 4.74922879e-01 8.78900408e-01 -3.90002022e+01] [-9.98751250e-01 4.11187369e-02 2.83758650e-02 -7.31835433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-38.27, Z:-73.21 [[ 2.37232715e-02 -8.84329809e-01 -4.66259579e-01 1.76950487e+02] [ 7.91240429e-02 -4.63266882e-01 8.82679547e-01 -3.82656287e+01] [-9.96582456e-01 -5.78323895e-02 5.89815437e-02 -7.32075285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:-38.75, Z:-73.33 [[ 3.15373866e-02 -9.99053939e-01 2.99436164e-02 1.76590108e+02] [ 6.91071664e-02 3.20663889e-02 9.97093750e-01 -3.87510843e+01] [-9.97110622e-01 -2.93764126e-02 7.00530769e-02 -7.33268247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:-38.81, Z:-73.39 [[ 3.63307446e-02 -9.91727378e-01 1.23113303e-01 1.76499435e+02] [ 6.67194572e-02 1.25326857e-01 9.89869533e-01 -3.88131871e+01] [-9.97110120e-01 -2.77486444e-02 7.07207303e-02 -7.33938997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:-38.84, Z:-73.49 [[ 4.77296775e-02 -9.83390139e-01 1.75116284e-01 1.76442532e+02] [ 6.34415790e-02 1.77946671e-01 9.81992947e-01 -3.88381903e+01] [-9.96843540e-01 -3.57605531e-02 7.08811604e-02 -7.34881490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.37, Y:-38.87, Z:-73.56 [[ 6.67402825e-02 -9.68824676e-01 2.38588520e-01 1.76371726e+02] [ 7.77790970e-02 2.43445702e-01 9.66790878e-01 -3.88701723e+01] [-9.94734209e-01 -4.59666968e-02 9.16019434e-02 -7.35620289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.71, Y:-38.08, Z:-73.70 [[-1.72370892e-02 4.05176686e-01 9.14075892e-01 1.74705383e+02] [-1.31055923e-02 9.14041621e-01 -4.05408632e-01 -3.80796768e+01] [-9.99765536e-01 -1.89675707e-02 -1.04453365e-02 -7.36993012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:176.70, Y:-38.58, Z:-73.69 [[ 3.77761292e-02 -9.97576545e-01 -5.84294586e-02 1.76703091e+02] [-6.50547323e-03 -5.87154611e-02 9.98253562e-01 -3.85758718e+01] [-9.99265051e-01 -3.73300443e-02 -8.70775035e-03 -7.36938122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:175.10, Y:-38.59, Z:-73.84 [[ 3.08279550e-02 -1.73863883e-01 9.84287045e-01 1.75096689e+02] [-1.30085121e-01 9.75681566e-01 1.76418093e-01 -3.85919928e+01] [-9.91023460e-01 -1.33479708e-01 7.46116319e-03 -7.38415004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:174.67, Y:-37.43, Z:-74.03 [[-1.43106868e-02 7.94579403e-01 6.06991579e-01 1.74665928e+02] [-1.38687543e-01 5.99608747e-01 -7.88184697e-01 -3.74252895e+01] [-9.90232786e-01 -9.54616354e-02 1.01617452e-01 -7.40306849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-36.94, Z:-74.20 [[-4.11974417e-02 9.80182972e-01 1.93763032e-01 1.74904096e+02] [-1.01298321e-01 1.88830941e-01 -9.76770969e-01 -3.69403925e+01] [-9.94002727e-01 -5.98683348e-02 9.15115377e-02 -7.42001787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.19, Y:-36.67, Z:-74.25 [[-4.30239949e-02 9.89789946e-01 -1.35885237e-01 1.75189462e+02] [-9.35928527e-02 -1.39406072e-01 -9.85802376e-01 -3.66701168e+01] [-9.94680508e-01 -2.96952694e-02 9.86350708e-02 -7.42456425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.24, Y:-36.64, Z:-74.26 [[-4.74655099e-02 9.82001809e-01 -1.82809938e-01 1.75236361e+02] [-9.28731833e-02 -1.86562131e-01 -9.78043528e-01 -3.66396152e+01] [-9.94545925e-01 -2.94451939e-02 1.00056901e-01 -7.42642901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:175.26, Y:-36.62, Z:-74.24 [[-6.37875804e-02 9.76017869e-01 -2.08135206e-01 1.75261423e+02] [-8.04369620e-02 -2.12909665e-01 -9.73755292e-01 -3.66179500e+01] [-9.94716563e-01 -4.53717303e-02 9.20889047e-02 -7.42408583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:176.79, Y:-36.90, Z:-74.25 [[-1.52987419e-02 -2.88304398e-02 -9.99467235e-01 1.76791686e+02] [ 7.39916772e-03 -9.99560114e-01 2.87198607e-02 -3.68983715e+01] [-9.99855590e-01 -6.95584797e-03 1.55053335e-02 -7.42519353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:-38.49, Z:-74.36 [[ 9.86579686e-02 -9.86089382e-01 -1.33769711e-01 1.76719507e+02] [-1.87140647e-02 -1.36240250e-01 9.90499055e-01 -3.84863821e+01] [-9.94945420e-01 -9.52172497e-02 -3.18949268e-02 -7.43576479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:-38.50, Z:-74.50 [[ 1.72484176e-01 -9.76105078e-01 -1.32166888e-01 1.76654503e+02] [ 1.07141169e-02 -1.32310801e-01 9.91150372e-01 -3.84971284e+01] [-9.84954018e-01 -1.72373806e-01 -1.23634155e-02 -7.45011433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:-38.74, Z:-74.80 [[ 1.46495421e-01 -2.67410494e-01 9.52381604e-01 1.75107510e+02] [-4.45601107e-02 9.60007381e-01 2.76405906e-01 -3.87449383e+01] [-9.88207209e-01 -8.29304292e-02 1.28720844e-01 -7.47966327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.66, Y:-38.45, Z:-74.72 [[ 2.32368833e-01 -9.54683709e-01 -1.85967044e-01 1.76660393e+02] [-9.90538949e-03 -1.93513542e-01 9.81047599e-01 -3.84473473e+01] [-9.72577302e-01 -2.26122810e-01 -5.44230299e-02 -7.47209028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.86, Y:-38.57, Z:-75.20 [[ 2.38276582e-01 -1.99065165e-02 9.70993306e-01 1.74864665e+02] [-4.90391940e-02 9.98267966e-01 3.24996363e-02 -3.85742816e+01] [-9.69958467e-01 -5.53606313e-02 2.36887679e-01 -7.52035601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:-37.70, Z:-75.41 [[ 1.57746460e-01 6.63579328e-01 7.31285533e-01 1.74605978e+02] [-1.05432461e-01 7.47642440e-01 -6.55678868e-01 -3.77014387e+01] [-9.81835043e-01 2.63297871e-02 1.87900749e-01 -7.54094413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:175.75, Y:-36.51, Z:-75.44 [[ 6.14916298e-02 8.14775618e-01 -5.76506264e-01 1.75750936e+02] [-2.15430299e-02 -5.76381313e-01 -8.16896860e-01 -3.65149858e+01] [-9.97875081e-01 6.26520110e-02 -1.78898908e-02 -7.54380051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.03, Y:-37.33, Z:-75.45 [[ 1.26573296e-01 -3.29653717e-01 -9.35578766e-01 1.77025406e+02] [ 6.80445685e-02 -9.38057362e-01 3.39732723e-01 -3.73321405e+01] [-9.89620704e-01 -1.06662144e-01 -9.63018667e-02 -7.54468203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:-36.76, Z:-75.63 [[ 8.95415450e-02 3.81277963e-01 -9.20113812e-01 1.76468241e+02] [ 1.30455701e-01 -9.20355553e-01 -3.68682745e-01 -3.67625647e+01] [-9.87402462e-01 -8.70216698e-02 -1.32149942e-01 -7.56303155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:-39.07, Z:-76.02 [[ 1.34980686e-01 -8.00443591e-01 5.84012219e-01 1.76105342e+02] [ 1.13238259e-01 5.98006414e-01 7.93451590e-01 -3.90719695e+01] [-9.84356293e-01 -4.09681130e-02 1.71360155e-01 -7.60245718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-39.06, Z:-76.13 [[ 1.46548032e-01 -7.71915969e-01 6.18602789e-01 1.76059160e+02] [ 1.04790968e-01 6.33949998e-01 7.66241641e-01 -3.90588583e+01] [-9.83637396e-01 -4.74672190e-02 1.73793946e-01 -7.61281362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-39.02, Z:-76.27 [[ 1.57822768e-01 -6.57838612e-01 7.36437597e-01 1.75864518e+02] [ 7.83615686e-02 7.51775682e-01 6.54746355e-01 -3.90234097e+01] [-9.84353310e-01 -4.56254768e-02 1.70196585e-01 -7.62749482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.82, Y:-37.59, Z:-76.44 [[ 5.36392736e-02 7.60525751e-01 6.47088410e-01 1.74821179e+02] [ 1.72237125e-02 6.47220259e-01 -7.62108444e-01 -3.75939614e+01] [-9.98411825e-01 5.20242081e-02 2.16173477e-02 -7.64384714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:-37.21, Z:-76.55 [[-6.72086845e-03 9.17358366e-01 3.98005601e-01 1.74989406e+02] [-3.00169507e-02 3.97650156e-01 -9.17045984e-01 -3.72114748e+01] [-9.99526794e-01 -1.81102599e-02 2.48637465e-02 -7.65549205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:-36.47, Z:-76.57 [[-3.37179080e-02 6.22036872e-01 -7.82261613e-01 1.76315012e+02] [ 4.65576555e-02 -7.80879337e-01 -6.22944497e-01 -3.64734921e+01] [-9.98346376e-01 -5.74246519e-02 -2.63096075e-03 -7.65748274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-37.14, Z:-76.68 [[-2.16896906e-02 -2.84269161e-01 -9.58499140e-01 1.77253897e+02] [ 8.49093001e-02 -9.55784562e-01 2.81542683e-01 -3.71362385e+01] [-9.96152583e-01 -7.52789175e-02 4.48677669e-02 -7.66790001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-37.98, Z:-76.80 [[ 5.54918741e-03 -8.32703000e-01 -5.53692080e-01 1.77359943e+02] [ 1.03802899e-01 -5.50229690e-01 8.28536207e-01 -3.79792023e+01] [-9.94582407e-01 -6.20725459e-02 8.33836580e-02 -7.68019905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.10, Y:-38.50, Z:-76.92 [[ 3.49153564e-02 -9.93017962e-01 -1.12677617e-01 1.77096746e+02] [ 1.04585407e-01 -1.08496726e-01 9.88579968e-01 -3.85009320e+01] [-9.93902817e-01 -4.63010563e-02 1.00066986e-01 -7.69194928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:-38.45, Z:-77.09 [[ 3.66226382e-02 4.58550773e-02 9.98276562e-01 1.75198802e+02] [-2.28930134e-02 9.98723031e-01 -4.50357355e-02 -3.84535550e+01] [-9.99066911e-01 -2.12042312e-02 3.76256332e-02 -7.70921554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:-38.23, Z:-77.18 [[ 4.48069829e-02 2.57715322e-01 9.65181406e-01 1.75047602e+02] [-4.35117087e-02 9.65738341e-01 -2.55844070e-01 -3.82318687e+01] [-9.98047627e-01 -3.05330913e-02 5.44854553e-02 -7.71796449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.97, Y:-36.41, Z:-77.34 [[-4.85275506e-02 8.31012575e-01 -5.54132815e-01 1.75971183e+02] [ 1.73816566e-02 -5.53999824e-01 -8.32335313e-01 -3.64132649e+01] [-9.98670594e-01 -5.00229403e-02 1.24398793e-02 -7.73445281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-38.76, Z:-77.44 [[ 2.35552507e-02 -9.64611225e-01 2.62622039e-01 1.76812155e+02] [-2.77979963e-03 2.62630715e-01 9.64892419e-01 -3.87570593e+01] [-9.99718672e-01 -2.34583195e-02 3.50490643e-03 -7.74435934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-38.91, Z:-77.51 [[ 4.28011091e-02 -6.99870954e-01 7.12985773e-01 1.76165209e+02] [-1.56405936e-02 7.13082912e-01 7.00905223e-01 -3.89132036e+01] [-9.98961179e-01 -4.11510416e-02 1.95743423e-02 -7.75147539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.35, Y:-38.58, Z:-77.61 [[ 4.31321328e-02 -6.09454293e-02 9.97208741e-01 1.75347203e+02] [-5.30900351e-02 9.96587544e-01 6.32037602e-02 -3.85808205e+01] [-9.97657791e-01 -5.56679600e-02 3.97493513e-02 -7.76078726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-37.83, Z:-77.72 [[ 8.66019545e-03 5.86899352e-01 8.09613581e-01 1.74954790e+02] [-7.17232800e-02 8.07923177e-01 -5.84906754e-01 -3.78264352e+01] [-9.97386972e-01 -5.30027348e-02 4.90911192e-02 -7.77240960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.04, Y:-37.15, Z:-77.79 [[-9.66191964e-03 9.21710298e-01 3.87758653e-01 1.75042454e+02] [-6.89097538e-02 3.86241150e-01 -9.19820211e-01 -3.71506609e+01] [-9.97576109e-01 -3.56075823e-02 5.97829988e-02 -7.77863387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:-36.49, Z:-77.85 [[-3.24328680e-02 4.00018076e-01 -9.15933211e-01 1.76686667e+02] [ 2.38289736e-02 -9.15845356e-01 -4.00823482e-01 -3.64891704e+01] [-9.99189816e-01 -3.48256033e-02 2.01714713e-02 -7.78545651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:-36.70, Z:-77.84 [[-2.42362008e-02 8.97193144e-02 -9.95672161e-01 1.77031412e+02] [ 2.91325495e-02 -9.95478352e-01 -9.04109817e-02 -3.67033161e+01] [-9.99281693e-01 -3.11976872e-02 2.15128609e-02 -7.78407505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.38, Y:-37.23, Z:-77.97 [[-5.97410213e-04 -4.04539287e-01 -9.14520425e-01 1.77381851e+02] [ 5.32839523e-02 -9.13234299e-01 4.03935559e-01 -3.72345932e+01] [-9.98579222e-01 -4.84879475e-02 2.21010276e-02 -7.79675268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.37, Y:-38.14, Z:-78.06 [[ 2.80247544e-02 -9.12042930e-01 -4.09136049e-01 1.77365821e+02] [ 5.77981126e-02 -4.07133577e-01 9.11538056e-01 -3.81367230e+01] [-9.97934863e-01 -4.91929216e-02 4.13045415e-02 -7.80634653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.95, Y:-38.67, Z:-78.18 [[ 5.19471787e-02 -9.91008101e-01 1.23306260e-01 1.76946771e+02] [ 4.44766099e-02 1.25646307e-01 9.91077614e-01 -3.86722610e+01] [-9.97658921e-01 -4.59994415e-02 5.06036519e-02 -7.81751841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-38.89, Z:-78.28 [[ 7.58020655e-02 -8.51411573e-01 5.18991696e-01 1.76463563e+02] [ 3.50174268e-02 5.22441185e-01 8.51955978e-01 -3.88853373e+01] [-9.96507816e-01 -4.64062691e-02 6.94163634e-02 -7.82777042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.99, Y:-37.64, Z:-78.44 [[-1.76523346e-02 6.73090769e-01 7.39349181e-01 1.74986500e+02] [-6.71579656e-02 7.36996237e-01 -6.72552120e-01 -3.76423240e+01] [-9.97586188e-01 -6.15253020e-02 3.21937025e-02 -7.84350403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.34, Y:-36.73, Z:-78.56 [[-3.96268091e-02 9.98803846e-01 2.86459941e-02 1.75342137e+02] [-5.78172558e-02 2.63285073e-02 -9.97979947e-01 -3.67292119e+01] [-9.97540416e-01 -4.12029936e-02 5.67047828e-02 -7.85553561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.492320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.30, Y:-36.94, Z:-78.56 [[-5.09976948e-03 -1.99199117e-01 -9.79945766e-01 1.77302097e+02] [ 2.63928172e-02 -9.79643943e-01 1.99000412e-01 -3.69403026e+01] [-9.99638640e-01 -2.48486732e-02 1.02533842e-02 -7.85614283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:-38.78, Z:-78.70 [[ 1.02199163e-01 -8.94495691e-01 4.35238774e-01 1.76569413e+02] [-3.07107837e-02 4.34484030e-01 9.00155806e-01 -3.87799829e+01] [-9.94289786e-01 -1.05361693e-01 1.69332404e-02 -7.87035568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-38.26, Z:-78.89 [[ 8.16284909e-02 2.07110396e-01 9.74906187e-01 1.75123245e+02] [-6.55706351e-02 9.77167265e-01 -2.02100540e-01 -3.82588363e+01] [-9.94503535e-01 -4.74280557e-02 9.33450494e-02 -7.88934358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.52, Y:-36.60, Z:-79.07 [[-2.23032154e-02 9.91602993e-01 -1.27381595e-01 1.75516161e+02] [-5.01382953e-02 -1.28362367e-01 -9.90459113e-01 -3.65982912e+01] [-9.98493224e-01 -1.57037269e-02 5.25801772e-02 -7.90691886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.612320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:177.41, Y:-37.22, Z:-79.17 [[ 2.81227082e-02 -3.86700244e-01 -9.21776565e-01 1.77413394e+02] [ 6.72049928e-02 -9.19323415e-01 3.87721481e-01 -3.72197261e+01] [-9.97342771e-01 -7.28517655e-02 1.34322925e-04 -7.91702284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:176.93, Y:-38.72, Z:-79.31 [[ 7.35397113e-02 -9.80261879e-01 1.83517193e-01 1.76934715e+02] [ 4.92884188e-02 1.87363014e-01 9.81053389e-01 -3.87244171e+01] [-9.96073573e-01 -6.31011108e-02 6.20941799e-02 -7.93120730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.672320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:175.07, Y:-37.93, Z:-79.51 [[ 1.49506043e-02 4.90143848e-01 8.71513332e-01 1.75068152e+02] [-5.83960121e-02 8.70551028e-01 -4.88600873e-01 -3.79306783e+01] [-9.98181539e-01 -4.35880247e-02 4.16377100e-02 -7.95050891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.10, Y:-37.23, Z:-79.64 [[-1.68966460e-02 8.77515505e-01 4.79250500e-01 1.75096074e+02] [-6.87491188e-02 4.77164886e-01 -8.76120557e-01 -3.72337838e+01] [-9.97490883e-01 -4.77515485e-02 5.22659315e-02 -7.96409617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:-36.69, Z:-79.73 [[-7.30653819e-03 5.00564624e-02 -9.98719663e-01 1.77157079e+02] [ 1.16338509e-02 -9.98674473e-01 -5.01393096e-02 -3.66929938e+01] [-9.99905630e-01 -1.19853004e-02 6.71450376e-03 -7.97337317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.96, Y:-38.63, Z:-79.84 [[ 1.16473456e-01 -9.81173236e-01 1.54055234e-01 1.76963487e+02] [-9.82260424e-03 1.53965393e-01 9.88027416e-01 -3.86322064e+01] [-9.93145231e-01 -1.16592191e-01 8.29520493e-03 -7.98422246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.51, Y:-38.63, Z:-80.04 [[ 1.10178535e-01 -1.69430744e-01 9.79364035e-01 1.75510803e+02] [-6.29814626e-02 9.82192641e-01 1.77005514e-01 -3.86301788e+01] [-9.91914324e-01 -8.11839877e-02 9.75455506e-02 -8.00430447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:-36.48, Z:-80.24 [[ 1.21319716e-02 9.36539792e-01 -3.50351299e-01 1.75814055e+02] [-5.54737016e-03 -3.50308654e-01 -9.36617891e-01 -3.64806330e+01] [-9.99911017e-01 1.33065500e-02 9.45398246e-04 -8.02412042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.15, Y:-36.44, Z:-80.37 [[-6.28273151e-02 8.32262603e-01 -5.50810029e-01 1.76148970e+02] [ 2.35457467e-02 -5.50510682e-01 -8.34496007e-01 -3.64418898e+01] [-9.97746624e-01 -6.53983771e-02 1.49908636e-02 -8.03747597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:177.30, Y:-36.80, Z:-80.49 [[-5.75469748e-02 -1.23688598e-02 -9.98266175e-01 1.77298729e+02] [ 3.24100248e-02 -9.99419346e-01 1.05148097e-02 -3.68035151e+01] [-9.97816584e-01 -3.17487360e-02 5.79144350e-02 -8.04937855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.80, Y:-38.87, Z:-80.51 [[ 2.42887839e-03 -9.07288236e-01 4.20502268e-01 1.76801344e+02] [-2.10691485e-02 4.20363734e-01 9.07111031e-01 -3.88683739e+01] [-9.99775070e-01 -1.10628871e-02 -1.80947782e-02 -8.05078927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.80, Y:-38.80, Z:-80.56 [[ 2.64537832e-03 -3.19402770e-01 9.47615361e-01 1.75801747e+02] [-5.48131479e-02 9.46147731e-01 3.19061108e-01 -3.88023415e+01] [-9.98493125e-01 -5.27858182e-02 -1.50045525e-02 -8.05571310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.16, Y:-37.33, Z:-80.63 [[-1.65567937e-02 8.70336158e-01 4.92179687e-01 1.75156445e+02] [-3.59999567e-02 4.91409094e-01 -8.70184524e-01 -3.73257979e+01] [-9.99214629e-01 -3.21259130e-02 2.31959050e-02 -8.06280169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.21, Y:-36.74, Z:-80.67 [[-2.08169638e-03 7.07205221e-02 -9.97493997e-01 1.77209102e+02] [ 4.58507634e-02 -9.96440338e-01 -7.07415068e-02 -3.67382566e+01] [-9.98946132e-01 -4.58831236e-02 -1.16830368e-03 -8.06670684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:-38.17, Z:-80.76 [[ 2.76969021e-02 -9.21919985e-01 -3.86388953e-01 1.77538321e+02] [ 1.80149613e-02 -3.86014111e-01 9.22316956e-01 -3.81729521e+01] [-9.99454022e-01 -3.25061045e-02 5.91695781e-03 -8.07644542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.54, Y:-37.36, Z:-80.88 [[ 4.39521706e-02 -4.51010247e-01 -8.91435900e-01 1.77538796e+02] [ 1.14160799e-01 -8.84185889e-01 4.52970888e-01 -3.73639094e+01] [-9.92489556e-01 -1.21676088e-01 1.26258012e-02 -8.08834148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.12, Y:-38.73, Z:-81.09 [[ 9.13657174e-02 -9.90104201e-01 1.06517498e-01 1.77117779e+02] [ 1.02717098e-01 1.15764505e-01 9.87951303e-01 -3.87301614e+01] [-9.90505681e-01 -7.93237113e-02 1.12277537e-01 -8.10922083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.13, Y:-37.75, Z:-81.26 [[-5.40283310e-03 6.55615927e-01 7.55075206e-01 1.75128848e+02] [ 1.86846944e-02 7.55020591e-01 -6.55434810e-01 -3.77456125e+01] [-9.99810828e-01 1.05671446e-02 -1.63292334e-02 -8.12619484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.60, Y:-37.56, Z:-81.38 [[ 6.39408738e-02 -5.96268253e-01 -8.00234800e-01 1.77601484e+02] [ 7.81987337e-02 -7.96416443e-01 5.99671417e-01 -3.75570725e+01] [-9.94885181e-01 -1.00920862e-01 -4.29614097e-03 -8.13809120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:-38.93, Z:-81.65 [[ 8.98811429e-02 -8.59086791e-01 5.03876240e-01 1.76651666e+02] [ 6.19761469e-02 5.09767973e-01 8.58076669e-01 -3.89293287e+01] [-9.94022302e-01 -4.58966039e-02 9.90614173e-02 -8.16544131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-37.25, Z:-81.77 [[-1.82405822e-02 8.91670765e-01 4.52316844e-01 1.75225845e+02] [ 3.59522999e-02 4.52684489e-01 -8.90945669e-01 -3.72538357e+01] [-9.99187026e-01 1.04631301e-05 -4.03148434e-02 -8.17709070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.38, Y:-38.48, Z:-81.83 [[ 1.55291296e-02 -9.96012425e-01 -8.78526958e-02 1.77383882e+02] [ 2.32414172e-02 -8.74799850e-02 9.95895119e-01 -3.84777374e+01] [-9.99609265e-01 -1.75072055e-02 2.17902523e-02 -8.18316155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.38, Y:-36.44, Z:-81.91 [[-4.93762292e-02 7.68940082e-01 -6.37411279e-01 1.76376243e+02] [ 9.18503734e-02 -6.31989521e-01 -7.69514622e-01 -3.64421332e+01] [-9.94547886e-01 -9.65421943e-02 -3.94221743e-02 -8.19092631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:175.64, Y:-36.77, Z:-81.91 [[-1.25615385e-01 9.91433205e-01 -3.57907033e-02 1.75640014e+02] [ 9.06849895e-02 -2.44505207e-02 -9.95579432e-01 -3.67726607e+01] [-9.87925608e-01 -1.28305773e-01 -8.68367483e-02 -8.19126243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-36.53, Z:-81.93 [[-1.72659867e-01 9.07137917e-01 -3.83782972e-01 1.76033881e+02] [ 1.21533161e-01 -3.67037194e-01 -9.22232828e-01 -3.65335996e+01] [-9.77454992e-01 -2.05874956e-01 -4.68747454e-02 -8.19290055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.65, Y:-37.21, Z:-82.32 [[-1.63133777e-01 -3.94230051e-01 -9.04416960e-01 1.77651452e+02] [ 1.22224591e-01 -9.17710915e-01 3.77978606e-01 -3.72148734e+01] [-9.79003841e-01 -4.88809157e-02 1.97894255e-01 -8.23187939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-38.91, Z:-82.27 [[-1.47606972e-01 -5.60461585e-01 8.14920238e-01 1.76226884e+02] [ 4.32952063e-02 8.19494344e-01 5.71449513e-01 -3.89141854e+01] [-9.88098025e-01 1.19632072e-01 -9.66977788e-02 -8.22732232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:-36.74, Z:-82.09 [[-2.12655931e-01 9.76057551e-01 -4.57068102e-02 1.75644263e+02] [ 6.96568792e-02 -3.15146193e-02 -9.97073091e-01 -3.67380407e+01] [-9.74641152e-01 -2.15217300e-01 -6.12873522e-02 -8.20901475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-38.52, Z:-82.56 [[-1.36958360e-01 -9.89245376e-01 -5.13419310e-02 1.77363692e+02] [ 4.55717231e-02 -5.80677935e-02 9.97271954e-01 -3.85179679e+01] [-9.89527981e-01 1.34244991e-01 5.30344861e-02 -8.25647647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:175.26, Y:-38.05, Z:-82.24 [[-1.85727435e-01 4.28747013e-01 8.84127434e-01 1.75257101e+02] [ 2.30699865e-03 8.99970266e-01 -4.35945177e-01 -3.80531968e+01] [-9.82598594e-01 -7.89272986e-02 -1.68138288e-01 -8.22443760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:177.20, Y:-36.65, Z:-82.61 [[-1.62728471e-01 1.34845766e-01 -9.77412945e-01 1.77196790e+02] [ 1.08054412e-02 -9.90314026e-01 -1.38424610e-01 -3.66480334e+01] [-9.86611721e-01 -3.30870032e-02 1.59695219e-01 -8.26081355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.43, Y:-38.40, Z:-82.66 [[-9.76507156e-02 -9.82623139e-01 -1.57848361e-01 1.77426296e+02] [ 2.57409386e-03 -1.58855222e-01 9.87298533e-01 -3.84044391e+01] [-9.95217419e-01 9.60040917e-02 1.80416903e-02 -8.26649537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.32, Y:-38.52, Z:-82.67 [[-3.25159286e-02 -9.98719155e-01 -3.87654959e-02 1.77315390e+02] [ 3.21417101e-03 -3.88902931e-02 9.99238317e-01 -3.85197715e+01] [-9.99466049e-01 3.23665629e-02 4.47460815e-03 -8.26682270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:-36.53, Z:-82.59 [[-1.03240786e-01 9.49049207e-01 -2.97736364e-01 1.75827550e+02] [ 5.03669597e-02 -2.93963727e-01 -9.54488605e-01 -3.65298995e+01] [-9.93380345e-01 -1.13538230e-01 -1.74516769e-02 -8.25924586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:-38.55, Z:-82.83 [[-2.94848593e-02 -9.99522570e-01 -9.23445874e-03 1.77276797e+02] [ 2.44148437e-02 -9.95586973e-03 9.99652338e-01 -3.85492178e+01] [-9.99267011e-01 2.92491507e-02 2.46967347e-02 -8.28313609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.65, Y:-37.71, Z:-82.82 [[-1.86246859e-02 -7.31272279e-01 -6.81831339e-01 1.77648666e+02] [ 3.62424047e-02 -6.81995232e-01 7.30458070e-01 -3.77083687e+01] [-9.99169460e-01 -1.11066552e-02 3.92050129e-02 -8.28249433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.63, Y:-37.84, Z:-82.85 [[-1.08280242e-02 -7.97525019e-01 -6.03188692e-01 1.77634728e+02] [ 4.13749926e-02 -6.03064789e-01 7.96618460e-01 -3.78386584e+01] [-9.99085013e-01 -1.63311237e-02 3.95275918e-02 -8.28522358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.58, Y:-38.06, Z:-82.87 [[-7.17798032e-03 -8.94286951e-01 -4.47436392e-01 1.77578297e+02] [ 3.82058941e-02 -4.47366479e-01 8.93534299e-01 -3.80631388e+01] [-9.99244107e-01 -1.06809358e-02 3.73782204e-02 -8.28703562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:177.54, Y:-38.16, Z:-82.89 [[-5.22992860e-03 -9.27127444e-01 -3.74709687e-01 1.77541701e+02] [ 3.89610561e-02 -3.74619214e-01 9.26359801e-01 -3.81551593e+01] [-9.99227043e-01 -9.75428954e-03 3.80810962e-02 -8.28852556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.50, Y:-38.25, Z:-82.90 [[-2.20186672e-03 -9.55225911e-01 -2.95869246e-01 1.77496050e+02] [ 3.90952783e-02 -2.95725995e-01 9.54472470e-01 -3.82480547e+01] [-9.99233061e-01 -9.46546934e-03 3.79959720e-02 -8.28974873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:-38.33, Z:-82.91 [[ 1.82839119e-04 -9.75745542e-01 -2.18907750e-01 1.77445885e+02] [ 3.87253089e-02 -2.18736641e-01 9.75015196e-01 -3.83325840e+01] [-9.99249877e-01 -8.65554117e-03 3.77460539e-02 -8.29132437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.38, Y:-38.42, Z:-82.93 [[ 3.80532241e-03 -9.90610326e-01 -1.36662727e-01 1.77384407e+02] [ 3.93408678e-02 -1.36409616e-01 9.89871059e-01 -3.84202700e+01] [-9.99218603e-01 -9.14320882e-03 3.84523873e-02 -8.29292119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:177.30, Y:-38.52, Z:-82.94 [[ 5.38408508e-03 -9.99282432e-01 -3.74917712e-02 1.77302404e+02] [ 4.00987583e-02 -3.72464130e-02 9.98501274e-01 -3.85199864e+01] [-9.99181215e-01 -6.87938928e-03 3.98694468e-02 -8.29428643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.23, Y:-38.59, Z:-83.02 [[ 9.79765743e-03 -9.99051300e-01 4.24323747e-02 1.77225585e+02] [ 3.92807900e-02 4.27861895e-02 9.98311756e-01 -3.85865570e+01] [-9.99180177e-01 -8.11433939e-03 3.96627288e-02 -8.30167760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.932320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.11, Y:-38.67, Z:-83.08 [[ 1.31292717e-02 -9.88160262e-01 1.52862416e-01 1.77112948e+02] [ 3.65978774e-02 1.53248056e-01 9.87509812e-01 -3.86682338e+01] [-9.99243823e-01 -7.37084469e-03 3.81766035e-02 -8.30837512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-38.72, Z:-83.15 [[ 1.61504754e-02 -9.71741877e-01 2.35492858e-01 1.77020187e+02] [ 3.49258736e-02 2.35928121e-01 9.71142680e-01 -3.87227407e+01] [-9.99259399e-01 -7.45962213e-03 3.77492853e-02 -8.31498121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.992320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:175.98, Y:-36.48, Z:-83.20 [[-4.12269257e-02 9.18772998e-01 -3.92627711e-01 1.75978198e+02] [ 9.19925008e-02 -3.87802243e-01 -9.17140556e-01 -3.64771500e+01] [-9.94905885e-01 -7.39296905e-02 -6.85323315e-02 -8.31954108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.67, Y:-37.98, Z:-83.40 [[-3.30169454e-02 -8.63316244e-01 -5.03582112e-01 1.77665579e+02] [ 6.71876976e-02 -5.04634250e-01 8.60714870e-01 -3.79842963e+01] [-9.97193910e-01 -5.41634677e-03 7.46657122e-02 -8.34008193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.66, Y:-38.02, Z:-83.40 [[-1.99403888e-02 -8.77228297e-01 -4.79659145e-01 1.77656855e+02] [ 6.73576850e-02 -4.79843234e-01 8.74764776e-01 -3.80178519e+01] [-9.97529610e-01 -1.48655799e-02 6.86563280e-02 -8.33985279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.93, Y:-38.80, Z:-83.43 [[-2.52217573e-02 -3.72732847e-01 9.27595865e-01 1.75925455e+02] [ 1.19910857e-02 9.27711491e-01 3.73105352e-01 -3.88005522e+01] [-9.99609962e-01 2.05332542e-02 -1.89290426e-02 -8.34251659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:-37.84, Z:-83.43 [[ 5.22737834e-03 -8.07497938e-01 -5.89847230e-01 1.77686122e+02] [ 1.27845958e-03 -5.89849410e-01 8.07512253e-01 -3.78435462e+01] [-9.99985520e-01 -4.97526790e-03 -2.05101256e-03 -8.34259423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.08, Y:-38.80, Z:-83.55 [[ 5.55844860e-02 -5.16842051e-01 8.54274346e-01 1.76080753e+02] [-8.73617798e-02 8.49798163e-01 5.19818238e-01 -3.87999688e+01] [-9.94624695e-01 -1.03524757e-01 2.08335263e-03 -8.35458960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.172320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.16, Y:-37.83, Z:-83.74 [[ 3.17826767e-02 5.41973740e-01 8.39794217e-01 1.75159163e+02] [-1.12082635e-01 8.36851629e-01 -5.35832841e-01 -3.78294188e+01] [-9.93190488e-01 -7.70961464e-02 8.73432295e-02 -8.37364426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.22, Y:-37.16, Z:-83.89 [[ 8.98165069e-03 8.98228567e-01 4.39436881e-01 1.75218907e+02] [-1.16572775e-01 4.37398765e-01 -8.91679936e-01 -3.71582736e+01] [-9.93141540e-01 -4.32176190e-02 1.08637560e-01 -8.38868211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.55, Y:-36.72, Z:-84.06 [[-4.35955564e-02 9.98695624e-01 2.65796575e-02 1.75552454e+02] [-1.01046231e-01 2.20607226e-02 -9.94637112e-01 -3.67213590e+01] [-9.93926097e-01 -4.60475325e-02 9.99526792e-02 -8.40619352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.63, Y:-37.13, Z:-84.13 [[-6.68868940e-03 -3.63439060e-01 -9.31593963e-01 1.77629237e+02] [-6.55398337e-02 -9.29452368e-01 3.63074133e-01 -3.71286834e+01] [-9.97827536e-01 6.34850035e-02 -1.76029173e-02 -8.41283251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:-36.50, Z:-84.15 [[-2.35907744e-02 9.55111775e-01 -2.95304882e-01 1.75878615e+02] [-4.70735832e-02 -2.96120691e-01 -9.53989840e-01 -3.64969905e+01] [-9.98612814e-01 -8.60430021e-03 5.19462500e-02 -8.41491191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:175.96, Y:-36.46, Z:-84.15 [[-1.02646320e-02 9.33844864e-01 -3.57530988e-01 1.75956332e+02] [-3.10089882e-02 -3.57675134e-01 -9.33331100e-01 -3.64597091e+01] [-9.99466398e-01 1.50637391e-03 3.26289880e-02 -8.41530081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35232058799994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:176.31, Y:-36.38, Z:-84.23 [[-1.53137287e-02 7.93047439e-01 -6.08967363e-01 1.76314652e+02] [-7.08218561e-03 -6.09109532e-01 -7.93054488e-01 -3.63752700e+01] [-9.99857656e-01 -7.83180137e-03 1.49442473e-02 -8.42346301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.68, Y:-37.75, Z:-84.33 [[ 8.38794755e-02 -7.31262631e-01 -6.76918901e-01 1.77681934e+02] [ 7.57873677e-02 -6.72663718e-01 7.36056925e-01 -3.77508713e+01] [-9.93589708e-01 -1.13041970e-01 -1.00221006e-03 -8.43314491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-38.86, Z:-84.54 [[ 1.16841180e-01 -9.11108056e-01 3.95259724e-01 1.76866070e+02] [ 5.92741189e-02 4.03673586e-01 9.12980950e-01 -3.88627966e+01] [-9.91380208e-01 -8.32450999e-02 1.01170825e-01 -8.45382346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:-38.90, Z:-84.70 [[ 1.23478136e-01 -5.42898594e-01 8.30670974e-01 1.76148736e+02] [ 3.14132444e-02 8.38795794e-01 5.43539166e-01 -3.88962841e+01] [-9.91849967e-01 -4.10211328e-02 1.20627147e-01 -8.47047802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:-37.27, Z:-84.87 [[ 3.27492205e-02 8.65493395e-01 4.99848649e-01 1.75285513e+02] [-2.83498054e-02 5.00720097e-01 -8.65144885e-01 -3.72734902e+01] [-9.99061448e-01 1.41622087e-02 4.09347621e-02 -8.48705936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:-36.67, Z:-84.94 [[ 3.21347611e-02 1.56465292e-01 -9.87160559e-01 1.77286110e+02] [ 7.70379119e-02 -9.85120158e-01 -1.53634094e-01 -3.66748965e+01] [-9.96510169e-01 -7.11117933e-02 -4.37103603e-02 -8.49375588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.55, Y:-36.96, Z:-85.14 [[-5.17757423e-02 9.78376960e-01 2.00244340e-01 1.75554933e+02] [ 4.66814430e-02 2.02665160e-01 -9.78134794e-01 -3.69554993e+01] [-9.97567098e-01 -4.12959603e-02 -5.61651874e-02 -8.51388117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.87, Y:-37.51, Z:-85.29 [[-4.06917498e-02 -6.06862934e-01 -7.93764172e-01 1.77868368e+02] [ 5.86798003e-02 -7.94502439e-01 6.04419189e-01 -3.75052873e+01] [-9.97447173e-01 -2.19830487e-02 6.79402902e-02 -8.52859753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.40, Y:-38.91, Z:-85.30 [[-1.61648215e-02 -5.97521168e-01 8.01690185e-01 1.76399441e+02] [-1.43073591e-02 8.01851086e-01 5.97352606e-01 -3.89083951e+01] [-9.99766972e-01 -1.81397107e-03 -2.15107296e-02 -8.52961802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.43, Y:-37.17, Z:-85.32 [[-7.80145511e-02 9.13067532e-01 4.00276670e-01 1.75429039e+02] [-3.53689534e-02 3.98712758e-01 -9.16393569e-01 -3.71687473e+01] [-9.96324629e-01 -8.56493998e-02 1.18884621e-03 -8.53170387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.96, Y:-36.43, Z:-85.44 [[-5.87107347e-02 4.87803021e-01 -8.70977188e-01 1.76964614e+02] [-1.65249762e-02 -8.72837541e-01 -4.87731024e-01 -3.64254728e+01] [-9.98138254e-01 -1.42421694e-02 5.93058666e-02 -8.54436733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-38.21, Z:-85.45 [[ 8.82245703e-03 -9.41487118e-01 -3.36933480e-01 1.77735202e+02] [-1.60819906e-02 -3.37036606e-01 9.41354182e-01 -3.82100739e+01] [-9.99831753e-01 -2.88649576e-03 -1.81144780e-02 -8.54544653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.77, Y:-38.56, Z:-85.60 [[ 3.95676931e-03 -1.09680800e-01 9.93958986e-01 1.75771442e+02] [-1.06393024e-01 9.88278903e-01 1.09477549e-01 -3.85554016e+01] [-9.94316282e-01 -1.06183480e-01 -7.75888037e-03 -8.55981312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:-38.80, Z:-85.70 [[ 7.04719473e-02 -7.53860571e-01 6.53244169e-01 1.76596802e+02] [-1.63167249e-01 6.37340221e-01 7.53109482e-01 -3.87995319e+01] [-9.84078327e-01 -1.59661145e-01 -7.80907487e-02 -8.56961375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-37.12, Z:-86.14 [[ 5.89972933e-02 9.05170763e-01 4.20933735e-01 1.75349547e+02] [-1.55309265e-01 4.24856566e-01 -8.91838512e-01 -3.71228392e+01] [-9.86102607e-01 -1.27588506e-02 1.65646793e-01 -8.61396342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.29, Y:-38.52, Z:-85.93 [[ 1.37712382e-01 -9.88557302e-01 6.15610304e-02 1.77294574e+02] [-1.69845092e-01 3.76634724e-02 9.84750785e-01 -3.85165328e+01] [-9.75801181e-01 -1.46068216e-01 -1.62714879e-01 -8.59304341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.23, Y:-37.53, Z:-86.43 [[ 1.30599971e-01 7.45033528e-01 6.54116725e-01 1.75226345e+02] [-1.81120735e-01 6.66593686e-01 -7.23082386e-01 -3.75271418e+01] [-9.74750700e-01 -2.40395636e-02 2.21998136e-01 -8.64307591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.24, Y:-37.57, Z:-86.51 [[ 1.31377575e-01 7.30208365e-01 6.70474217e-01 1.75242389e+02] [-2.06867989e-01 6.81640682e-01 -7.01834465e-01 -3.75662220e+01] [-9.69507900e-01 -4.64943425e-02 2.40609036e-01 -8.65091991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:-36.49, Z:-86.63 [[ 8.65227439e-02 4.97524511e-01 -8.63124079e-01 1.76914302e+02] [-9.64393554e-02 -8.58121515e-01 -5.04308355e-01 -3.64881856e+01] [-9.91571110e-01 1.26873272e-01 -2.62660850e-02 -8.66288950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.31, Y:-37.68, Z:-86.70 [[ 8.94725250e-02 7.20422065e-01 6.87740296e-01 1.75308588e+02] [-1.37553475e-01 6.92830726e-01 -7.07859186e-01 -3.76777934e+01] [-9.86444985e-01 -3.12671193e-02 1.61085873e-01 -8.67036443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.67, Y:-36.52, Z:-86.85 [[ 1.04456766e-02 7.03239728e-01 -7.10876060e-01 1.76665438e+02] [-5.18055114e-02 -7.09579525e-01 -7.02718356e-01 -3.65201341e+01] [-9.98602562e-01 4.41676665e-02 2.90196555e-02 -8.68509664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.73, Y:-37.26, Z:-86.92 [[ 2.34124534e-02 -2.64828252e-01 -9.64011335e-01 1.77732572e+02] [ 4.24321233e-02 -9.63143467e-01 2.65620363e-01 -3.72581289e+01] [-9.98824996e-01 -4.71238722e-02 -1.13123265e-02 -8.69182452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.81, Y:-38.30, Z:-87.01 [[ 5.98182846e-02 -8.95506510e-01 -4.41010048e-01 1.77811572e+02] [ 6.33507727e-02 -4.37504824e-01 8.96981722e-01 -3.83015417e+01] [-9.96196995e-01 -8.15942352e-02 3.05602414e-02 -8.70135645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.94, Y:-39.09, Z:-87.16 [[ 8.34073901e-02 -8.68110112e-01 4.89313847e-01 1.76941514e+02] [ 1.85771986e-02 4.92294015e-01 8.70230711e-01 -3.90911343e+01] [-9.96342358e-01 -6.34935918e-02 5.71880129e-02 -8.71575101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.38, Y:-39.10, Z:-87.27 [[ 1.13340657e-01 -5.64998262e-01 8.17270371e-01 1.76375379e+02] [ 1.24416620e-02 8.23313467e-01 5.67450562e-01 -3.91027424e+01] [-9.93478284e-01 -5.41470178e-02 1.00344407e-01 -8.72719946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-38.85, Z:-87.40 [[ 1.08286199e-01 -1.37071117e-01 9.84624603e-01 1.75855267e+02] [-1.69011209e-02 9.90051691e-01 1.39685367e-01 -3.88502907e+01] [-9.93976082e-01 -3.17672569e-02 1.04892279e-01 -8.74011794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.56, Y:-38.49, Z:-87.53 [[ 8.96754192e-02 2.33369442e-01 9.68244299e-01 1.75559570e+02] [-4.20082167e-02 9.72182228e-01 -2.30427919e-01 -3.84862195e+01] [-9.95084735e-01 -2.00104961e-02 9.69842829e-02 -8.75342987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:-36.67, Z:-87.67 [[-2.61211687e-02 9.02336211e-01 -4.30240686e-01 1.76316895e+02] [-3.65173760e-03 -4.30470800e-01 -9.02597117e-01 -3.66711184e+01] [-9.99652114e-01 -2.20057654e-02 1.45394954e-02 -8.76678193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-36.78, Z:-87.72 [[-2.32813253e-02 2.64278411e-01 -9.64165391e-01 1.77368066e+02] [ 2.14450844e-02 -9.64072866e-01 -2.64770876e-01 -3.67812109e+01] [-9.99498919e-01 -2.68408251e-02 1.67774212e-02 -8.77197619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-38.96, Z:-87.78 [[ 2.01083241e-02 -9.73413825e-01 2.28169194e-01 1.77364500e+02] [-1.02815104e-02 2.28001941e-01 9.73606391e-01 -3.89618629e+01] [-9.99744940e-01 -2.19235168e-02 -5.42342741e-03 -8.77815941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.48, Y:-39.12, Z:-87.84 [[ 3.62710393e-02 -5.80682282e-01 8.13321892e-01 1.76483602e+02] [-2.57184528e-02 8.13045467e-01 5.81631868e-01 -3.91208473e+01] [-9.99010997e-01 -4.20137731e-02 1.45557542e-02 -8.78365730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.69, Y:-38.62, Z:-87.94 [[ 3.02562967e-02 1.31653503e-01 9.90833948e-01 1.75693400e+02] [-5.09113472e-02 9.90204065e-01 -1.30015170e-01 -3.86238605e+01] [-9.98244755e-01 -4.65109136e-02 3.66625652e-02 -8.79355869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.45, Y:-37.80, Z:-88.06 [[ 2.22729189e-03 7.31252777e-01 6.82102936e-01 1.75454994e+02] [-6.75815789e-02 6.80655231e-01 -7.29480080e-01 -3.78009547e+01] [-9.97711266e-01 -4.44728283e-02 5.09352352e-02 -8.80591777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-36.67, Z:-88.13 [[-1.87656160e-02 4.68805309e-01 -8.83102165e-01 1.77121511e+02] [-2.51120201e-03 -8.83277012e-01 -4.68844766e-01 -3.66720886e+01] [-9.99820757e-01 -6.58051289e-03 1.77525020e-02 -8.81321597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:177.90, Y:-38.21, Z:-88.25 [[ 6.80854519e-02 -8.41963291e-01 -5.35221625e-01 1.77899248e+02] [ 6.48399646e-02 -5.31598045e-01 8.44511277e-01 -3.82141435e+01] [-9.95570264e-01 -9.22026832e-02 1.83987768e-02 -8.82508795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.99, Y:-39.13, Z:-88.41 [[ 9.98399697e-02 -8.66411358e-01 4.89247729e-01 1.76986983e+02] [ 2.36210883e-02 4.93629806e-01 8.69351286e-01 -3.91329318e+01] [-9.94723089e-01 -7.52394422e-02 6.97495641e-02 -8.84131569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.432320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.50, Y:-37.62, Z:-88.64 [[ 6.50512677e-03 8.18129879e-01 5.74996682e-01 1.75498439e+02] [-2.39772653e-02 5.74971142e-01 -8.17822277e-01 -3.76194684e+01] [-9.99691339e-01 -8.46681038e-03 2.33567773e-02 -8.86391271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.53, Y:-37.50, Z:-88.70 [[ 7.66205558e-04 8.69158487e-01 4.94533050e-01 1.75531645e+02] [-4.68423377e-02 4.94021538e-01 -8.68186913e-01 -3.75020425e+01] [-9.98902001e-01 -2.24998745e-02 4.10919374e-02 -8.87010986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:-36.70, Z:-88.84 [[-6.07628914e-02 5.15853869e-01 -8.54518962e-01 1.77105307e+02] [ 3.74932192e-02 -8.54317098e-01 -5.18398065e-01 -3.67011414e+01] [-9.97447808e-01 -6.35380321e-02 3.25697549e-02 -8.88391894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:177.90, Y:-37.34, Z:-88.94 [[-4.78207203e-02 -2.84658547e-01 -9.57435476e-01 1.77898613e+02] [ 4.62359590e-02 -9.58135475e-01 2.82557334e-01 -3.73415193e+01] [-9.97785255e-01 -3.07558521e-02 5.89801895e-02 -8.89418847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.552320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.82, Y:-39.18, Z:-88.99 [[-8.92094238e-03 -7.47986544e-01 6.63653936e-01 1.76816095e+02] [-1.38203609e-02 6.63709182e-01 7.47863035e-01 -3.91803023e+01] [-9.99864698e-01 -2.50029388e-03 -1.62583554e-02 -8.89889962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:175.64, Y:-37.35, Z:-88.99 [[-9.22410486e-02 9.36869773e-01 3.37293073e-01 1.75641122e+02] [-2.64009879e-02 3.36317028e-01 -9.41378694e-01 -3.73503651e+01] [-9.95386647e-01 -9.57386281e-02 -6.28794771e-03 -8.89866785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-36.73, Z:-89.15 [[-8.67756550e-02 4.29999093e-01 -8.98649412e-01 1.77212470e+02] [-5.20987756e-03 -9.02235601e-01 -4.31211988e-01 -3.67283209e+01] [-9.96214256e-01 -3.27368493e-02 8.05323279e-02 -8.91495986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.12, Y:-39.12, Z:-89.11 [[-4.50936084e-04 -8.89764756e-01 4.56419189e-01 1.77118329e+02] [-5.97638062e-02 4.55627386e-01 8.88162132e-01 -3.91194614e+01] [-9.98212444e-01 -2.68768436e-02 -5.33811873e-02 -8.91058409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.672320588 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:176.01, Y:-36.89, Z:-89.22 [[-3.62567579e-02 9.90462482e-01 -1.32926741e-01 1.76009726e+02] [-3.99998937e-02 -1.34345929e-01 -9.90126850e-01 -3.68917118e+01] [-9.98541665e-01 -3.05817340e-02 4.44893419e-02 -8.92202191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.27, Y:-36.75, Z:-89.24 [[-3.08894071e-02 9.31897401e-01 -3.61404315e-01 1.76271161e+02] [-1.42034452e-02 -3.61949596e-01 -9.32089455e-01 -3.67455754e+01] [-9.99421886e-01 -2.36585042e-02 2.44165621e-02 -8.92418079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.95, Y:-37.74, Z:-89.36 [[ 5.73376729e-02 -5.44298207e-01 -8.36930017e-01 1.77952892e+02] [ 7.91077150e-02 -8.33196289e-01 5.47289606e-01 -3.77403146e+01] [-9.95215736e-01 -9.75879336e-02 -4.71534882e-03 -8.93577612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:177.35, Y:-39.05, Z:-89.53 [[ 9.40344824e-02 -9.68603556e-01 2.30140537e-01 1.77351031e+02] [ 5.09730148e-02 2.35545803e-01 9.70525593e-01 -3.90526891e+01] [-9.94263178e-01 -7.95319148e-02 7.15220711e-02 -8.95256967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79232058799994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:175.53, Y:-38.12, Z:-89.72 [[ 7.60018642e-03 5.52940446e-01 8.33186114e-01 1.75525744e+02] [-4.08849672e-02 8.32685285e-01 -5.52235127e-01 -3.81226606e+01] [-9.99134954e-01 -2.98676970e-02 2.89355154e-02 -8.97214685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:176.86, Y:-36.70, Z:-89.85 [[-5.54612194e-02 7.00719611e-01 -7.11277780e-01 1.76855924e+02] [ 5.75073916e-02 -7.08949882e-01 -7.02910353e-01 -3.66961064e+01] [-9.96803367e-01 -7.98879952e-02 -9.77332082e-04 -8.98503782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.95, Y:-37.41, Z:-90.03 [[-4.22624263e-02 -3.18058382e-01 -9.47128689e-01 1.77953868e+02] [ 5.26613462e-02 -9.47367060e-01 3.15788595e-01 -3.74127567e+01] [-9.97717731e-01 -3.65310795e-02 5.67874131e-02 -9.00307610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:178.06, Y:-37.77, Z:-90.04 [[-3.22718141e-02 -5.80976416e-01 -8.13280354e-01 1.78062273e+02] [ 4.99409655e-02 -8.13625093e-01 5.79240976e-01 -3.77702843e+01] [-9.98230650e-01 -2.19228490e-02 5.52716810e-02 -9.00372053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.40, Y:-39.14, Z:-90.02 [[-2.85653574e-02 -4.62983762e-01 8.85906348e-01 1.76404862e+02] [-2.28810989e-02 8.86338646e-01 4.62471902e-01 -3.91384855e+01] [-9.99330013e-01 -7.05983564e-03 -3.59121574e-02 -9.00215588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.02, Y:-36.96, Z:-90.08 [[-3.70020334e-02 9.95157990e-01 -9.10572583e-02 1.76017430e+02] [ 3.83266124e-03 -9.09776647e-02 -9.95845558e-01 -3.69555255e+01] [-9.99307841e-01 -3.71973023e-02 -4.47744869e-04 -9.00847499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.97, Y:-37.01, Z:-90.10 [[-1.04306484e-01 9.94240362e-01 -2.46223376e-02 1.75965148e+02] [ 5.90688493e-03 -2.41376317e-02 -9.99691194e-01 -3.70113536e+01] [-9.94527660e-01 -1.04419715e-01 -3.35515191e-03 -9.00954626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.51, Y:-38.99, Z:-90.23 [[-2.89574822e-02 -9.85602422e-01 1.66581301e-01 1.77508467e+02] [-4.16731757e-02 1.67696669e-01 9.84957448e-01 -3.89862144e+01] [-9.98711575e-01 2.15799160e-02 -4.59292562e-02 -9.02320385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-38.11, Z:-90.21 [[-8.48728564e-02 5.81721933e-01 8.08947582e-01 1.75552252e+02] [-7.35775276e-02 8.06001368e-01 -5.87322861e-01 -3.81099054e+01] [-9.93671448e-01 -1.09368132e-01 -2.56059768e-02 -9.02109358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.79, Y:-36.68, Z:-90.44 [[-9.39443197e-02 7.22608111e-01 -6.84844495e-01 1.76785734e+02] [-3.83255491e-02 -6.90001712e-01 -7.22792356e-01 -3.66774512e+01] [-9.94839493e-01 -4.16551948e-02 9.25160941e-02 -9.04446375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.21, Y:-36.75, Z:-90.50 [[-9.31286282e-02 4.48073403e-01 -8.89132884e-01 1.77213076e+02] [-3.68461360e-02 -8.93953122e-01 -4.46643234e-01 -3.67498422e+01] [-9.94972070e-01 -8.83416059e-03 9.97624015e-02 -9.04951717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.78, Y:-37.21, Z:-90.34 [[-1.74478518e-01 9.67277832e-01 1.84203265e-01 1.75779054e+02] [-4.62335025e-02 1.78818661e-01 -9.82795172e-01 -3.72067373e+01] [-9.83574964e-01 -1.79993007e-01 1.35206271e-02 -9.03410220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:-38.41, Z:-90.66 [[-9.76471045e-02 -9.01565063e-01 -4.21480106e-01 1.77955530e+02] [-3.86155399e-02 -4.19752819e-01 9.06816636e-01 -3.84103990e+01] [-9.94471660e-01 1.04823701e-01 6.17322570e-03 -9.06572179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:-36.87, Z:-90.66 [[-9.64216548e-02 2.61529088e-01 -9.60367326e-01 1.77420730e+02] [-1.65541303e-02 -9.65150940e-01 -2.61169722e-01 -3.68672385e+01] [-9.95202907e-01 -9.28437099e-03 9.73908374e-02 -9.06579678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.46, Y:-36.90, Z:-90.70 [[-1.02935488e-01 2.20365965e-01 -9.69970684e-01 1.77460447e+02] [ 1.08557347e-02 -9.74843691e-01 -2.22625090e-01 -3.68972732e+01] [-9.94628794e-01 -3.34457666e-02 9.79537763e-02 -9.06983868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:177.56, Y:-38.93, Z:-90.73 [[-4.32329083e-02 -9.96073511e-01 7.72559138e-02 1.77558549e+02] [-1.54949379e-02 7.79874235e-02 9.96833922e-01 -3.89343858e+01] [-9.98944855e-01 4.18989540e-02 -1.88057203e-02 -9.07279395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.80, Y:-38.65, Z:-90.76 [[ 2.90005553e-02 -9.74149313e-01 -2.24035897e-01 1.77800989e+02] [ 2.12516792e-03 -2.24069572e-01 9.74570834e-01 -3.86506176e+01] [-9.99577136e-01 -2.87392093e-02 -4.42791115e-03 -9.07573299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:-39.18, Z:-90.90 [[ 2.28265849e-02 -5.44320891e-01 8.38566464e-01 1.76447982e+02] [-1.55191060e-02 8.38491026e-01 5.44694369e-01 -3.91810607e+01] [-9.99618980e-01 -2.54473141e-02 1.06925130e-02 -9.09026423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.63, Y:-38.76, Z:-91.01 [[ 1.08885255e-01 -9.87583139e-01 -1.13241092e-01 1.77634799e+02] [-3.21427066e-03 -1.14267606e-01 9.93444806e-01 -3.87615580e+01] [-9.94049128e-01 -1.07807503e-01 -1.56164169e-02 -9.10132984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.84, Y:-38.90, Z:-91.27 [[ 8.30980138e-02 -8.34686607e-02 9.93039628e-01 1.75839564e+02] [-1.70126282e-02 9.96222055e-01 8.51597800e-02 -3.88961577e+01] [-9.96396151e-01 -2.39708225e-02 8.13640528e-02 -9.12713062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.81, Y:-38.86, Z:-91.34 [[ 1.02368089e-01 -4.33117755e-02 9.93803232e-01 1.75811436e+02] [-3.42497459e-02 9.98305852e-01 4.70359509e-02 -3.88579664e+01] [-9.94156793e-01 -3.88524886e-02 1.00711245e-01 -9.13432669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.42, Y:-36.77, Z:-91.44 [[ 2.20287067e-02 8.84197458e-01 -4.66593603e-01 1.76420284e+02] [ 4.60894536e-02 -4.67108806e-01 -8.82997806e-01 -3.67655426e+01] [-9.98694397e-01 -2.05374455e-03 -5.10419806e-02 -9.14384964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.69, Y:-39.24, Z:-91.56 [[ 3.48706072e-02 -6.81621501e-01 7.30873566e-01 1.76694340e+02] [ 5.98151191e-03 7.31447574e-01 6.81871445e-01 -3.92357778e+01] [-9.99373935e-01 -1.94055424e-02 2.95831482e-02 -9.15582795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.95, Y:-37.71, Z:-91.62 [[ 8.33725981e-02 -4.69818774e-01 -8.78817006e-01 1.77949020e+02] [ 9.30809984e-02 -8.74360304e-01 4.76266718e-01 -3.77079267e+01] [-9.92161750e-01 -1.21508758e-01 -2.91664897e-02 -9.16215714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.88, Y:-39.27, Z:-91.91 [[ 7.48357311e-02 -7.93416942e-01 6.04060568e-01 1.76878202e+02] [ 6.22679481e-02 6.08295111e-01 7.91264659e-01 -3.92733596e+01] [-9.95249876e-01 -2.16012571e-02 9.49266543e-02 -9.19056105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:-39.27, Z:-91.98 [[ 7.76314552e-02 -7.48742830e-01 6.58298968e-01 1.76791596e+02] [ 5.81655528e-02 6.62568386e-01 7.46739515e-01 -3.92699565e+01] [-9.95283942e-01 -1.96801518e-02 9.49871886e-02 -9.19820362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:176.87, Y:-39.25, Z:-92.07 [[ 1.21069886e-01 -7.87055221e-01 6.04885247e-01 1.76873307e+02] [ 6.70303488e-02 6.14459098e-01 7.86096018e-01 -3.92506319e+01] [-9.90378218e-01 -5.46268861e-02 1.27149079e-01 -9.20668567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:175.58, Y:-37.73, Z:-92.20 [[ 1.23995254e-03 8.01158337e-01 5.98451152e-01 1.75579029e+02] [ 1.03295730e-02 5.98409422e-01 -8.01123875e-01 -3.77330325e+01] [-9.99945880e-01 7.17510045e-03 -7.53362426e-03 -9.21956870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.51, Y:-36.95, Z:-92.28 [[ 7.08247908e-03 2.54143934e-01 -9.67140475e-01 1.77506075e+02] [ 1.14096998e-01 -9.61053838e-01 -2.51708950e-01 -3.69546808e+01] [-9.93444369e-01 -1.08565102e-01 -3.58037037e-02 -9.22822404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.73, Y:-38.91, Z:-92.49 [[ 8.80598433e-03 -9.99712450e-01 -2.23040684e-02 1.77725216e+02] [ 8.73346163e-02 -2.14507944e-02 9.95948055e-01 -3.89060655e+01] [-9.96140110e-01 -1.07182202e-02 8.71206078e-02 -9.24853602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:177.78, Y:-38.84, Z:-92.55 [[ 3.01651851e-02 -9.95413737e-01 -9.07830042e-02 1.77779389e+02] [ 1.26835302e-01 -8.62782169e-02 9.88164397e-01 -3.88368414e+01] [-9.91465011e-01 -4.13226517e-02 1.23651003e-01 -9.25453373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.70, Y:-38.37, Z:-92.65 [[-3.74095199e-02 3.77741787e-01 9.25154944e-01 1.75695918e+02] [ 3.21147567e-02 9.25779233e-01 -3.76698094e-01 -3.83726282e+01] [-9.98783846e-01 1.56190311e-02 -4.67640422e-02 -9.26491426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.42, Y:-39.08, Z:-92.69 [[-1.18976070e-02 -4.41702142e-01 8.97082864e-01 1.76422229e+02] [-3.70490621e-02 8.96725066e-01 4.41034606e-01 -3.90820419e+01] [-9.99242620e-01 -2.79888223e-02 -2.70335325e-02 -9.26947043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.62, Y:-37.74, Z:-92.76 [[-9.07199332e-03 7.79246728e-01 6.26651607e-01 1.75615555e+02] [-2.14573559e-02 6.26381399e-01 -7.79221358e-01 -3.77372068e+01] [-9.99728604e-01 -2.05153775e-02 1.10380465e-02 -9.27559250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.01, Y:-36.98, Z:-92.81 [[ 1.41971362e-04 9.99860780e-01 -1.66853221e-02 1.76008982e+02] [-2.10662152e-02 -1.66786292e-02 -9.99638954e-01 -3.69804442e+01] [-9.99778073e-01 4.93416691e-04 2.10609145e-02 -9.28127071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.15, Y:-36.87, Z:-92.83 [[-1.18756568e-03 9.87082553e-01 -1.60208063e-01 1.76150607e+02] [-2.17343623e-02 -1.60195810e-01 -9.86845945e-01 -3.68680741e+01] [-9.99763076e-01 2.31007572e-03 2.16438528e-02 -9.28338153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:176.30, Y:-36.78, Z:-92.85 [[-2.67321418e-03 9.54684332e-01 -2.97608267e-01 1.76304398e+02] [-2.05527438e-02 -2.97598918e-01 -9.54469732e-01 -3.67787605e+01] [-9.99785196e-01 3.56516443e-03 2.04169281e-02 -9.28533411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:175.64, Y:-38.18, Z:-92.82 [[-6.20414783e-02 5.03649945e-01 8.61677195e-01 1.75640335e+02] [-7.37589187e-02 8.58665942e-01 -5.07200573e-01 -3.81836704e+01] [-9.95344401e-01 -9.50238515e-02 -1.61242290e-02 -9.28195870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:176.34, Y:-36.76, Z:-93.00 [[-4.23522305e-02 9.44547493e-01 -3.25632187e-01 1.76342068e+02] [-7.38180657e-02 -3.27992115e-01 -9.41791944e-01 -3.67582635e+01] [-9.96372010e-01 -1.58494513e-02 8.36158666e-02 -9.29950802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.63, Y:-36.67, Z:-93.06 [[-5.81739309e-02 8.35735832e-01 -5.46041585e-01 1.76634306e+02] [-6.49776146e-02 -5.48977883e-01 -8.33307383e-01 -3.66707306e+01] [-9.96189592e-01 -1.29962864e-02 8.62403223e-02 -9.30640395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.91, Y:-36.65, Z:-93.11 [[-6.13622145e-02 6.96468443e-01 -7.14959010e-01 1.76906272e+02] [-6.41707876e-02 -7.17579723e-01 -6.93513844e-01 -3.66536015e+01] [-9.96050595e-01 3.32393760e-03 8.87252094e-02 -9.31065359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.00, Y:-36.66, Z:-93.13 [[-6.49453674e-02 6.37437002e-01 -7.67760488e-01 1.77001428e+02] [-5.80882739e-02 -7.70495104e-01 -6.34793705e-01 -3.66629313e+01] [-9.96196693e-01 3.37097118e-03 8.70677028e-02 -9.31337974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:175.77, Y:-37.30, Z:-93.01 [[-1.46125620e-01 9.44415345e-01 2.94494412e-01 1.75766092e+02] [-5.71341495e-02 2.89136177e-01 -9.55581477e-01 -3.73013991e+01] [-9.87614799e-01 -1.56460624e-01 1.17081643e-02 -9.30084193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.69, Y:-37.48, Z:-93.00 [[-2.10622044e-01 8.72474601e-01 4.40938119e-01 1.75692150e+02] [-8.23971338e-02 4.33606923e-01 -8.97327002e-01 -3.74807517e+01] [-9.74088839e-01 -2.25328885e-01 -1.94377701e-02 -9.30040569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:177.17, Y:-36.71, Z:-93.43 [[-1.93807507e-01 5.11477677e-01 -8.37155443e-01 1.77172243e+02] [-1.07800026e-01 -8.59270718e-01 -5.00032987e-01 -3.67101887e+01] [-9.75098869e-01 -6.66476764e-03 2.21670422e-01 -9.34324223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:177.76, Y:-38.79, Z:-93.36 [[-1.62045913e-01 -9.84332880e-01 -6.94975078e-02 1.77756341e+02] [-1.17504056e-01 -5.06790713e-02 9.91778417e-01 -3.87918246e+01] [-9.79762175e-01 1.68879878e-01 -1.07450769e-01 -9.33596180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:177.08, Y:-36.70, Z:-93.48 [[-1.29836737e-01 5.59211564e-01 -8.18794753e-01 1.77080147e+02] [-9.66326199e-02 -8.28990135e-01 -5.50851607e-01 -3.66996126e+01] [-9.86815362e-01 7.60150676e-03 1.61671453e-01 -9.34804431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:175.77, Y:-37.25, Z:-93.25 [[-2.02916499e-01 9.49336475e-01 2.39969065e-01 1.75769398e+02] [-8.48613883e-02 2.27096017e-01 -9.70167998e-01 -3.72507497e+01] [-9.75511886e-01 -2.17227201e-01 3.44804826e-02 -9.32519945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.11, Y:-36.72, Z:-93.62 [[-1.95965061e-01 5.25738612e-01 -8.27766034e-01 1.77114567e+02] [-1.01594058e-01 -8.50475414e-01 -5.16110664e-01 -3.67194081e+01] [-9.75333964e-01 -1.70435474e-02 2.20075386e-01 -9.36159856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.72, Y:-38.82, Z:-93.55 [[-1.62027262e-01 -9.84873908e-01 -6.14048227e-02 1.77716505e+02] [-1.15257031e-01 -4.29129821e-02 9.92408330e-01 -3.88184125e+01] [-9.80032134e-01 1.67874542e-01 -1.06560569e-01 -9.35519373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29232058799994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:177.07, Y:-36.72, Z:-93.67 [[-1.35163251e-01 5.39986240e-01 -8.30750116e-01 1.77072797e+02] [-9.17496061e-02 -8.41662893e-01 -5.32151844e-01 -3.67220300e+01] [-9.86566220e-01 4.29362297e-03 1.63305417e-01 -9.36715398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.11, Y:-36.73, Z:-93.69 [[-1.39336881e-01 5.08467746e-01 -8.49732773e-01 1.77112981e+02] [-8.42440743e-02 -8.61079328e-01 -5.01443244e-01 -3.67349338e+01] [-9.86655041e-01 1.71541318e-03 1.62815503e-01 -9.36917311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35232058799994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:177.17, Y:-36.76, Z:-93.75 [[-1.71074715e-01 4.56220663e-01 -8.73267512e-01 1.77172559e+02] [-8.77481167e-02 -8.89866678e-01 -4.47702539e-01 -3.67623378e+01] [-9.81342810e-01 3.69954111e-05 1.92266192e-01 -9.37505603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:175.54, Y:-38.03, Z:-93.35 [[-2.15713158e-01 6.18293793e-01 7.55764923e-01 1.75543255e+02] [-1.07415714e-01 7.54264071e-01 -6.47724923e-01 -3.80338300e+01] [-9.70530627e-01 -2.20903817e-01 -9.62902155e-02 -9.33545936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:177.02, Y:-36.73, Z:-93.88 [[-1.86731576e-01 5.51515123e-01 -8.12995933e-01 1.77024721e+02] [-1.24627460e-01 -8.34164294e-01 -5.37250340e-01 -3.67285501e+01] [-9.74473866e-01 1.00001493e-03 2.24498742e-01 -9.38831537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:177.73, Y:-38.77, Z:-93.80 [[-1.54330760e-01 -9.78570948e-01 -1.36311833e-01 1.77733288e+02] [-1.39034650e-01 -1.15082083e-01 9.83577897e-01 -3.87658696e+01] [-9.78187805e-01 1.70748392e-01 -1.18294564e-01 -9.38028414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47232058799995 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:175.58, Y:-38.43, Z:-93.55 [[-1.80098779e-01 3.54510770e-01 9.17543756e-01 1.75582759e+02] [-1.60386333e-01 9.09729645e-01 -3.82972842e-01 -3.84274806e+01] [-9.70484752e-01 -2.16134420e-01 -1.06982515e-01 -9.35478625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:176.66, Y:-36.72, Z:-94.08 [[-1.46538117e-01 7.44426333e-01 -6.51426140e-01 1.76661039e+02] [-1.69075100e-01 -6.67693198e-01 -7.24982348e-01 -3.67195067e+01] [-9.74648753e-01 3.90239138e-03 2.23706460e-01 -9.40773427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53232058799995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:177.83, Y:-38.59, Z:-93.95 [[-1.15435144e-01 -9.44264334e-01 -3.08284925e-01 1.77830476e+02] [-1.75997021e-01 -2.86006239e-01 9.41926473e-01 -3.85922389e+01] [-9.77598985e-01 1.62988647e-01 -1.33172538e-01 -9.39542237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:175.70, Y:-38.73, Z:-93.71 [[-1.49284053e-01 1.11734171e-01 9.82461066e-01 1.75702544e+02] [-1.96955512e-01 9.70324552e-01 -1.40281108e-01 -3.87283198e+01] [-9.68980288e-01 -2.14442854e-01 -1.22847321e-01 -9.37137694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59232058799995 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:176.14, Y:-36.86, Z:-94.22 [[-1.10113338e-01 9.42258221e-01 -3.16266498e-01 1.76144112e+02] [-2.12804088e-01 -3.33173040e-01 -9.18536959e-01 -3.68634761e+01] [-9.70870472e-01 -3.38403667e-02 2.37203196e-01 -9.42220091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:177.95, Y:-38.14, Z:-94.16 [[-6.47847278e-02 -7.56925811e-01 -6.50281674e-01 1.77948487e+02] [-2.14454614e-01 -6.25864038e-01 7.49868938e-01 -3.81440188e+01] [-9.74583069e-01 1.88035961e-01 -1.21779802e-01 -9.41566609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65232058799995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:176.15, Y:-39.14, Z:-93.86 [[-8.90961318e-02 -3.63925778e-01 9.27156895e-01 1.76148976e+02] [-2.38664670e-01 9.11540972e-01 3.34861510e-01 -3.91413960e+01] [-9.67006233e-01 -1.91444729e-01 -1.68071000e-01 -9.38567306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.81, Y:-37.10, Z:-94.35 [[-5.54807763e-02 9.97949781e-01 -3.19079497e-02 1.75806382e+02] [-2.18409112e-01 -4.33132283e-02 -9.74895597e-01 -3.70983509e+01] [-9.74278884e-01 -4.71189775e-02 2.20364377e-01 -9.43458226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.78, Y:-37.45, Z:-94.39 [[-2.21008387e-02 -2.72087993e-01 -9.62018543e-01 1.77782815e+02] [-1.83138714e-01 -9.44869220e-01 2.71444964e-01 -3.74530087e+01] [-9.82838626e-01 1.82182000e-01 -2.89474428e-02 -9.43876516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.96, Y:-37.00, Z:-94.40 [[-4.07795821e-02 9.81648870e-01 -1.86286130e-01 1.75957808e+02] [-1.53009135e-01 -1.90377498e-01 -9.69713676e-01 -3.69965991e+01] [-9.87383021e-01 -1.10410389e-02 1.57964759e-01 -9.44025100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:-37.67, Z:-94.39 [[ 1.97210142e-04 -4.29974247e-01 -9.02841131e-01 1.77864547e+02] [-1.21643857e-01 -8.96146795e-01 4.26759527e-01 -3.76662619e+01] [-9.92573792e-01 1.09740916e-01 -5.24804550e-02 -9.43872816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:175.85, Y:-37.09, Z:-94.44 [[-1.80780315e-02 9.95493986e-01 -9.30854865e-02 1.75852382e+02] [-9.18309331e-02 -9.43603679e-02 -9.91293701e-01 -3.70880240e+01] [-9.95610498e-01 -9.37251171e-03 9.31229914e-02 -9.44378234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83232058799996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:177.76, Y:-37.46, Z:-94.43 [[ 2.65928418e-02 -2.56241692e-01 -9.66246871e-01 1.77761598e+02] [-4.58311887e-02 -9.65884819e-01 2.54884323e-01 -3.74643731e+01] [-9.98595175e-01 3.75061442e-02 -3.74294835e-02 -9.44342180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.21, Y:-39.19, Z:-94.50 [[ 8.76809678e-02 -9.61754869e-01 2.59498784e-01 1.77207140e+02] [-9.13118297e-02 2.51645580e-01 9.63502284e-01 -3.91899434e+01] [-9.91954736e-01 -1.08176122e-01 -6.57550688e-02 -9.44978968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:175.34, Y:-38.25, Z:-94.87 [[ 7.14878764e-02 6.05878085e-01 7.92339087e-01 1.75339984e+02] [-7.23456327e-02 7.95428849e-01 -6.01713433e-01 -3.82463504e+01] [-9.94814351e-01 -1.43070571e-02 1.00696153e-01 -9.48657909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.45, Y:-38.98, Z:-94.77 [[ 1.50995580e-01 -9.88210540e-01 -2.53034080e-02 1.77450514e+02] [-9.86863486e-02 -4.05381149e-02 9.94292545e-01 -3.89795429e+01] [-9.83596126e-01 -1.47636679e-01 -1.03643966e-01 -9.47673154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.34, Y:-38.46, Z:-95.22 [[ 1.32921788e-01 4.78288333e-01 8.68085289e-01 1.75342593e+02] [-8.18149429e-02 8.78162934e-01 -4.71313247e-01 -3.84577184e+01] [-9.87743951e-01 -8.37454873e-03 1.55858120e-01 -9.52225981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.39, Y:-38.53, Z:-95.32 [[ 1.55325001e-01 4.28291862e-01 8.90191117e-01 1.75389963e+02] [-1.28555665e-01 9.02228302e-01 -4.11652199e-01 -3.85327356e+01] [-9.79462906e-01 -5.04992328e-02 1.95197957e-01 -9.53222867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:175.36, Y:-38.20, Z:-95.48 [[ 1.17817663e-01 6.54452949e-01 7.46867013e-01 1.75361503e+02] [-1.30020371e-01 7.55797091e-01 -6.41767450e-01 -3.81994597e+01] [-9.84486517e-01 -2.14963851e-02 1.74138463e-01 -9.54810835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:176.85, Y:-36.93, Z:-95.59 [[ 8.00438927e-02 6.30298448e-01 -7.72215541e-01 1.76848027e+02] [-3.71605447e-02 -7.72275867e-01 -6.34199558e-01 -3.69269313e+01] [-9.96098423e-01 7.94597515e-02 -3.83937329e-02 -9.55898226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.67, Y:-39.42, Z:-95.62 [[ 1.00374475e-01 -7.16176002e-01 6.90664100e-01 1.76668893e+02] [-1.06281367e-01 6.82480125e-01 7.23135637e-01 -3.94248075e+01] [-9.89256911e-01 -1.45989085e-01 -7.61258070e-03 -9.56233261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:176.50, Y:-39.37, Z:-95.79 [[ 1.42167344e-01 -6.31569533e-01 7.62173452e-01 1.76502408e+02] [-1.56172633e-01 7.46038646e-01 6.47330246e-01 -3.93740857e+01] [-9.77444911e-01 -2.11059857e-01 7.42845603e-03 -9.57922860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.46, Y:-39.33, Z:-95.95 [[ 2.05105318e-01 -6.07398788e-01 7.67462390e-01 1.76460592e+02] [-2.01238048e-01 7.41208101e-01 6.40401279e-01 -3.93307540e+01] [-9.57828302e-01 -2.85792342e-01 2.97939769e-02 -9.59460231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:175.42, Y:-38.42, Z:-96.43 [[ 2.04874087e-01 5.13319706e-01 8.33384358e-01 1.75419083e+02] [-2.34456695e-01 8.52393986e-01 -4.67391217e-01 -3.84219927e+01] [-9.50292937e-01 -9.96361936e-02 2.94984682e-01 -9.64269953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:-36.93, Z:-96.61 [[ 1.53628038e-01 6.60201146e-01 -7.35209408e-01 1.76819828e+02] [-1.38040142e-01 -7.22406896e-01 -6.77549405e-01 -3.69286841e+01] [-9.78439239e-01 2.05578997e-01 -1.98476943e-02 -9.66114028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:175.48, Y:-38.26, Z:-96.67 [[ 1.41342367e-01 6.72426650e-01 7.26543003e-01 1.75480392e+02] [-1.82729102e-01 7.39021205e-01 -6.48427123e-01 -3.82615856e+01] [-9.72950364e-01 -4.11103267e-02 2.27326924e-01 -9.66655146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:177.14, Y:-37.06, Z:-96.76 [[ 1.13217695e-01 5.10916573e-01 -8.52142013e-01 1.77139886e+02] [-8.02885416e-02 -8.50147174e-01 -5.20387867e-01 -3.70627334e+01] [-9.90320909e-01 1.27334354e-01 -5.52309566e-02 -9.67620586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:175.55, Y:-38.42, Z:-96.85 [[ 9.42503272e-02 6.29520164e-01 7.71246549e-01 1.75553252e+02] [-1.04644230e-01 7.76668011e-01 -6.21157296e-01 -3.84208683e+01] [-9.90033566e-01 -2.21622229e-02 1.39076867e-01 -9.68535228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.94, Y:-37.10, Z:-96.99 [[ 5.88582618e-02 6.88205555e-01 -7.23124345e-01 1.76943918e+02] [-2.88586112e-02 -7.22904389e-01 -6.90345149e-01 -3.70977360e+01] [-9.97849130e-01 6.15008798e-02 -2.26882392e-02 -9.69860343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.82, Y:-39.60, Z:-97.03 [[ 7.99905543e-02 -7.00427205e-01 7.09227214e-01 1.76822718e+02] [-9.80577985e-02 7.02526747e-01 7.04869376e-01 -3.96013056e+01] [-9.91960775e-01 -1.25928151e-01 -1.24868458e-02 -9.70335724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-38.35, Z:-97.32 [[ 7.96403515e-02 6.90326888e-01 7.19100968e-01 1.75583474e+02] [-7.91478394e-02 7.23493952e-01 -6.85778478e-01 -3.83461834e+01] [-9.93676524e-01 -2.29964890e-03 1.12257194e-01 -9.73225336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.59, Y:-38.39, Z:-97.39 [[ 8.81645170e-02 6.68610065e-01 7.38368200e-01 1.75594186e+02] [-1.11180454e-01 7.43228152e-01 -6.59735417e-01 -3.83891507e+01] [-9.89881773e-01 -2.39268574e-02 1.39862722e-01 -9.73877991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.10, Y:-37.15, Z:-97.52 [[ 5.22152332e-02 6.23215776e-01 -7.80304855e-01 1.77095100e+02] [-2.98203669e-02 -7.80049264e-01 -6.25007113e-01 -3.71476028e+01] [-9.98190520e-01 5.59038693e-02 -2.21459311e-02 -9.75202786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.10, Y:-37.21, Z:-97.66 [[ 8.07341839e-03 6.55399100e-01 -7.55239591e-01 1.77100404e+02] [ 2.12693402e-02 -7.55205890e-01 -6.55142487e-01 -3.72079961e+01] [-9.99741184e-01 -1.07742084e-02 -2.00369995e-02 -9.76620777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.492320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:178.20, Y:-38.90, Z:-97.73 [[ 1.18291170e-02 -8.93483145e-01 -4.48940910e-01 1.78197901e+02] [-4.37732787e-03 -4.49014292e-01 8.93513852e-01 -3.89014684e+01] [-9.99920452e-01 -8.60431837e-03 -9.22251129e-03 -9.77301357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:176.14, Y:-39.36, Z:-97.88 [[ 5.06003790e-03 -6.90416294e-02 9.97600947e-01 1.76136495e+02] [-1.13246230e-01 9.91156294e-01 6.91700183e-02 -3.93615788e+01] [-9.93554069e-01 -1.13324549e-01 -2.80341581e-03 -9.78754616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.552320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:177.58, Y:-39.50, Z:-97.98 [[ 7.58940988e-02 -9.71631430e-01 2.23992078e-01 1.77578813e+02] [-1.44378093e-01 2.11564337e-01 9.66641349e-01 -3.94976821e+01] [-9.86607851e-01 -1.05701923e-01 -1.24225808e-01 -9.79763156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:175.69, Y:-38.16, Z:-98.38 [[ 8.17669935e-02 8.37850201e-01 5.39741790e-01 1.75686888e+02] [-1.18562041e-01 5.45886797e-01 -8.29427904e-01 -3.81555246e+01] [-9.89574252e-01 3.82693754e-03 1.43972752e-01 -9.83788148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.612320588 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:175.67, Y:-38.34, Z:-98.43 [[ 9.24095093e-02 7.56385226e-01 6.47566115e-01 1.75669564e+02] [-1.67082949e-01 6.52906754e-01 -7.38780116e-01 -3.83372980e+01] [-9.81602654e-01 -3.99269480e-02 1.86713867e-01 -9.84302959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:177.32, Y:-37.30, Z:-98.57 [[ 3.42485116e-02 5.07630484e-01 -8.60893914e-01 1.77320124e+02] [-7.32972987e-02 -8.57803671e-01 -5.08724256e-01 -3.72975411e+01] [-9.96721900e-01 8.05242469e-02 7.82944424e-03 -9.85741346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.672320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:178.19, Y:-38.74, Z:-98.58 [[ 9.36711808e-02 -7.76474836e-01 -6.23147285e-01 1.78193569e+02] [-2.03895345e-02 -6.27264103e-01 7.78539667e-01 -3.87389674e+01] [-9.95394383e-01 -6.02210468e-02 -7.45885296e-02 -9.85824793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:176.29, Y:-39.68, Z:-98.83 [[ 8.68584097e-02 -2.58126749e-01 9.62198627e-01 1.76289881e+02] [-2.02873875e-02 9.65190289e-01 2.60760673e-01 -3.96798373e+01] [-9.96014075e-01 -4.21697538e-02 7.85981761e-02 -9.88287296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73232058799994 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:177.78, Y:-39.47, Z:-98.81 [[ 1.72208245e-01 -9.84707179e-01 -2.63835605e-02 1.77784705e+02] [-1.22808930e-03 -2.69982904e-02 9.99634725e-01 -3.94676904e+01] [-9.85059801e-01 -1.72112940e-01 -5.85863654e-03 -9.88143759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:176.17, Y:-39.61, Z:-99.17 [[ 1.53378094e-01 -1.70503824e-01 9.73346601e-01 1.76168537e+02] [-3.85430785e-02 9.83219756e-01 1.78306877e-01 -3.96122816e+01] [-9.87415612e-01 -6.48641434e-02 1.44232630e-01 -9.91671764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:175.80, Y:-39.15, Z:-99.35 [[ 1.59913345e-01 2.95227353e-01 9.41949326e-01 1.75799843e+02] [-4.37432630e-02 9.55411234e-01 -2.92020378e-01 -3.91520596e+01] [-9.86161371e-01 5.49401844e-03 1.65697214e-01 -9.93480652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:175.85, Y:-39.22, Z:-99.40 [[ 2.00929794e-01 2.37964200e-01 9.50263257e-01 1.75853528e+02] [-8.17112043e-02 9.70737555e-01 -2.25813814e-01 -3.92237597e+01] [-9.76191834e-01 -3.22744321e-02 2.14494438e-01 -9.94045111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85232058799994 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:176.30, Y:-37.57, Z:-99.57 [[ 8.79232818e-02 9.84929166e-01 -1.48943059e-01 1.76297142e+02] [-6.77845966e-02 -1.43259778e-01 -9.87361071e-01 -3.75702021e+01] [-9.93818266e-01 9.69080708e-02 5.41671563e-02 -9.95666568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:178.18, Y:-38.15, Z:-99.49 [[ 1.16141592e-01 -3.32818037e-01 -9.35811565e-01 1.78178925e+02] [ 2.60699993e-02 -9.40841563e-01 3.37842430e-01 -3.81513257e+01] [-9.92890470e-01 -6.36341646e-02 -1.00594271e-01 -9.94929329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91232058799994 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:176.95, Y:-39.94, Z:-99.79 [[ 1.65848657e-01 -6.60051162e-01 7.32684575e-01 1.76949037e+02] [ 4.29217609e-02 7.47101265e-01 6.63323015e-01 -3.99397525e+01] [-9.85216700e-01 -7.85631193e-02 1.52236300e-01 -9.97890457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:176.28, Y:-39.66, Z:-99.97 [[ 1.52557485e-01 -1.34347868e-01 9.79120454e-01 1.76277662e+02] [ 7.21659818e-03 9.90842218e-01 1.34831821e-01 -3.96594660e+01] [-9.88268250e-01 -1.35036846e-02 1.52129931e-01 -9.99708766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97232058799995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:176.62, Y:-37.52, Z:-100.05 [[ 7.09134027e-02 9.38964886e-01 -3.36624764e-01 1.76622351e+02] [ 3.94939601e-02 -3.39852742e-01 -9.39649052e-01 -3.75166752e+01] [-9.96700314e-01 5.33390666e-02 -6.11835561e-02 -1.00049334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:176.95, Y:-39.93, Z:-100.21 [[ 6.91255319e-02 -5.95539180e-01 8.00346641e-01 1.76945887e+02] [ 3.57843056e-02 8.03229600e-01 5.94593722e-01 -3.99273335e+01] [-9.96965969e-01 -1.24617585e-02 7.68346294e-02 -1.00206306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03232058799995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:176.63, Y:-39.81, Z:-100.32 [[ 9.31394554e-02 -3.59956193e-01 9.28308452e-01 1.76625783e+02] [ 2.09404005e-02 9.32863320e-01 3.59621364e-01 -3.98120481e+01] [-9.95432841e-01 -1.40557872e-02 9.44240084e-02 -1.00324256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:176.49, Y:-37.63, Z:-100.44 [[-7.97918992e-03 9.90166369e-01 -1.39667083e-01 1.76490671e+02] [ 3.51220755e-02 -1.39307843e-01 -9.89626073e-01 -3.76320131e+01] [-9.99351176e-01 -1.28018122e-02 -3.36651342e-02 -1.00437667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09232058799995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:178.52, Y:-38.63, Z:-100.51 [[-9.35158671e-03 -6.76662045e-01 -7.36234354e-01 1.78515320e+02] [ 8.96989859e-03 -7.36293692e-01 6.76602646e-01 -3.86303066e+01] [-9.99916041e-01 -2.76639190e-04 1.29551042e-02 -1.00512202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:177.00, Y:-39.90, Z:-100.54 [[ 3.58838296e-03 -5.80804901e-01 8.14034883e-01 1.77001812e+02] [-3.08044983e-02 8.13589597e-01 5.80622986e-01 -3.99022314e+01] [-9.99518988e-01 -2.71594338e-02 -1.49719326e-02 -1.00539176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15232058799995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:176.06, Y:-39.14, Z:-100.59 [[ 6.26384381e-03 3.60368937e-01 9.32788826e-01 1.76059227e+02] [-2.82031571e-02 9.32499717e-01 -3.60067854e-01 -3.91445278e+01] [-9.99582586e-01 -2.40521810e-02 1.60045743e-02 -1.00593659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:177.01, Y:-37.41, Z:-100.65 [[-2.86892647e-02 8.37869012e-01 -5.45116909e-01 1.77005033e+02] [ 1.24960618e-02 -5.44998143e-01 -8.38344125e-01 -3.74080888e+01] [-9.99510267e-01 -3.08632911e-02 5.16553304e-03 -1.00653690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:177.97, Y:-37.61, Z:-100.72 [[-2.74312607e-02 2.00152031e-01 -9.79380769e-01 1.77965784e+02] [ 2.02429389e-02 -9.79437319e-01 -2.00730568e-01 -3.76123558e+01] [-9.99418706e-01 -2.53318376e-02 2.28155351e-02 -1.00719484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.45, Y:-38.41, Z:-100.86 [[ 2.99277827e-02 -5.08808169e-01 -8.60359562e-01 1.78449066e+02] [ 6.32122487e-02 -8.58058750e-01 5.09646342e-01 -3.84104607e+01] [-9.97551272e-01 -6.96378476e-02 6.48311271e-03 -1.00861429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27232058799996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.05, Y:-39.65, Z:-101.01 [[ 5.81865638e-02 -9.97682263e-01 3.52764174e-02 1.78053057e+02] [ 5.97591670e-02 3.87538265e-02 9.97460266e-01 -3.96460703e+01] [-9.96515512e-01 -5.59306961e-02 6.18756130e-02 -1.01007560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:177.34, Y:-39.94, Z:-101.17 [[ 6.86556338e-02 -7.89561229e-01 6.09819210e-01 1.77335829e+02] [ 3.15656745e-02 6.12674695e-01 7.89704581e-01 -3.99439690e+01] [-9.97140919e-01 -3.49683139e-02 6.69866023e-02 -1.01166425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33232058799996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:176.72, Y:-39.81, Z:-101.34 [[ 7.87743178e-02 -4.01173233e-01 9.12608702e-01 1.76719884e+02] [-1.58616978e-02 9.14833216e-01 4.03520252e-01 -3.98115558e+01] [-9.96766278e-01 -4.62625560e-02 6.57020739e-02 -1.01336455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:176.49, Y:-37.65, Z:-101.51 [[-1.23907473e-02 9.96128236e-01 -8.70345122e-02 1.76491735e+02] [ 1.30469238e-02 -8.68727246e-02 -9.96133981e-01 -3.76524532e+01] [-9.99838110e-01 -1.34783771e-02 -1.19199913e-02 -1.01505577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:178.28, Y:-39.43, Z:-101.55 [[ 4.53985691e-02 -9.89195021e-01 -1.39399354e-01 1.78280696e+02] [-1.07040801e-02 -1.40016911e-01 9.90091252e-01 -3.94284483e+01] [-9.98911604e-01 -4.34565843e-02 -1.69449902e-02 -1.01552808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:178.08, Y:-39.57, Z:-101.70 [[ 1.26472813e-01 -9.91870149e-01 1.40795626e-02 1.78080573e+02] [ 2.72936363e-02 1.76676574e-02 9.99471316e-01 -3.95678789e+01] [-9.91594516e-01 -1.26021666e-01 2.93062214e-02 -1.01700309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45232058799996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:176.61, Y:-39.74, Z:-101.96 [[ 9.43676507e-02 -2.88459478e-01 9.52830455e-01 1.76612425e+02] [-1.25583876e-02 9.56680520e-01 2.90868819e-01 -3.97352363e+01] [-9.95458203e-01 -3.94146213e-02 8.66571072e-02 -1.01957640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:176.33, Y:-37.83, Z:-102.17 [[ 5.18193735e-02 9.88792846e-01 1.40012356e-01 1.76326703e+02] [-1.18886841e-02 1.40801584e-01 -9.89966450e-01 -3.78298362e+01] [-9.98585706e-01 4.96348786e-02 1.90516957e-02 -1.02166705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51232058799997 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:177.03, Y:-37.44, Z:-102.29 [[-2.15272138e-02 8.92912046e-01 -4.49716196e-01 1.77027651e+02] [ 8.05171272e-04 -4.49804806e-01 -8.93126524e-01 -3.74381376e+01] [-9.99767938e-01 -1.95886242e-02 8.96409712e-03 -1.02289360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:178.64, Y:-38.94, Z:-102.36 [[ 1.70811717e-02 -8.29459736e-01 -5.58305274e-01 1.78637843e+02] [ 9.96496912e-03 -5.58217780e-01 8.29634624e-01 -3.89360803e+01] [-9.99804447e-01 -1.97346263e-02 -1.26947310e-03 -1.02355494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57232058799997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:177.61, Y:-39.91, Z:-102.52 [[ 1.46013858e-02 -8.34022000e-01 5.51537944e-01 1.77611313e+02] [ 1.48197922e-02 5.51716671e-01 8.33899927e-01 -3.99091131e+01] [-9.99783563e-01 -4.00241684e-03 2.04158607e-02 -1.02524698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:178.60, Y:-38.77, Z:-102.61 [[ 7.85340774e-02 -7.29800850e-01 -6.79134094e-01 1.78601024e+02] [ 6.95519926e-02 -6.75567102e-01 7.34010634e-01 -3.87711884e+01] [-9.94482237e-01 -1.04879977e-01 -2.29593576e-03 -1.02614989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63232058799997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:177.48, Y:-39.96, Z:-102.85 [[ 6.86685094e-02 -7.89750823e-01 6.09572205e-01 1.77476963e+02] [ 5.05707490e-02 6.12984470e-01 7.88474882e-01 -3.99554398e+01] [-9.96356982e-01 -2.33168719e-02 8.20310205e-02 -1.02854993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:178.41, Y:-38.10, Z:-102.81 [[ 9.97464990e-02 -2.15746611e-01 -9.71341359e-01 1.78412341e+02] [ 1.20828787e-01 -9.66358990e-01 2.27047807e-01 -3.80956923e+01] [-9.87649250e-01 -1.40013222e-01 -7.03225249e-02 -1.02812755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692320588 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:177.81, Y:-39.92, Z:-103.17 [[ 1.18634420e-01 -9.21779717e-01 3.69117906e-01 1.77810448e+02] [ 1.21946428e-01 3.82454754e-01 9.15891604e-01 -3.99198399e+01] [-9.85421201e-01 -6.36436592e-02 1.57780042e-01 -1.03168941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:176.14, Y:-38.53, Z:-103.34 [[ 5.94606838e-02 7.60727201e-01 6.46342442e-01 1.76141931e+02] [ 8.46273840e-02 6.41315503e-01 -7.62595982e-01 -3.85279836e+01] [-9.94636935e-01 1.00042749e-01 -2.62452946e-02 -1.03343760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.752320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:176.29, Y:-38.18, Z:-103.45 [[ 6.33321970e-04 9.01239017e-01 4.33321859e-01 1.76291212e+02] [ 1.10240877e-02 4.33289322e-01 -9.01187457e-01 -3.81832150e+01] [-9.99939032e-01 5.34771998e-03 -9.66092630e-03 -1.03447075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:178.23, Y:-37.60, Z:-103.49 [[ 6.23461276e-03 1.86545329e-01 -9.82426572e-01 1.78232149e+02] [ 2.68870500e-02 -9.82121749e-01 -1.86316819e-01 -3.76004278e+01] [-9.99619036e-01 -2.52529392e-02 -1.11388024e-02 -1.03489792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812320588 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:178.74, Y:-38.87, Z:-103.61 [[ 7.09261031e-02 -8.09160874e-01 -5.83290809e-01 1.78741080e+02] [ 6.10625946e-03 -5.84400322e-01 8.11442529e-01 -3.88736700e+01] [-9.97462882e-01 -6.11141814e-02 -3.65082912e-02 -1.03605180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:176.91, Y:-39.78, Z:-103.83 [[ 6.13229738e-02 -3.21896566e-01 9.44786798e-01 1.76906043e+02] [ 2.51097549e-02 9.46766212e-01 3.20941177e-01 -3.97843253e+01] [-9.97802081e-01 4.04229754e-03 6.61412635e-02 -1.03828713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872320588 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:178.33, Y:-39.54, Z:-103.86 [[ 1.34715946e-01 -9.90597425e-01 -2.38402177e-02 1.78330541e+02] [ 1.02660475e-02 -2.26629276e-02 9.99690452e-01 -3.95418855e+01] [-9.90831076e-01 -1.34918990e-01 7.11646247e-03 -1.03863160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:178.33, Y:-39.48, Z:-104.00 [[ 2.19322555e-01 -9.71041108e-01 -9.47458906e-02 1.78331558e+02] [ 3.98291398e-02 -8.81182347e-02 9.95313426e-01 -3.94774608e+01] [-9.74839093e-01 -2.22068331e-01 1.93494156e-02 -1.04004026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.932320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:176.73, Y:-39.71, Z:-104.42 [[ 1.94374090e-01 -2.32393454e-01 9.53001572e-01 1.76730017e+02] [ 1.13678770e-02 9.71999545e-01 2.34707598e-01 -3.97095060e+01] [-9.80861603e-01 -3.47874712e-02 1.91573347e-01 -1.04423633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:176.57, Y:-39.57, Z:-104.51 [[ 1.94764502e-01 -6.20143179e-02 9.78887641e-01 1.76569372e+02] [ 6.96625226e-03 9.98061580e-01 6.18429807e-02 -3.95697883e+01] [-9.80825295e-01 -5.22563913e-03 1.94818974e-01 -1.04514770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.992320588 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:176.78, Y:-37.60, Z:-104.60 [[ 1.37389780e-01 9.81668387e-01 -1.32103091e-01 1.76778155e+02] [ 2.97882318e-02 -1.37402355e-01 -9.90067298e-01 -3.76016451e+01] [-9.90069043e-01 1.32090011e-01 -4.81198449e-02 -1.04597371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:176.81, Y:-37.66, Z:-104.74 [[ 6.60886308e-02 9.95878654e-01 -6.21127995e-02 1.76805355e+02] [ 3.35124128e-02 -6.44291097e-02 -9.97359418e-01 -3.76594446e+01] [-9.97250827e-01 6.38325685e-02 -3.76323282e-02 -1.04737435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.052320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.77, Y:-37.78, Z:-104.89 [[-7.99360434e-03 9.96891510e-01 7.83799711e-02 1.76767563e+02] [ 2.74883177e-02 7.85719164e-02 -9.96529401e-01 -3.77767836e+01] [-9.99590163e-01 -5.81132819e-03 -2.80309434e-02 -1.04886697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.71, Y:-39.30, Z:-105.05 [[-8.73434611e-04 1.29526656e-01 9.91575556e-01 1.76708549e+02] [-7.66089995e-02 9.88653234e-01 -1.29212403e-01 -3.93030718e+01] [-9.97060830e-01 -7.60764699e-02 9.05938356e-03 -1.05054350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.112320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:176.57, Y:-38.04, Z:-105.18 [[-1.85887259e-02 9.22330781e-01 3.85953871e-01 1.76572055e+02] [-7.04457504e-02 3.83853006e-01 -9.20703137e-01 -3.80442501e+01] [-9.97342396e-01 -4.43035082e-02 5.78389456e-02 -1.05182454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:176.83, Y:-37.67, Z:-105.27 [[-2.40683096e-02 9.98881999e-01 4.06874387e-02 1.76827922e+02] [-6.45979805e-02 3.90602475e-02 -9.97146628e-01 -3.76742241e+01] [-9.97621079e-01 -2.66279602e-02 6.35856458e-02 -1.05268970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.172320588 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:176.84, Y:-37.66, Z:-105.26 [[-2.11992205e-02 9.99302707e-01 3.07358604e-02 1.76840788e+02] [-3.69598443e-02 2.99384292e-02 -9.98868190e-01 -3.76611985e+01] [-9.99091869e-01 -2.23112196e-02 3.62994011e-02 -1.05263050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.90, Y:-38.18, Z:-105.36 [[ 6.66399926e-02 -3.81511575e-01 -9.21958800e-01 1.78900454e+02] [ 8.49896885e-02 -9.18484217e-01 3.86216903e-01 -3.81821267e+01] [-9.94150826e-01 -1.04094483e-01 -2.87832315e-02 -1.05355945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.83, Y:-39.88, Z:-105.58 [[ 7.03537835e-02 -7.85837020e-01 6.14418850e-01 1.77834844e+02] [ 3.51578630e-02 6.17515837e-01 7.85772305e-01 -3.98750474e+01] [-9.96902337e-01 -3.36804009e-02 7.10729258e-02 -1.05575248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.75, Y:-39.85, Z:-105.73 [[ 9.64059487e-02 -7.49712045e-01 6.54704317e-01 1.77749623e+02] [ 1.02772520e-02 6.58482846e-01 7.52525560e-01 -3.98457899e+01] [-9.95289039e-01 -6.58193793e-02 7.11866431e-02 -1.05729975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.23, Y:-39.74, Z:-105.83 [[ 8.62575644e-02 -4.11878627e-01 9.07146972e-01 1.77229666e+02] [ 7.36599450e-04 9.10566792e-01 4.13361313e-01 -3.97445611e+01] [-9.96272598e-01 -3.49873361e-02 7.88466632e-02 -1.05826865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:-39.71, Z:-105.89 [[ 8.62021693e-02 -3.70008865e-01 9.25020338e-01 1.77180658e+02] [-4.18650992e-03 9.28333710e-01 3.71724355e-01 -3.97141265e+01] [-9.96268869e-01 -3.59160526e-02 7.84753339e-02 -1.05890799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:178.91, Y:-38.45, Z:-105.85 [[ 1.35338083e-01 -5.54166876e-01 -8.21329822e-01 1.78910766e+02] [ 1.27017393e-01 -8.12412687e-01 5.69080141e-01 -3.84510228e+01] [-9.82624132e-01 -1.81341388e-01 -3.95615435e-02 -1.05846637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.02, Y:-39.82, Z:-106.15 [[ 1.81303187e-01 -8.77409113e-01 4.44164837e-01 1.78024375e+02] [ 6.41192884e-02 4.61235494e-01 8.84957929e-01 -3.98159325e+01] [-9.81334740e-01 -1.31966159e-01 1.39882313e-01 -1.06148037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-38.25, Z:-106.38 [[ 4.29631533e-02 8.37433504e-01 5.44847955e-01 1.76559892e+02] [ 2.17241591e-02 5.44439507e-01 -8.38518744e-01 -3.82491289e+01] [-9.98840442e-01 4.78617730e-02 5.19829932e-03 -1.06375360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.88, Y:-39.04, Z:-106.38 [[ 1.60905789e-01 -8.83976886e-01 -4.38969465e-01 1.78876125e+02] [ 6.40669916e-02 -4.34471916e-01 8.98403904e-01 -3.90357612e+01] [-9.84888190e-01 -1.72681842e-01 -1.32753067e-02 -1.06376890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47232058799995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:176.56, Y:-38.42, Z:-106.79 [[ 6.44425182e-02 7.36823808e-01 6.73006566e-01 1.76560065e+02] [-1.98215755e-02 6.75220435e-01 -7.37349625e-01 -3.84212789e+01] [-9.97724545e-01 3.41766162e-02 5.81179139e-02 -1.06786100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-37.62, Z:-106.74 [[ 7.47095188e-02 1.69937510e-01 -9.82618812e-01 1.78589057e+02] [ 1.14393500e-01 -9.80328192e-01 -1.60843906e-01 -3.76176460e+01] [-9.90622337e-01 -1.00388634e-01 -9.26795941e-02 -1.06739429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.03, Y:-39.81, Z:-107.05 [[ 1.09227859e-01 -8.32878542e-01 5.42570373e-01 1.78033966e+02] [ 8.63054415e-02 5.51721267e-01 8.29551092e-01 -3.98132695e+01] [-9.90262917e-01 -4.37833146e-02 1.32145283e-01 -1.07047242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-38.03, Z:-107.12 [[-1.06612070e-02 9.17792574e-01 3.96917030e-01 1.76773242e+02] [ 6.39974741e-02 3.96752067e-01 -9.15692154e-01 -3.80335709e+01] [-9.97893112e-01 1.56393038e-02 -6.29662624e-02 -1.07117222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-39.53, Z:-107.32 [[ 3.40040937e-02 -9.93323699e-01 1.10234976e-01 1.78632491e+02] [ 4.66956110e-02 1.11757372e-01 9.92637804e-01 -3.95330942e+01] [-9.98330227e-01 -2.86062594e-02 5.01840652e-02 -1.07315792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.39, Y:-39.65, Z:-107.47 [[ 6.91254657e-02 -9.48252052e-01 3.09902752e-01 1.78393174e+02] [ 5.66731832e-02 3.13876821e-01 9.47770801e-01 -3.96473211e+01] [-9.95996898e-01 -4.79519226e-02 7.54373436e-02 -1.07467287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.70, Y:-38.45, Z:-107.61 [[-1.43383489e-02 6.75300143e-01 7.37403641e-01 1.76696909e+02] [-2.22635715e-02 7.37081005e-01 -6.75437580e-01 -3.84490602e+01] [-9.99649311e-01 -2.61018984e-02 4.46606843e-03 -1.07610601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.74, Y:-37.52, Z:-107.70 [[-8.32177256e-03 1.31440403e-01 -9.91289145e-01 1.78744752e+02] [ 4.29640745e-02 -9.90361039e-01 -1.31678019e-01 -3.75153635e+01] [-9.99041959e-01 -4.36856152e-02 2.59434407e-03 -1.07702001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-39.03, Z:-107.77 [[-2.82261979e-03 -9.35616642e-01 -3.53006419e-01 1.79049205e+02] [ 3.13732727e-02 -3.52916905e-01 9.35128534e-01 -3.90298326e+01] [-9.99503752e-01 -8.43545432e-03 3.03495063e-02 -1.07772284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.96, Y:-39.18, Z:-107.79 [[-1.09212433e-03 -9.76152538e-01 -2.17083000e-01 1.78957699e+02] [ 2.92487818e-02 -2.17021435e-01 9.75728551e-01 -3.91793959e+01] [-9.99571566e-01 -5.28379642e-03 2.87882870e-02 -1.07786332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.87, Y:-39.28, Z:-107.83 [[ 5.10919756e-03 -9.94087577e-01 -1.08460981e-01 1.78873181e+02] [ 2.87851328e-02 -1.08271248e-01 9.93704560e-01 -3.92827175e+01] [-9.99572565e-01 -8.19909666e-03 2.80617638e-02 -1.07828991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:177.07, Y:-39.27, Z:-107.98 [[ 2.34413033e-02 -4.78401616e-02 9.98579904e-01 1.77068423e+02] [-3.14478962e-02 9.98324775e-01 4.85661669e-02 -3.92668882e+01] [-9.99230471e-01 -3.25416915e-02 2.18975614e-02 -1.07984442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.97, Y:-37.19, Z:-108.16 [[-3.09566879e-02 7.56097599e-01 -6.53726322e-01 1.77965709e+02] [ 2.20888542e-02 -6.53362541e-01 -7.56722851e-01 -3.71933227e+01] [-9.99276621e-01 -3.78656986e-02 3.52461065e-03 -1.08163509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:179.20, Y:-38.11, Z:-108.30 [[-3.36657179e-02 -4.57750370e-01 -8.88443143e-01 1.79196656e+02] [ 3.03297332e-02 -8.89005544e-01 4.56890852e-01 -3.81107968e+01] [-9.98972836e-01 -1.15646850e-02 4.38124564e-02 -1.08296508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:179.21, Y:-38.71, Z:-108.34 [[-4.19302263e-02 -8.21326162e-01 -5.68915804e-01 1.79209359e+02] [ 3.30986671e-02 -5.70245916e-01 8.20806965e-01 -3.87110966e+01] [-9.98572148e-01 1.55862670e-02 5.10953415e-02 -1.08340228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:179.19, Y:-38.78, Z:-108.38 [[-4.21044532e-02 -8.56615129e-01 -5.14235098e-01 1.79190244e+02] [ 3.06959047e-02 -5.15557635e-01 8.56304903e-01 -3.87835283e+01] [-9.98641566e-01 2.02693381e-02 4.80018487e-02 -1.08377321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.17, Y:-38.86, Z:-108.40 [[-4.05824611e-02 -8.87625010e-01 -4.58775442e-01 1.79166182e+02] [ 3.27876687e-02 -4.60089446e-01 8.87266967e-01 -3.88568018e+01] [-9.98638089e-01 2.09652999e-02 4.77747168e-02 -1.08400354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:179.13, Y:-38.95, Z:-108.43 [[-3.97085037e-02 -9.20612965e-01 -3.88452060e-01 1.79131160e+02] [ 3.67342648e-02 -3.89840856e-01 9.20149282e-01 -3.89450395e+01] [-9.98535842e-01 2.22682503e-02 4.92980375e-02 -1.08428344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.05, Y:-39.09, Z:-108.49 [[-2.44092503e-02 -9.63926470e-01 -2.65047070e-01 1.79053535e+02] [ 4.49593070e-02 -2.65916279e-01 9.62947139e-01 -3.90863356e+01] [-9.98690567e-01 1.15884851e-02 4.98282830e-02 -1.08489432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:178.80, Y:-39.37, Z:-108.59 [[-2.43818157e-02 -9.98952880e-01 3.87126675e-02 1.78801275e+02] [ 5.19527416e-02 3.74057246e-02 9.97948758e-01 -3.93711555e+01] [-9.98351862e-01 2.63430319e-02 5.09863214e-02 -1.08586388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07232058799997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:178.70, Y:-39.45, Z:-108.66 [[-2.00362129e-02 -9.89505836e-01 1.43097001e-01 1.78697438e+02] [ 5.43487726e-02 1.41836161e-01 9.88397043e-01 -3.94457388e+01] [-9.98320971e-01 2.75808799e-02 5.09365682e-02 -1.08662353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.60, Y:-39.50, Z:-108.74 [[-1.37267496e-02 -9.73835480e-01 2.26839223e-01 1.78604557e+02] [ 5.65846783e-02 2.25740510e-01 9.72542748e-01 -3.94967746e+01] [-9.98303436e-01 2.61854753e-02 5.20054840e-02 -1.08743962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:178.79, Y:-37.51, Z:-108.77 [[ 2.80382108e-02 1.26028630e-01 -9.91630296e-01 1.78787529e+02] [ 9.56191034e-02 -9.87809428e-01 -1.22839410e-01 -3.75088000e+01] [-9.95023038e-01 -9.13746025e-02 -3.97471536e-02 -1.08769499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-37.35, Z:-108.91 [[ 8.16669667e-03 4.45731288e-01 -8.95129557e-01 1.78458783e+02] [ 1.61259493e-01 -8.84029861e-01 -4.38732927e-01 -3.73485056e+01] [-9.86878250e-01 -1.40765139e-01 -7.90980050e-02 -1.08906481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:178.98, Y:-39.33, Z:-109.31 [[-5.15014871e-02 -9.94424687e-01 -9.20170621e-02 1.78977886e+02] [ 1.74333516e-01 -9.96767186e-02 9.79628693e-01 -3.93269491e+01] [-9.83338915e-01 3.44106765e-02 1.78495052e-01 -1.09312899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:178.97, Y:-39.34, Z:-109.33 [[-4.89356806e-02 -9.96092722e-01 -7.35159111e-02 1.78965375e+02] [ 1.75708114e-01 -8.10415727e-02 9.81100873e-01 -3.93413297e+01] [-9.83225283e-01 3.50934969e-02 1.78987398e-01 -1.09329376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:178.95, Y:-39.36, Z:-109.34 [[-4.67500294e-02 -9.97386689e-01 -5.50838280e-02 1.78952894e+02] [ 1.77228535e-01 -6.25511348e-02 9.82179923e-01 -3.93557697e+01] [-9.83058737e-01 3.61545141e-02 1.79689649e-01 -1.09340932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.94, Y:-39.37, Z:-109.36 [[-4.23650670e-02 -9.98431470e-01 -3.66032997e-02 1.78941113e+02] [ 1.80175545e-01 -4.36704133e-02 9.82664576e-01 -3.93701840e+01] [-9.82721718e-01 3.50356311e-02 1.81743034e-01 -1.09359435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.92, Y:-39.39, Z:-109.35 [[-3.48859169e-02 -9.99239319e-01 -1.74286086e-02 1.78923546e+02] [ 1.79381021e-01 -2.34167370e-02 9.83500943e-01 -3.93893991e+01] [-9.83160934e-01 3.11839705e-02 1.80061483e-01 -1.09352520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:179.06, Y:-39.22, Z:-109.39 [[-6.73353443e-03 -9.83566853e-01 -1.80418696e-01 1.79056976e+02] [ 2.23357636e-01 -1.77343815e-01 9.58467807e-01 -3.92150409e+01] [-9.74713305e-01 -3.38440174e-02 2.20881318e-01 -1.09393514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.94, Y:-39.03, Z:-109.51 [[-2.01716497e-02 2.28927327e-01 9.73234496e-01 1.76943742e+02] [ 1.30802890e-01 9.65670063e-01 -2.24436924e-01 -3.90289862e+01] [-9.91203162e-01 1.22774622e-01 -4.94235143e-02 -1.09507103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:-39.11, Z:-109.52 [[-2.19040706e-02 -9.81269039e-01 -1.91393014e-01 1.79083340e+02] [ 7.16283042e-02 -1.92487279e-01 9.78681784e-01 -3.91058092e+01] [-9.97190853e-01 7.72795788e-03 7.45028921e-02 -1.09519941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-39.28, Z:-109.53 [[-3.21428971e-02 -3.91435138e-02 9.98716486e-01 1.77149370e+02] [ 4.48256742e-02 9.98170905e-01 4.05648091e-02 -3.92760620e+01] [-9.98477588e-01 4.60720103e-02 -3.03294703e-02 -1.09525783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:-37.44, Z:-109.46 [[-6.46458675e-02 9.97886614e-01 6.57404106e-03 1.77160228e+02] [ 7.10113884e-02 1.11712356e-02 -9.97412947e-01 -3.74407952e+01] [-9.95378468e-01 -6.40117934e-02 -7.15834882e-02 -1.09456708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.492320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.83, Y:-37.35, Z:-109.58 [[-6.58903817e-02 1.38489182e-01 -9.88169623e-01 1.78833617e+02] [ 5.65029347e-02 -9.88214871e-01 -1.42263095e-01 -3.73495027e+01] [-9.96225816e-01 -6.52082533e-02 5.72888098e-02 -1.09583180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.26, Y:-37.96, Z:-109.66 [[-4.95568432e-02 -4.36071886e-01 -8.98546287e-01 1.79255493e+02] [ 5.79664613e-02 -8.99390980e-01 4.33284843e-01 -3.79588608e+01] [-9.97087764e-01 -3.06133196e-02 6.98485219e-02 -1.09659656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.552320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.16, Y:-39.61, Z:-109.66 [[-7.37576812e-03 -7.90062715e-01 6.12981651e-01 1.78163082e+02] [-3.17376029e-03 6.13013734e-01 7.90065877e-01 -3.96094344e+01] [-9.99967762e-01 3.88188589e-03 -7.02891682e-03 -1.09664671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:-38.22, Z:-109.71 [[-8.72318180e-02 7.49485460e-01 6.56248547e-01 1.76772598e+02] [-3.40267231e-02 6.56133625e-01 -7.53877210e-01 -3.82202494e+01] [-9.95606746e-01 -8.80920672e-02 -3.17331948e-02 -1.09708528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-37.16, Z:-109.79 [[-6.57049299e-02 4.01721159e-01 -9.13401868e-01 1.78524552e+02] [ 8.62198249e-03 -9.15117179e-01 -4.03095782e-01 -3.71606668e+01] [-9.97801846e-01 -3.43607150e-02 5.66640773e-02 -1.09792079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:-38.70, Z:-109.82 [[ 1.39562560e-02 -8.66126050e-01 -4.99630752e-01 1.79243380e+02] [ 1.62101414e-02 -4.99417766e-01 8.66209632e-01 -3.86982544e+01] [-9.99771201e-01 -2.01881285e-02 7.07002351e-03 -1.09822011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-39.44, Z:-109.91 [[ 7.33735584e-03 -3.02810425e-01 9.53022565e-01 1.77413012e+02] [-7.83638157e-02 9.49943155e-01 3.02435308e-01 -3.94428801e+01] [-9.96897826e-01 -7.69015601e-02 -1.67593094e-02 -1.09912330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.00, Y:-37.59, Z:-110.08 [[-2.91889584e-02 9.83444762e-01 1.78841840e-01 1.77003642e+02] [-8.38745613e-02 1.75877353e-01 -9.80832409e-01 -3.75898351e+01] [-9.96048725e-01 -4.36297573e-02 7.73523213e-02 -1.10076804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-37.32, Z:-110.22 [[-5.21818854e-02 2.94900315e-01 -9.54102120e-01 1.78663108e+02] [ 4.40090202e-02 -9.53796497e-01 -2.97212799e-01 -3.73199770e+01] [-9.97667408e-01 -5.74982237e-02 3.67926256e-02 -1.10219176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:-39.26, Z:-110.38 [[ 4.71084377e-02 -9.94759326e-01 -9.07451245e-02 1.78974070e+02] [ 1.34800385e-02 -9.02046102e-02 9.95832022e-01 -3.92572346e+01] [-9.98798820e-01 -4.81353386e-02 9.15999580e-03 -1.10381333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:176.83, Y:-38.32, Z:-110.55 [[-5.09658567e-02 7.07513947e-01 7.04859203e-01 1.76826290e+02] [-4.48146964e-02 7.03445320e-01 -7.09335129e-01 -3.83243003e+01] [-9.97694404e-01 -6.77399238e-02 -4.14467056e-03 -1.10553291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.06, Y:-37.11, Z:-110.64 [[-4.68573502e-02 7.39552280e-01 -6.71466167e-01 1.78062092e+02] [-4.30053808e-03 -6.72347649e-01 -7.40223037e-01 -3.71083396e+01] [-9.98892334e-01 -3.17972242e-02 3.46849020e-02 -1.10640096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:176.84, Y:-38.37, Z:-110.49 [[-1.10154899e-01 6.69755151e-01 7.34366350e-01 1.76840641e+02] [-7.83345207e-02 7.30714130e-01 -6.78174434e-01 -3.83658013e+01] [-9.90822689e-01 -1.32230472e-01 -2.80267926e-02 -1.10494215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:-37.12, Z:-110.74 [[-1.11432786e-01 8.21577683e-01 -5.59100031e-01 1.77890842e+02] [-4.71223250e-02 -5.66339423e-01 -8.22823884e-01 -3.71201591e+01] [-9.92654129e-01 -6.53434643e-02 1.01823430e-01 -1.10738348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.78, Y:-37.33, Z:-110.83 [[-9.09843753e-02 2.25244543e-01 -9.70044710e-01 1.78779601e+02] [ 2.06555739e-02 -9.73448504e-01 -2.27972274e-01 -3.73329073e+01] [-9.95638082e-01 -4.07787451e-02 8.39160487e-02 -1.10831721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-39.40, Z:-110.85 [[-1.03165920e-02 -9.91383707e-01 1.30582978e-01 1.78797119e+02] [-2.44672853e-02 1.30801100e-01 9.91106666e-01 -3.94006465e+01] [-9.99647398e-01 7.02983214e-03 -2.56058896e-02 -1.10846412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.52, Y:-37.20, Z:-110.81 [[-4.12799484e-02 4.34700853e-01 -8.99628331e-01 1.78519466e+02] [ 1.29199014e-02 -9.00088294e-01 -4.35515945e-01 -3.72038600e+01] [-9.99064083e-01 -2.96011850e-02 3.15393062e-02 -1.10807534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.24, Y:-38.82, Z:-110.83 [[ 5.24848014e-02 -8.93872002e-01 -4.45239475e-01 1.79235382e+02] [ 2.39159958e-02 -4.44600995e-01 8.95409393e-01 -3.88228932e+01] [-9.98335300e-01 -5.76437295e-02 -1.95695590e-03 -1.10828387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.25, Y:-39.62, Z:-110.93 [[ 8.63563828e-02 -8.23931733e-01 5.60070598e-01 1.78248879e+02] [-4.14216017e-04 5.62140951e-01 8.27041341e-01 -3.96221834e+01] [-9.96264224e-01 -7.16522888e-02 4.82031734e-02 -1.10933550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-37.99, Z:-111.14 [[-3.68757902e-02 8.60087534e-01 5.08811960e-01 1.76919504e+02] [-6.03130631e-02 5.06314561e-01 -8.60237118e-01 -3.79906281e+01] [-9.97498126e-01 -6.24099314e-02 3.32037641e-02 -1.11137761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:-37.21, Z:-111.22 [[-3.11153170e-02 9.54069781e-01 -2.97964244e-01 1.77579142e+02] [-4.15861891e-02 -2.99086182e-01 -9.53319487e-01 -3.72117080e+01] [-9.98650302e-01 -1.72716407e-02 4.89822876e-02 -1.11217540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:-38.44, Z:-111.32 [[ 6.10466081e-02 -7.05539051e-01 -7.06036798e-01 1.79334308e+02] [ 2.40416878e-02 -7.06111487e-01 7.07692422e-01 -3.84427184e+01] [-9.97845333e-01 -6.01765383e-02 -2.61433617e-02 -1.11323607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-39.57, Z:-111.57 [[ 6.44932146e-02 -4.54201671e-01 8.88561460e-01 1.77652634e+02] [-7.72572503e-04 8.90392182e-01 4.55193547e-01 -3.95717079e+01] [-9.97917847e-01 -3.00433732e-02 5.70733504e-02 -1.11569716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-38.04, Z:-111.74 [[-6.45996660e-03 8.39727614e-01 5.42969431e-01 1.76926010e+02] [-3.27922530e-02 5.42510835e-01 -8.39408519e-01 -3.80381313e+01] [-9.99441312e-01 -2.32277419e-02 2.40319585e-02 -1.11742802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-39.51, Z:-111.84 [[ 3.43159200e-02 -5.52413222e-01 8.32863764e-01 1.77821625e+02] [-9.38999225e-02 8.27886051e-01 5.52980552e-01 -3.95055651e+01] [-9.94990061e-01 -9.71818793e-02 -2.34618873e-02 -1.11844538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.94, Y:-37.84, Z:-112.10 [[ 2.49409214e-02 8.99770679e-01 4.35649716e-01 1.76940265e+02] [-7.83615132e-02 4.36204020e-01 -8.96429320e-01 -3.78374916e+01] [-9.96612976e-01 -1.17803978e-02 8.13867221e-02 -1.12101894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.98, Y:-37.80, Z:-112.23 [[ 8.07275699e-03 9.15333262e-01 4.02616256e-01 1.76975152e+02] [-1.08603500e-01 4.01050279e-01 -9.09595489e-01 -3.78019922e+01] [-9.94052368e-01 -3.63825914e-02 1.02645978e-01 -1.12227411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.85, Y:-37.33, Z:-112.37 [[-2.33009428e-02 2.23288242e-01 -9.74473923e-01 1.78852027e+02] [-1.10326609e-02 -9.74736644e-01 -2.23084636e-01 -3.73265553e+01] [-9.99667618e-01 5.55295804e-03 2.51757462e-02 -1.12369020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:178.53, Y:-39.53, Z:-112.45 [[ 7.56535865e-02 -9.19163945e-01 3.86541302e-01 1.78530719e+02] [-6.52047480e-02 3.82262224e-01 9.21750472e-01 -3.95349617e+01] [-9.94999938e-01 -9.49380572e-02 -3.10143451e-02 -1.12447749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:176.85, Y:-38.56, Z:-112.70 [[ 6.87119574e-02 5.63735379e-01 8.23092394e-01 1.76845319e+02] [-5.00584299e-02 8.25951305e-01 -5.61514555e-01 -3.85593784e+01] [-9.96379858e-01 -2.61994868e-03 8.49724388e-02 -1.12696938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:176.85, Y:-38.55, Z:-112.77 [[ 7.21423289e-02 5.67366848e-01 8.20298936e-01 1.76851899e+02] [-7.43741393e-02 8.23212319e-01 -5.62840977e-01 -3.85540996e+01] [-9.94617500e-01 -2.04043684e-02 1.01585875e-01 -1.12767571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:-37.24, Z:-112.86 [[ 3.00509993e-02 4.59711000e-01 -8.87559989e-01 1.78563911e+02] [ 7.72610037e-03 -8.88041326e-01 -4.59698717e-01 -3.72376606e+01] [-9.99518506e-01 6.95702829e-03 -3.02383026e-02 -1.12860614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:179.24, Y:-39.08, Z:-112.90 [[ 6.24713591e-02 -9.58076133e-01 -2.79620194e-01 1.79237222e+02] [ 1.39124324e-02 -2.79304254e-01 9.60101858e-01 -3.90770543e+01] [-9.97949785e-01 -6.38690650e-02 -4.11934690e-03 -1.12904024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.90, Y:-39.67, Z:-113.06 [[ 4.70496124e-02 -5.76610297e-01 8.15663472e-01 1.77898780e+02] [-1.00902590e-02 8.16251766e-01 5.77608208e-01 -3.96747105e+01] [-9.98841589e-01 -3.54064980e-02 3.25861820e-02 -1.13058987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.10, Y:-39.15, Z:-113.17 [[ 4.90172627e-02 1.53831694e-01 9.86880498e-01 1.77104356e+02] [-5.31586935e-03 9.88094410e-01 -1.53756881e-01 -3.91486118e+01] [-9.98783785e-01 2.29061364e-03 4.92514324e-02 -1.13170740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-39.02, Z:-113.20 [[ 1.16558457e-01 -9.34134587e-01 -3.37352487e-01 1.79218108e+02] [-4.12437391e-03 -3.40120042e-01 9.40372983e-01 -3.90241112e+01] [-9.93175269e-01 -1.08217056e-01 -4.34965874e-02 -1.13196612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.26, Y:-39.40, Z:-113.51 [[ 1.08081885e-01 -8.24220146e-02 9.90719394e-01 1.77255967e+02] [ 1.32097794e-02 9.96588319e-01 8.14691623e-02 -3.93975741e+01] [-9.94054228e-01 4.28184399e-03 1.08801921e-01 -1.13506109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.22, Y:-39.36, Z:-113.57 [[ 1.08773415e-01 -4.04748872e-02 9.93242230e-01 1.77224358e+02] [ 1.16114616e-02 9.99154307e-01 3.94441943e-02 -3.93593139e+01] [-9.93998752e-01 7.24251429e-03 1.09151399e-01 -1.13569326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:-39.33, Z:-113.63 [[ 1.10276006e-01 -7.83216245e-03 9.93870142e-01 1.77201109e+02] [ 1.06394451e-02 9.99920957e-01 6.69933383e-03 -3.93282802e+01] [-9.93844055e-01 9.83545104e-03 1.10350619e-01 -1.13633805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:-37.27, Z:-113.72 [[ 7.72212377e-02 9.12537330e-01 -4.01637275e-01 1.77773896e+02] [ 2.78220670e-02 -4.04655591e-01 -9.14045833e-01 -3.72726099e+01] [-9.96625714e-01 5.94093714e-02 -5.66366803e-02 -1.13717929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.09, Y:-39.33, Z:-113.84 [[ 1.09638782e-01 -9.91224482e-01 -7.38468874e-02 1.79085914e+02] [ 1.71741516e-02 -7.23945450e-02 9.97228198e-01 -3.93317678e+01] [-9.93823116e-01 -1.10603143e-01 9.08618973e-03 -1.13837420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:-39.52, Z:-114.17 [[ 1.14476529e-01 -2.24277187e-01 9.67778315e-01 1.77460000e+02] [ 3.12194498e-02 9.74513656e-01 2.22145179e-01 -3.95242223e+01] [-9.92935280e-01 4.78309737e-03 1.18560751e-01 -1.14166557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:179.19, Y:-39.13, Z:-114.08 [[ 1.80282759e-01 -9.48070765e-01 -2.62030439e-01 1.79191111e+02] [ 1.72036534e-02 -2.63315380e-01 9.64556398e-01 -3.91339869e+01] [-9.83464367e-01 -1.78400770e-01 -3.11609424e-02 -1.14080360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:-39.09, Z:-114.23 [[ 2.45783963e-01 -9.17929266e-01 -3.11441979e-01 1.79178145e+02] [ 3.67465240e-02 -3.12243462e-01 9.49291164e-01 -3.90941665e+01] [-9.68627863e-01 -2.44764955e-01 -4.30137258e-02 -1.14230452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-37.93, Z:-114.88 [[ 2.02518144e-01 9.04867764e-01 3.74433880e-01 1.77053451e+02] [ 4.43726679e-02 3.73485019e-01 -9.26574340e-01 -3.79256613e+01] [-9.78272696e-01 2.04262746e-01 3.54860962e-02 -1.14880735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:-39.06, Z:-114.61 [[ 2.52627406e-01 -9.11715244e-01 -3.23967140e-01 1.79276859e+02] [ 3.52632056e-02 -3.25929633e-01 9.44736144e-01 -3.90562149e+01] [-9.66920834e-01 -2.50090361e-01 -5.01887555e-02 -1.14614872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-37.95, Z:-115.28 [[ 2.02097939e-01 8.90970624e-01 4.06605178e-01 1.77124774e+02] [ 3.63227515e-02 4.08067582e-01 -9.12228867e-01 -3.79462687e+01] [-9.78691515e-01 1.99128593e-01 5.01071129e-02 -1.15281477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:-39.01, Z:-115.00 [[ 2.57214112e-01 -9.03510936e-01 -3.42795696e-01 1.79377940e+02] [ 3.40280036e-02 -3.46042610e-01 9.37601518e-01 -3.90149974e+01] [-9.65755143e-01 -2.52828995e-01 -5.82623692e-02 -1.14997195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:-37.96, Z:-115.68 [[ 2.02464221e-01 8.80708024e-01 4.28207446e-01 1.77202483e+02] [ 2.89840054e-02 4.31682658e-01 -9.01559765e-01 -3.79569806e+01] [-9.78860647e-01 1.94944762e-01 6.18738468e-02 -1.15679823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:-37.83, Z:-115.79 [[ 1.36843029e-01 9.26511212e-01 3.50501011e-01 1.77345924e+02] [ 2.41628596e-03 3.53516325e-01 -9.35425235e-01 -3.78274778e+01] [-9.90589798e-01 1.28853333e-01 4.61375287e-02 -1.15793089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.47, Y:-39.13, Z:-115.63 [[ 2.05557982e-01 -9.60528996e-01 -1.87429891e-01 1.79468954e+02] [-1.70875730e-03 -1.91871785e-01 9.81418513e-01 -3.91325069e+01] [-9.78643447e-01 -2.01418137e-01 -4.10820880e-02 -1.15632537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.49, Y:-39.04, Z:-115.77 [[ 2.71579552e-01 -9.18340140e-01 -2.87916541e-01 1.79493903e+02] [ 1.98059300e-02 -2.93763840e-01 9.55672816e-01 -3.90413247e+01] [-9.62212176e-01 -2.65243650e-01 -6.15916715e-02 -1.15771983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.40, Y:-37.84, Z:-116.46 [[ 1.97629583e-01 9.13726056e-01 3.55031327e-01 1.77403818e+02] [ 9.96936655e-03 3.60282417e-01 -9.32790004e-01 -3.78352264e+01] [-9.80226076e-01 1.87886337e-01 6.20931937e-02 -1.16464472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:-37.73, Z:-116.58 [[ 1.34239118e-01 9.48798658e-01 2.85938744e-01 1.77548661e+02] [-8.50860996e-03 2.89643379e-01 -9.57096817e-01 -3.77301824e+01] [-9.90912439e-01 1.26046892e-01 4.69544296e-02 -1.16578216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:-37.51, Z:-116.69 [[ 6.87407084e-02 9.94382263e-01 8.04899435e-02 1.77799473e+02] [-1.44343435e-02 8.16636811e-02 -9.96555414e-01 -3.75074509e+01] [-9.97530132e-01 6.73421056e-02 1.99668744e-02 -1.16689939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.09, Y:-37.34, Z:-116.82 [[ 3.55805229e-03 9.91365461e-01 -1.31079604e-01 1.78087567e+02] [-6.22890720e-03 -1.31055919e-01 -9.91355409e-01 -3.73378354e+01] [-9.99974270e-01 4.34377707e-03 5.70881965e-03 -1.16816001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-37.91, Z:-116.88 [[-5.62722905e-03 9.03678792e-01 4.28174002e-01 1.77652577e+02] [-1.25102691e-02 4.28083653e-01 -9.03652521e-01 -3.79116530e+01] [-9.99905909e-01 -1.04416317e-02 8.89634015e-03 -1.16882272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.50, Y:-39.55, Z:-117.00 [[ 3.37304623e-02 -5.39211049e-01 8.41494920e-01 1.78502495e+02] [-8.19438800e-02 8.37647117e-01 5.40030100e-01 -3.95509558e+01] [-9.96065990e-01 -8.71708237e-02 -1.59308210e-02 -1.16997504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:-37.89, Z:-117.22 [[ 2.63563159e-02 8.90772110e-01 4.53685346e-01 1.77605886e+02] [-7.11163608e-02 4.54363880e-01 -8.87972932e-01 -3.78915715e+01] [-9.97119756e-01 -8.86075565e-03 7.53238287e-02 -1.17215586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:-37.83, Z:-117.29 [[ 2.37781277e-02 9.14177521e-01 4.04615943e-01 1.77636490e+02] [-7.33445912e-02 4.05234906e-01 -9.11265736e-01 -3.78296727e+01] [-9.97023155e-01 -8.00819786e-03 7.66857039e-02 -1.17285336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:-37.81, Z:-117.35 [[ 1.15955993e-02 9.23380951e-01 3.83709735e-01 1.77653078e+02] [-1.06542551e-01 3.82691993e-01 -9.17712114e-01 -3.78089668e+01] [-9.94240528e-01 -3.02399921e-02 1.02816905e-01 -1.17354130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.89, Y:-37.72, Z:-117.45 [[ 4.40493574e-02 -1.86715962e-01 -9.81425903e-01 1.79890445e+02] [-8.53057565e-03 -9.82413928e-01 1.86521055e-01 -3.77158080e+01] [-9.98992935e-01 1.55995271e-04 -4.48674969e-02 -1.17447858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-38.98, Z:-117.66 [[ 1.35045335e-02 2.35524297e-01 9.71774631e-01 1.77735370e+02] [-7.52460985e-02 9.69346888e-01 -2.33890219e-01 -3.89827190e+01] [-9.97073544e-01 -6.99636713e-02 3.08128620e-02 -1.17661130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:-37.71, Z:-117.81 [[ 1.18425065e-02 9.59921368e-01 2.80019146e-01 1.77738700e+02] [-6.79269917e-02 2.80164179e-01 -9.57545799e-01 -3.77090322e+01] [-9.97620007e-01 -7.68111584e-03 6.85224169e-02 -1.17813980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-39.57, Z:-117.80 [[ 6.80438992e-02 -7.86472002e-01 6.13866286e-01 1.78916422e+02] [-1.28638821e-01 6.03240224e-01 7.87117072e-01 -3.95737281e+01] [-9.89354376e-01 -1.32525550e-01 -6.01240141e-02 -1.17796750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:-38.00, Z:-118.14 [[ 5.75487542e-02 8.53095465e-01 5.18571373e-01 1.77567706e+02] [-1.12875381e-01 5.21661535e-01 -8.45652642e-01 -3.79980571e+01] [-9.91941172e-01 -9.86768537e-03 1.26314447e-01 -1.18142667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.59, Y:-37.96, Z:-118.21 [[ 5.33243934e-02 8.70571787e-01 4.89143407e-01 1.77587711e+02] [-1.18981341e-01 4.91889975e-01 -8.62489243e-01 -3.79614431e+01] [-9.91463539e-01 -1.22072229e-02 1.29811533e-01 -1.18206054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:-37.93, Z:-118.28 [[ 4.63100391e-02 8.85260442e-01 4.62784323e-01 1.77608146e+02] [-1.22445732e-01 4.64818384e-01 -8.76898462e-01 -3.79309510e+01] [-9.91394181e-01 -1.60567631e-02 1.29922120e-01 -1.18277385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:-37.89, Z:-118.35 [[ 3.95052091e-02 9.03948138e-01 4.25813460e-01 1.77635778e+02] [-1.25037064e-01 4.27268648e-01 -8.95436896e-01 -3.78881303e+01] [-9.91365256e-01 -1.78680429e-02 1.29906358e-01 -1.18352488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:-37.84, Z:-118.42 [[ 3.36138962e-02 9.21533194e-01 3.86841929e-01 1.77666539e+02] [-1.26273773e-01 3.87874808e-01 -9.13021395e-01 -3.78412380e+01] [-9.91425761e-01 -1.81577837e-02 1.29403457e-01 -1.18419907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:-37.81, Z:-118.49 [[ 2.80169903e-02 9.34118684e-01 3.55861394e-01 1.77692620e+02] [-1.27425434e-01 3.56434283e-01 -9.25590277e-01 -3.78095257e+01] [-9.91452373e-01 -1.94135388e-02 1.29016695e-01 -1.18490183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:-37.77, Z:-118.57 [[ 2.06895661e-02 9.47408864e-01 3.19356207e-01 1.77724855e+02] [-1.29662927e-01 3.19269553e-01 -9.38751553e-01 -3.77738581e+01] [-9.91342255e-01 -2.19862983e-02 1.29449355e-01 -1.18569369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-37.73, Z:-118.64 [[ 1.68464390e-02 9.62148919e-01 2.72003043e-01 1.77762165e+02] [-1.29654506e-01 2.71846892e-01 -9.53566451e-01 -3.77262654e+01] [-9.91416112e-01 -1.92022211e-02 1.29326595e-01 -1.18635791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.79, Y:-37.70, Z:-118.71 [[ 1.17000749e-02 9.70596991e-01 2.40425851e-01 1.77791471e+02] [-1.31343387e-01 2.39850802e-01 -9.61883833e-01 -3.76986912e+01] [-9.91267887e-01 -2.03242328e-02 1.30287769e-01 -1.18707735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:177.83, Y:-37.66, Z:-118.77 [[ 8.70584119e-03 9.79769998e-01 1.99937390e-01 1.77826031e+02] [-1.32307891e-01 1.99315686e-01 -9.70962347e-01 -3.76620027e+01] [-9.91170435e-01 -1.80002503e-02 1.31366512e-01 -1.18772381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-37.64, Z:-118.84 [[ 8.66359849e-03 9.85321265e-01 1.70490313e-01 1.77850948e+02] [-1.34362682e-01 1.70097633e-01 -9.76224085e-01 -3.76374451e+01] [-9.90894349e-01 -1.44499223e-02 1.33864066e-01 -1.18835426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.88, Y:-37.62, Z:-118.90 [[ 6.97292966e-03 9.89992574e-01 1.40947092e-01 1.77876836e+02] [-1.34970127e-01 1.40592475e-01 -9.80824562e-01 -3.76151617e+01] [-9.90825132e-01 -1.21844262e-02 1.34599765e-01 -1.18897991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.91, Y:-37.60, Z:-119.01 [[-1.97655492e-03 9.93793630e-01 1.11221913e-01 1.77909434e+02] [-1.35536726e-01 1.09929570e-01 -9.84654907e-01 -3.76006823e+01] [-9.90770351e-01 -1.70208784e-02 1.34478253e-01 -1.19007806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:178.00, Y:-37.52, Z:-119.11 [[-1.12200852e-02 9.99824493e-01 1.50030904e-02 1.78001457e+02] [-1.33818314e-01 1.33676914e-02 -9.90915720e-01 -3.75243994e+01] [-9.90942364e-01 -1.31258471e-02 1.33644841e-01 -1.19111106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.07, Y:-37.46, Z:-119.13 [[-1.82368175e-02 9.98157732e-01 -5.78667447e-02 1.78071450e+02] [-1.31890506e-01 -5.97722405e-02 -9.89460547e-01 -3.74646136e+01] [-9.91096521e-01 -1.04125371e-02 1.32737584e-01 -1.19134719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.10, Y:-37.44, Z:-119.12 [[-2.05187812e-02 9.96688503e-01 -7.86829550e-02 1.78096576e+02] [-1.25322013e-01 -8.06428228e-02 -9.88833216e-01 -3.74438977e+01] [-9.91903913e-01 -1.04289461e-02 1.26561702e-01 -1.19120083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-38.40, Z:-119.15 [[ 5.46529309e-02 -6.16344394e-01 -7.85577906e-01 1.80122625e+02] [-5.71421712e-02 -7.87395011e-01 6.13794647e-01 -3.83950201e+01] [-9.96869013e-01 1.13439507e-02 -7.82527020e-02 -1.19150804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:-39.57, Z:-119.31 [[ 6.06337757e-02 -2.99305391e-01 9.52228874e-01 1.78217624e+02] [-1.29019770e-01 9.43631110e-01 3.04818350e-01 -3.95667807e+01] [-9.89786565e-01 -1.41338638e-01 1.85996044e-02 -1.19313838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:177.64, Y:-38.07, Z:-119.61 [[ 5.33631398e-02 8.80630286e-01 4.70789417e-01 1.77637370e+02] [-1.22786287e-01 4.73670056e-01 -8.72101030e-01 -3.80693263e+01] [-9.90997428e-01 -1.12684353e-02 1.33405844e-01 -1.19608543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.49, Y:-39.51, Z:-119.46 [[ 1.31155183e-01 -9.77000670e-01 1.68130927e-01 1.79489012e+02] [-1.40077822e-01 1.49630821e-01 9.78769034e-01 -3.95136805e+01] [-9.81415570e-01 -1.51922046e-01 -1.17231268e-01 -1.19459148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:177.54, Y:-38.42, Z:-119.96 [[ 1.11681982e-01 7.31137263e-01 6.73027070e-01 1.77540484e+02] [-1.43668396e-01 6.82028200e-01 -7.17075259e-01 -3.84161687e+01] [-9.83303883e-01 -1.66083336e-02 1.81211579e-01 -1.19960846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:179.69, Y:-39.33, Z:-119.71 [[ 1.91085334e-01 -9.78045051e-01 -8.31521085e-02 1.79691778e+02] [-1.39437679e-01 -1.10901086e-01 9.84001058e-01 -3.93343634e+01] [-9.71619024e-01 -1.76433634e-01 -1.57567903e-01 -1.19713782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:179.22, Y:-39.66, Z:-119.91 [[ 2.51586264e-01 -9.11358126e-01 3.25777098e-01 1.79219611e+02] [-1.62450068e-01 2.92064212e-01 9.42501178e-01 -3.96551923e+01] [-9.54103939e-01 -2.90042862e-01 -7.45708457e-02 -1.19906155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:179.26, Y:-39.62, Z:-120.05 [[ 3.14562471e-01 -9.13339670e-01 2.58575134e-01 1.79263547e+02] [-1.78489529e-01 2.10632300e-01 9.61132416e-01 -3.96157172e+01] [-9.32304639e-01 -3.48489142e-01 -9.67645507e-02 -1.20051096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:177.59, Y:-38.94, Z:-120.89 [[ 3.06434543e-01 4.64136386e-01 8.31068761e-01 1.77590604e+02] [-2.25500664e-01 8.83614592e-01 -4.10334868e-01 -3.89354220e+01] [-9.24795827e-01 -6.16657798e-02 3.75433097e-01 -1.20890986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:179.12, Y:-37.40, Z:-120.87 [[ 2.55432752e-01 5.57920577e-01 -7.89606699e-01 1.79115967e+02] [-1.28033734e-01 -7.89986539e-01 -5.99607064e-01 -3.73967920e+01] [-9.58311782e-01 2.54255576e-01 -1.30355781e-01 -1.20872686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:-39.86, Z:-120.77 [[ 3.03569611e-01 -6.10360759e-01 7.31645567e-01 1.78728351e+02] [-1.96794452e-01 7.11160520e-01 6.74924187e-01 -3.98620974e+01] [-9.32264681e-01 -3.48870262e-01 9.57711114e-02 -1.20772276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:177.70, Y:-38.90, Z:-121.37 [[ 2.87770709e-01 5.32871761e-01 7.95761085e-01 1.77699872e+02] [-1.98952418e-01 8.46044955e-01 -4.94596674e-01 -3.89029515e+01] [-9.36806252e-01 -1.59881566e-02 3.49483082e-01 -1.21370034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:177.72, Y:-38.89, Z:-121.43 [[ 2.85588397e-01 5.47227985e-01 7.86753329e-01 1.77716291e+02] [-2.03219310e-01 8.36854201e-01 -5.08307937e-01 -3.88903851e+01] [-9.36558156e-01 -1.47166200e-02 3.50203143e-01 -1.21428949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:177.75, Y:-38.96, Z:-121.47 [[ 2.98127079e-01 5.12728763e-01 8.05126984e-01 1.77747888e+02] [-2.36096220e-01 8.56884250e-01 -4.58266252e-01 -3.89627002e+01] [-9.24866920e-01 -5.34658585e-02 3.76513721e-01 -1.21465683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:179.05, Y:-37.48, Z:-121.52 [[ 2.31839523e-01 7.09919290e-01 -6.65030103e-01 1.79054295e+02] [-1.39086147e-01 -6.52440491e-01 -7.44967415e-01 -3.74792081e+01] [-9.62759305e-01 2.65209364e-01 -5.25215539e-02 -1.21523514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:-37.55, Z:-121.65 [[ 1.80230253e-01 7.45076951e-01 -6.42166172e-01 1.79110236e+02] [-9.46408568e-02 -6.36692525e-01 -7.65288009e-01 -3.75521670e+01] [-9.79060858e-01 1.98703208e-01 -4.42365341e-02 -1.21648930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:-39.12, Z:-121.78 [[ 1.76158991e-01 4.97289241e-01 8.49512460e-01 1.77961008e+02] [-1.29478165e-01 8.67215976e-01 -4.80803344e-01 -3.91172508e+01] [-9.75809108e-01 -2.52954823e-02 2.17155990e-01 -1.21782323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:-39.16, Z:-121.84 [[ 1.88115494e-01 4.74917510e-01 8.59689432e-01 1.77984532e+02] [-1.57015933e-01 8.78600580e-01 -4.51006672e-01 -3.91563841e+01] [-9.69514599e-01 -5.01435949e-02 2.39847998e-01 -1.21837511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:179.48, Y:-37.66, Z:-121.88 [[ 1.29890121e-01 6.03629027e-01 -7.86613345e-01 1.79483264e+02] [-4.34901831e-02 -7.89102278e-01 -6.12720327e-01 -3.76553696e+01] [-9.90574157e-01 1.13796276e-01 -7.62446538e-02 -1.21879129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.492320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:179.40, Y:-37.70, Z:-122.04 [[ 7.95079033e-02 7.08065568e-01 -7.01656358e-01 1.79395028e+02] [ 3.61843555e-03 -7.04085056e-01 -7.10106429e-01 -3.77030425e+01] [-9.96827668e-01 5.39201750e-02 -5.85424161e-02 -1.22035056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:178.33, Y:-39.65, Z:-122.26 [[ 8.39642073e-02 1.51261886e-01 9.84921242e-01 1.78332734e+02] [-6.50644315e-02 9.87134507e-01 -1.46055073e-01 -3.96540745e+01] [-9.94342311e-01 -5.18199423e-02 9.27257351e-02 -1.22259019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.552320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:180.49, Y:-39.44, Z:-122.22 [[ 1.72561415e-01 -8.85868085e-01 -4.30651011e-01 1.80485346e+02] [ 7.23939521e-04 -4.37095518e-01 8.99414801e-01 -3.94402482e+01] [-9.84998494e-01 -1.55516056e-01 -7.47845062e-02 -1.22221100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-39.82, Z:-122.59 [[ 1.71575547e-01 2.69941984e-02 9.84801069e-01 1.78397119e+02] [-5.36979124e-02 9.98394774e-01 -1.80113715e-02 -3.98160895e+01] [-9.83706443e-01 -4.97914506e-02 1.72749662e-01 -1.22594687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-37.83, Z:-122.68 [[ 5.66902905e-02 9.23706082e-01 -3.78884263e-01 1.78998753e+02] [ 1.95572492e-02 -3.80449165e-01 -9.24595018e-01 -3.78270916e+01] [-9.98200243e-01 4.50056262e-02 -3.96329238e-02 -1.22677612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.12, Y:-40.01, Z:-122.76 [[ 1.75647432e-01 -9.78917670e-01 1.04250536e-01 1.80120094e+02] [ 3.84720583e-03 1.06578656e-01 9.94296832e-01 -4.00147295e+01] [-9.84445620e-01 -1.74244612e-01 2.24863650e-02 -1.22755192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-39.99, Z:-122.90 [[ 2.52029541e-01 -9.63687524e-01 8.82466286e-02 1.80078594e+02] [ 1.47286401e-02 9.49996245e-02 9.95368343e-01 -3.99932126e+01] [-9.67607450e-01 -2.49562474e-01 3.81365185e-02 -1.22900160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:178.60, Y:-39.99, Z:-123.30 [[ 2.42101162e-01 -1.58653232e-01 9.57191819e-01 1.78601688e+02] [-4.59642141e-02 9.83557338e-01 1.74648944e-01 -3.99865030e+01] [-9.69161658e-01 -8.62792820e-02 2.30828003e-01 -1.23296235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.25, Y:-38.66, Z:-123.52 [[ 1.37731047e-01 8.28922461e-01 5.42141782e-01 1.78245116e+02] [-8.99851691e-02 5.55566800e-01 -8.26588289e-01 -3.86562273e+01] [-9.86373574e-01 6.50621508e-02 1.51109525e-01 -1.23524499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:180.27, Y:-38.05, Z:-123.37 [[ 1.36309984e-01 1.60253664e-01 -9.77618715e-01 1.80271006e+02] [ 5.28914937e-02 -9.86599326e-01 -1.54351094e-01 -3.80471470e+01] [-9.89253293e-01 -3.06681190e-02 -1.42959394e-01 -1.23373989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-39.81, Z:-123.54 [[ 2.42208760e-01 -9.54857111e-01 -1.71996553e-01 1.80428669e+02] [ 6.50823522e-02 -1.60885819e-01 9.84824878e-01 -3.98113960e+01] [-9.68038844e-01 -2.49727153e-01 2.31763921e-02 -1.23540556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:178.90, Y:-40.14, Z:-123.95 [[ 2.19564092e-01 -3.28883240e-01 9.18491929e-01 1.78901261e+02] [-2.62939040e-03 9.41262590e-01 3.37665254e-01 -4.01372641e+01] [-9.75594534e-01 -7.65542389e-02 2.05802704e-01 -1.23949525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:180.25, Y:-39.96, Z:-123.80 [[ 3.03331173e-01 -9.52880100e-01 3.11693165e-03 1.80252657e+02] [ 2.56301633e-02 1.14286484e-02 9.99606163e-01 -3.99553507e+01] [-9.52540442e-01 -3.03131822e-01 2.78891379e-02 -1.23803344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:178.74, Y:-38.08, Z:-124.33 [[ 1.70022509e-01 9.85396498e-01 -9.27840841e-03 1.78735091e+02] [ 8.63528521e-04 -9.56447466e-03 -9.99953887e-01 -3.80840760e+01] [-9.85439801e-01 1.70006656e-01 -2.47709396e-03 -1.24331814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-38.34, Z:-124.08 [[ 1.97073155e-01 -6.90907832e-02 -9.77951244e-01 1.80561599e+02] [ 1.45392862e-01 -9.84423774e-01 9.88470951e-02 -3.83370854e+01] [-9.69547878e-01 -1.61667239e-01 -1.83958193e-01 -1.24079198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:179.54, Y:-40.32, Z:-124.60 [[ 2.88276159e-01 -6.70691184e-01 6.83425337e-01 1.79539944e+02] [ 8.09690887e-02 7.28242458e-01 6.80519602e-01 -4.03189486e+01] [-9.54117845e-01 -1.40841250e-01 2.64240193e-01 -1.24601895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:178.56, Y:-38.54, Z:-124.80 [[ 1.44919109e-01 8.94416409e-01 4.23104880e-01 1.78561835e+02] [ 2.72719077e-02 4.23845811e-01 -9.05323683e-01 -3.85408766e+01] [-9.89067589e-01 1.42737578e-01 3.70309153e-02 -1.24804245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:180.48, Y:-38.09, Z:-124.57 [[ 1.22768725e-01 2.10627672e-01 -9.69826698e-01 1.80480394e+02] [ 1.74944924e-01 -9.66509187e-01 -1.87761189e-01 -3.80854885e+01] [-9.76894116e-01 -1.46615057e-01 -1.55505342e-01 -1.24569231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:180.02, Y:-40.29, Z:-125.03 [[ 1.99278371e-01 -8.43876734e-01 4.98156791e-01 1.80019750e+02] [ 1.16305271e-01 5.25127225e-01 8.43038838e-01 -4.02939199e+01] [-9.73016554e-01 -1.10061146e-01 2.02793811e-01 -1.25026208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:-40.29, Z:-125.16 [[ 2.25084698e-01 -6.33124009e-01 7.40601693e-01 1.79621451e+02] [ 1.09638729e-01 7.71737062e-01 6.26419393e-01 -4.02927216e+01] [-9.68150932e-01 -5.97987912e-02 2.43121115e-01 -1.25156045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.68, Y:-38.60, Z:-125.23 [[ 8.47757802e-02 8.70120806e-01 4.85492380e-01 1.78680199e+02] [ 4.61207659e-02 4.83297458e-01 -8.74240494e-01 -3.85960891e+01] [-9.95332076e-01 9.65057004e-02 8.41281100e-04 -1.25232920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:-38.02, Z:-125.09 [[ 6.88528243e-02 2.63013311e-01 -9.62332212e-01 1.80579360e+02] [ 2.05209337e-01 -9.47727478e-01 -2.44339425e-01 -3.80156975e+01] [-9.76293202e-01 -1.80656096e-01 -1.19226501e-01 -1.25090067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:180.61, Y:-40.08, Z:-125.52 [[ 1.59930545e-01 -9.78021558e-01 1.33776127e-01 1.80612817e+02] [ 1.85899693e-01 1.62936502e-01 9.68964912e-01 -4.00751232e+01] [-9.69465587e-01 -1.30098146e-01 2.07872431e-01 -1.25516579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.75, Y:-39.27, Z:-125.73 [[ 7.89665622e-02 4.52758853e-01 8.88129328e-01 1.78750605e+02] [ 5.31342494e-02 8.87733365e-01 -4.57281340e-01 -3.92710302e+01] [-9.95460212e-01 8.33000206e-02 4.60442502e-02 -1.25725007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:-37.73, Z:-125.60 [[-2.48565249e-02 8.13905007e-01 -5.80466014e-01 1.79876400e+02] [ 1.57611182e-01 -5.70192979e-01 -8.06249764e-01 -3.77301819e+01] [-9.87188365e-01 -1.11528502e-01 -1.14107514e-01 -1.25603966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:181.22, Y:-39.38, Z:-125.91 [[ 6.06183859e-02 -8.79310677e-01 -4.72375005e-01 1.81215649e+02] [ 1.98686498e-01 -4.53145573e-01 8.69012523e-01 -3.93761104e+01] [-9.78186632e-01 -1.46532672e-01 1.47238206e-01 -1.25909770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:-40.13, Z:-126.20 [[ 1.21586784e-01 -6.92520928e-01 7.11077646e-01 1.79918009e+02] [ 8.89890079e-02 7.21113190e-01 6.87078397e-01 -4.01284174e+01] [-9.88583639e-01 -2.02615586e-02 1.49304584e-01 -1.26200859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:-38.04, Z:-126.18 [[-2.38578742e-02 9.90800938e-01 1.33207742e-01 1.79101160e+02] [ 9.28907323e-02 1.34866267e-01 -9.86500077e-01 -3.80392955e+01] [-9.95390433e-01 -1.11620300e-02 -9.52538471e-02 -1.26179924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:-38.48, Z:-126.36 [[-7.66094274e-02 8.34529329e-01 5.45611396e-01 1.78910678e+02] [ 2.09550296e-02 5.48446331e-01 -8.35923148e-01 -3.84849644e+01] [-9.96840951e-01 -5.26062908e-02 -5.95037461e-02 -1.26362715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:-37.81, Z:-126.49 [[-5.71587184e-02 1.34612341e-01 -9.89248401e-01 1.80937905e+02] [ 5.42341165e-02 -9.88986611e-01 -1.37710362e-01 -3.78123816e+01] [-9.96890938e-01 -6.15223608e-02 4.92286259e-02 -1.26485730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.35, Y:-38.44, Z:-126.48 [[-3.14370436e-02 -4.43842065e-01 -8.95553423e-01 1.81353003e+02] [ 5.09318665e-02 -8.95543606e-01 4.42049313e-01 -3.84368481e+01] [-9.98207222e-01 -3.17154838e-02 5.07589482e-02 -1.26475893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:-40.03, Z:-126.48 [[ 8.90283698e-04 -6.08110476e-01 7.93851911e-01 1.79909439e+02] [-3.82517257e-02 7.93250523e-01 6.07692697e-01 -4.00322224e+01] [-9.99267738e-01 -3.09072244e-02 -2.25550571e-02 -1.26476976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:-38.57, Z:-126.49 [[-4.10021030e-02 7.88424126e-01 6.13763982e-01 1.78877007e+02] [-2.65541255e-02 6.13203718e-01 -7.89478358e-01 -3.85743169e+01] [-9.98806140e-01 -4.86682387e-02 -4.20672879e-03 -1.26489986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.58, Y:-37.64, Z:-126.56 [[-4.64554456e-02 9.54179768e-01 -2.95605923e-01 1.79582103e+02] [ 3.31594136e-04 -2.95910669e-01 -9.55215560e-01 -3.76390482e+01] [-9.98920308e-01 -4.44729857e-02 1.34302616e-02 -1.26555591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:-39.01, Z:-126.71 [[ 8.10765723e-02 -7.70121324e-01 -6.32724060e-01 1.81323125e+02] [ 7.29576624e-02 -6.28525451e-01 7.74359695e-01 -3.90078351e+01] [-9.94034088e-01 -1.08944498e-01 5.22756239e-03 -1.26705588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.24, Y:-38.48, Z:-126.82 [[ 9.95608672e-02 -3.90098451e-01 -9.15374695e-01 1.81242737e+02] [ 1.44324792e-01 -9.04555555e-01 4.01185246e-01 -3.84799579e+01] [-9.84509009e-01 -1.72053614e-01 -3.37574576e-02 -1.26824619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.20, Y:-40.10, Z:-127.26 [[ 1.32694804e-01 -8.07169616e-01 5.75212395e-01 1.80201556e+02] [ 7.69298474e-02 5.86981121e-01 8.05937319e-01 -4.00954314e+01] [-9.88166933e-01 -6.26926929e-02 1.39984780e-01 -1.27259331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:-40.09, Z:-127.35 [[ 1.61206397e-01 -7.26907541e-01 6.67546196e-01 1.80049821e+02] [ 7.62898826e-02 6.83547368e-01 7.25908293e-01 -4.00914838e+01] [-9.83967658e-01 -6.60940396e-02 1.65647900e-01 -1.27345709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.92, Y:-38.46, Z:-127.44 [[ 1.10512858e-02 8.40004401e-01 5.42467028e-01 1.78921815e+02] [ 1.82073888e-02 5.42241174e-01 -8.40025595e-01 -3.84581574e+01] [-9.99773154e-01 1.91602710e-02 -9.30182453e-03 -1.27440488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:-37.68, Z:-127.44 [[-2.62238310e-02 4.54052331e-01 -8.90589014e-01 1.80619345e+02] [ 1.73525205e-01 -8.75303046e-01 -4.51368564e-01 -3.76750427e+01] [-9.84480225e-01 -1.66376254e-01 -5.58357246e-02 -1.27438790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:181.32, Y:-39.32, Z:-127.72 [[ 7.88170661e-02 -9.04566981e-01 -4.18982634e-01 1.81318489e+02] [ 1.50824393e-01 -4.04631718e-01 9.01956304e-01 -3.93223545e+01] [-9.85413554e-01 -1.34282351e-01 1.04538881e-01 -1.27717173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-39.92, Z:-127.87 [[ 8.92691459e-02 -9.65221029e-01 2.45722171e-01 1.80743868e+02] [ 1.14351247e-01 2.55007954e-01 9.60153496e-01 -3.99193852e+01] [-9.89421453e-01 -5.76134458e-02 1.33138571e-01 -1.27874510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.71, Y:-39.92, Z:-127.94 [[ 9.51090427e-02 -9.57963989e-01 2.70664488e-01 1.80710532e+02] [ 1.09675432e-01 2.80325644e-01 9.53618809e-01 -3.99239413e+01] [-9.89406676e-01 -6.10125276e-02 1.31726618e-01 -1.27937474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:-39.90, Z:-128.00 [[ 1.21992760e-01 -9.62946630e-01 2.40523500e-01 1.80736391e+02] [ 1.25291854e-01 2.55335622e-01 9.58699990e-01 -3.98954315e+01] [-9.84591142e-01 -8.68188223e-02 1.51798466e-01 -1.28000693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.00, Y:-38.98, Z:-128.10 [[-1.42106680e-02 4.85579454e-01 8.74077028e-01 1.79000067e+02] [-5.84292087e-03 8.74110046e-01 -4.85692791e-01 -3.89818131e+01] [-9.99881952e-01 -1.20091819e-02 -9.58448531e-03 -1.28101466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.40, Y:-37.54, Z:-128.13 [[-1.06044908e-01 6.63735611e-01 -7.40411720e-01 1.80397399e+02] [ 1.74847873e-01 -7.20561680e-01 -6.70983671e-01 -3.75375623e+01] [-9.78868070e-01 -2.00613817e-01 -3.96408629e-02 -1.28125895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.47, Y:-38.95, Z:-128.40 [[-3.89436418e-03 -7.71093597e-01 -6.36709902e-01 1.81465136e+02] [ 1.55286560e-01 -6.29457244e-01 7.61360403e-01 -3.89481314e+01] [-9.87861791e-01 -9.59074760e-02 1.22191808e-01 -1.28395918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-39.64, Z:-128.41 [[-4.40637256e-02 -1.25197880e-01 9.91152803e-01 1.79418375e+02] [-2.00902009e-02 9.92026844e-01 1.24415133e-01 -3.96392818e+01] [-9.98826698e-01 -1.44302646e-02 -4.62276491e-02 -1.28411784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:-38.83, Z:-128.47 [[ 1.90399974e-02 -7.14450613e-01 -6.99426765e-01 1.81459422e+02] [ 1.05272114e-01 -6.94232512e-01 7.12010534e-01 -3.88316696e+01] [-9.94261163e-01 -8.71868130e-02 6.19935413e-02 -1.28472708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-39.78, Z:-128.50 [[-8.47627477e-03 -3.57508765e-01 9.33871316e-01 1.79645800e+02] [-7.00783975e-02 9.31821061e-01 3.56087811e-01 -3.97824078e+01] [-9.97505474e-01 -6.24259072e-02 -3.29520127e-02 -1.28497696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.04, Y:-38.95, Z:-128.53 [[-8.67484780e-02 4.75162466e-01 8.75611405e-01 1.79038339e+02] [-8.13794269e-02 8.72607508e-01 -4.81594774e-01 -3.89537359e+01] [-9.92900846e-01 -1.13034368e-01 -3.70289240e-02 -1.28529530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:-37.53, Z:-128.62 [[-1.12789393e-01 9.02035154e-01 -4.16666695e-01 1.79902426e+02] [ 1.40526357e-02 -4.17852476e-01 -9.08406204e-01 -3.75342435e+01] [-9.93519540e-01 -1.08313850e-01 3.44533559e-02 -1.28615056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-38.93, Z:-128.69 [[ 7.03376688e-02 -7.64892517e-01 -6.40306215e-01 1.81416806e+02] [ 5.40948803e-02 -6.38026682e-01 7.68111774e-01 -3.89295160e+01] [-9.96055398e-01 -8.86644796e-02 -3.50054021e-03 -1.28693746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:-39.50, Z:-128.86 [[ 1.91665887e-02 -7.18804481e-02 9.97229083e-01 1.79346687e+02] [-1.62170099e-01 9.83980986e-01 7.40424072e-02 -3.94969251e+01] [-9.86576657e-01 -1.63139880e-01 7.20269941e-03 -1.28855145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.26, Y:-37.95, Z:-129.11 [[-8.17562750e-02 9.67268669e-01 2.40223300e-01 1.79256156e+02] [-1.18770233e-01 2.29857009e-01 -9.65949992e-01 -3.79544106e+01] [-9.89550172e-01 -1.07503851e-01 9.60904724e-02 -1.29112162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:-38.33, Z:-129.23 [[ 5.38030991e-02 -3.28106404e-01 -9.43107318e-01 1.81335987e+02] [ 5.58034818e-02 -9.42011379e-01 3.30908647e-01 -3.83263087e+01] [-9.96991072e-01 -7.04325828e-02 -3.23736519e-02 -1.29227341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-39.88, Z:-129.39 [[ 1.16639399e-01 -6.40169417e-01 7.59327577e-01 1.79964841e+02] [-1.28644514e-01 7.48367096e-01 6.50689849e-01 -3.98819534e+01] [-9.84807514e-01 -1.73579400e-01 4.93480477e-03 -1.29386432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-38.60, Z:-129.60 [[ 9.82423985e-03 7.06779196e-01 7.07365996e-01 1.78980557e+02] [-1.23781131e-01 7.02818944e-01 -7.00516783e-01 -3.85982317e+01] [-9.92260911e-01 -8.06765183e-02 9.43905903e-02 -1.29604455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-39.86, Z:-129.58 [[ 1.86168857e-01 -8.36978986e-01 5.14594338e-01 1.80298935e+02] [-1.45654400e-01 4.94452855e-01 8.56913747e-01 -3.98565955e+01] [-9.71661439e-01 -2.34483582e-01 -2.98579491e-02 -1.29579740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.96, Y:-38.73, Z:-129.97 [[ 7.48958739e-02 6.20305077e-01 7.80776677e-01 1.78960933e+02] [-1.89972394e-01 7.77511738e-01 -5.99488104e-01 -3.87294039e+01] [-9.78928546e-01 -1.03426829e-01 1.76073262e-01 -1.29974153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:-37.64, Z:-130.05 [[ 2.57549905e-02 5.23273156e-01 -8.51775724e-01 1.80595819e+02] [ 1.20192474e-02 -8.52158866e-01 -5.23145108e-01 -3.76366305e+01] [-9.99596027e-01 3.23589412e-03 -2.82366930e-02 -1.30051426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-39.58, Z:-130.05 [[ 2.32799224e-01 -9.61730633e-01 -1.44494671e-01 1.81021683e+02] [-1.77329852e-02 -1.52749885e-01 9.88105771e-01 -3.95796539e+01] [-9.72363133e-01 -2.27467935e-01 -5.26144098e-02 -1.30054569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-39.52, Z:-130.41 [[ 1.48377824e-01 2.18290799e-02 9.88689796e-01 1.79245230e+02] [-1.28059160e-01 9.91762914e-01 -2.67842586e-03 -3.95234873e+01] [-9.80604341e-01 -1.26213366e-01 1.49951037e-01 -1.30405869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:-39.86, Z:-130.33 [[ 2.81815762e-01 -9.20688946e-01 2.70021742e-01 1.80583460e+02] [-9.43807630e-02 2.53462420e-01 9.62730011e-01 -3.98563295e+01] [-9.54815243e-01 -2.96797350e-01 -1.54656202e-02 -1.30334843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:-37.73, Z:-130.84 [[ 8.51046300e-02 9.65064902e-01 -2.47804231e-01 1.79758583e+02] [-3.69662046e-02 -2.45477066e-01 -9.68697326e-01 -3.77265234e+01] [-9.95686046e-01 9.16010095e-02 1.47835518e-02 -1.30835026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.63, Y:-39.89, Z:-130.73 [[ 2.74432818e-01 -9.16249346e-01 2.91845445e-01 1.80629392e+02] [-9.93437969e-02 2.74859460e-01 9.56338375e-01 -3.98880163e+01] [-9.56460892e-01 -2.91443669e-01 -1.55932329e-02 -1.30730263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-39.82, Z:-130.87 [[ 3.51473064e-01 -9.19969610e-01 1.73558641e-01 1.80722509e+02] [-8.66015820e-02 1.52642909e-01 9.84479714e-01 -3.98187918e+01] [-9.32183915e-01 -3.61048554e-01 -2.60209527e-02 -1.30865738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:-39.38, Z:-131.42 [[ 2.56475364e-01 1.96286991e-01 9.46409956e-01 1.79205831e+02] [-1.60917955e-01 9.74168142e-01 -1.58435614e-01 -3.93773469e+01] [-9.53061278e-01 -1.11659523e-01 2.81436230e-01 -1.31424891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.14, Y:-39.18, Z:-131.54 [[ 2.45196524e-01 3.68181907e-01 8.96839310e-01 1.79143798e+02] [-1.57300825e-01 9.27929655e-01 -3.37939352e-01 -3.91776780e+01] [-9.56626947e-01 -5.82120087e-02 2.85440443e-01 -1.31535083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:-39.24, Z:-131.59 [[ 2.62238449e-01 3.23406118e-01 9.09197162e-01 1.79183875e+02] [-1.80073287e-01 9.42020922e-01 -2.83143415e-01 -3.92411769e+01] [-9.48053061e-01 -8.94710319e-02 3.05270908e-01 -1.31586658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:-37.71, Z:-131.53 [[ 1.92190201e-01 6.43178948e-01 -7.41204269e-01 1.80570704e+02] [-1.52257222e-02 -7.53239325e-01 -6.57570298e-01 -3.77139132e+01] [-9.81239575e-01 1.37663938e-01 -1.34972353e-01 -1.31530498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.34, Y:-39.35, Z:-131.87 [[ 1.97168690e-01 2.62972211e-01 9.44441700e-01 1.79339366e+02] [-1.27744469e-01 9.62030913e-01 -2.41200898e-01 -3.93528979e+01] [-9.72011244e-01 -7.30899382e-02 2.23275621e-01 -1.31872392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:-39.88, Z:-131.64 [[ 3.21706038e-01 -9.32710073e-01 1.62963630e-01 1.80919372e+02] [-1.05145162e-01 1.35856845e-01 9.85133195e-01 -3.98800567e+01] [-9.40983379e-01 -3.34058134e-01 -5.43639845e-02 -1.31635716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.81, Y:-37.96, Z:-132.30 [[ 1.58786890e-01 9.86295857e-01 -4.48018470e-02 1.79807778e+02] [-1.07573420e-01 -2.78244827e-02 -9.93807706e-01 -3.79591585e+01] [-9.81435012e-01 1.62623123e-01 1.01681056e-01 -1.32300331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.63, Y:-38.83, Z:-131.97 [[ 2.80372919e-01 -5.04313329e-01 -8.16736856e-01 1.81630752e+02] [ 7.75190395e-03 -8.49646685e-01 5.27295381e-01 -3.88303794e+01] [-9.59859851e-01 -1.54170611e-01 -2.34308533e-01 -1.31966449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.97, Y:-38.01, Z:-132.58 [[ 1.54271176e-01 9.84902395e-01 -7.85345568e-02 1.79968035e+02] [-9.05041595e-03 -7.80741222e-02 -9.96906476e-01 -3.80062660e+01] [-9.87987092e-01 1.54504705e-01 -3.13081030e-03 -1.32582971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:-40.00, Z:-132.47 [[ 3.01145948e-01 -9.40590254e-01 1.56847353e-01 1.81145550e+02] [-2.07612731e-02 1.57976743e-01 9.87224553e-01 -3.99960964e+01] [-9.53352027e-01 -3.00555025e-01 2.80462049e-02 -1.32466906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.79, Y:-39.80, Z:-132.91 [[ 2.73122018e-01 -8.25728633e-02 9.58428967e-01 1.79794626e+02] [-8.75761450e-02 9.90037775e-01 1.10252539e-01 -3.97988938e+01] [-9.57984751e-01 -1.14047910e-01 2.63169702e-01 -1.32905796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:-37.86, Z:-132.98 [[ 1.58440795e-01 9.04627375e-01 -3.95658725e-01 1.80425159e+02] [ 5.03742275e-03 -4.01455823e-01 -9.15864535e-01 -3.78599457e+01] [-9.87355629e-01 1.43117205e-01 -6.81639703e-02 -1.32978424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-40.07, Z:-132.97 [[ 2.69342159e-01 -9.23966206e-01 2.71553403e-01 1.81136178e+02] [-4.28524366e-02 2.70196034e-01 9.61851221e-01 -4.00720600e+01] [-9.62090677e-01 -2.70703810e-01 3.31809799e-02 -1.32972579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:-37.89, Z:-133.37 [[ 1.62351092e-01 9.22711214e-01 -3.49637152e-01 1.80453023e+02] [ 7.10509219e-03 -3.55422130e-01 -9.34678890e-01 -3.78909784e+01] [-9.86707475e-01 1.49261935e-01 -6.42591192e-02 -1.33371438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:-40.07, Z:-133.36 [[ 2.69527486e-01 -9.36048324e-01 2.26204487e-01 1.81269627e+02] [-3.29907956e-02 2.25784240e-01 9.73618552e-01 -4.00670152e+01] [-9.62427422e-01 -2.69879627e-01 2.99740795e-02 -1.33357598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-40.08, Z:-133.54 [[ 3.29015181e-01 -8.95708363e-01 2.99091189e-01 1.81157420e+02] [-5.41834594e-02 2.98296838e-01 9.52933969e-01 -4.00833612e+01] [-9.42768881e-01 -3.29735538e-01 4.96116106e-02 -1.33540284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:-40.08, Z:-133.72 [[ 3.85469365e-01 -8.58684339e-01 3.37749277e-01 1.81091412e+02] [-7.58479819e-02 3.35310846e-01 9.39049370e-01 -4.00836012e+01] [-9.19597984e-01 -3.87592366e-01 6.41225849e-02 -1.33719985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.02, Y:-40.09, Z:-133.91 [[ 4.39727757e-01 -8.08882777e-01 3.90318015e-01 1.81016941e+02] [-1.03575924e-01 3.86017653e-01 9.16658279e-01 -4.00865436e+01] [-8.92138738e-01 -4.43507638e-01 8.59618957e-02 -1.33910313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-40.08, Z:-134.10 [[ 4.89451222e-01 -7.59792058e-01 4.27964402e-01 1.80972880e+02] [-1.33343263e-01 4.19786512e-01 8.97774392e-01 -4.00808623e+01] [-8.61775536e-01 -4.96482943e-01 1.04151869e-01 -1.34097141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:-37.83, Z:-134.69 [[ 4.19128529e-01 7.85875140e-01 -4.54677403e-01 1.80779262e+02] [-7.70283106e-02 -4.68202181e-01 -8.80257552e-01 -3.78342725e+01] [-9.04653478e-01 4.03964085e-01 -1.35702257e-01 -1.34687731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.00, Y:-39.56, Z:-134.95 [[ 4.19790451e-01 2.12404657e-01 8.82417270e-01 1.80001133e+02] [-1.05479008e-01 9.77060242e-01 -1.85006652e-01 -3.95612055e+01] [-9.01471107e-01 -1.54124722e-02 4.32564792e-01 -1.34948307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-39.56, Z:-135.00 [[ 4.21458968e-01 2.18935661e-01 8.80022451e-01 1.80019874e+02] [-1.05981236e-01 9.75661045e-01 -1.91972663e-01 -3.95585623e+01] [-9.00633286e-01 -1.23572666e-02 4.34404169e-01 -1.35001254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.04, Y:-39.56, Z:-135.05 [[ 4.20757784e-01 2.26167612e-01 8.78527802e-01 1.80040599e+02] [-1.08046677e-01 9.74024134e-01 -1.99004780e-01 -3.95558785e+01] [-9.00715717e-01 -1.11891990e-02 4.34264895e-01 -1.35054432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.06, Y:-39.55, Z:-135.11 [[ 4.19139623e-01 2.33295642e-01 8.77436676e-01 1.80062398e+02] [-1.09451535e-01 9.72358572e-01 -2.06250259e-01 -3.95540504e+01] [-9.01300359e-01 -9.58913562e-03 4.33088572e-01 -1.35106573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:-39.53, Z:-135.25 [[ 4.10439138e-01 2.53564658e-01 8.75925041e-01 1.80133193e+02] [-1.41551149e-01 9.66634796e-01 -2.13495769e-01 -3.95268991e+01] [-9.00834605e-01 -3.63611763e-02 4.32637121e-01 -1.35248587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:-39.45, Z:-135.33 [[ 4.10179913e-01 3.21377108e-01 8.53504067e-01 1.80126804e+02] [-1.42708673e-01 9.46944145e-01 -2.87977467e-01 -3.94508978e+01] [-9.00770045e-01 -3.67986050e-03 4.34280768e-01 -1.35326561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:-39.46, Z:-135.38 [[ 4.09935186e-01 3.27301440e-01 8.51367671e-01 1.80146797e+02] [-1.41796815e-01 9.44919957e-01 -2.94991420e-01 -3.94552662e+01] [-9.01025420e-01 2.06138121e-04 4.33766240e-01 -1.35379804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:-39.46, Z:-135.43 [[ 4.10354941e-01 3.33966406e-01 8.48572484e-01 1.80167316e+02] [-1.43235955e-01 9.42582274e-01 -3.01698721e-01 -3.94562173e+01] [-9.00606620e-01 2.25747068e-03 4.34629291e-01 -1.35433066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.93, Y:-37.97, Z:-135.50 [[ 3.60482997e-01 8.87710058e-01 -2.86396335e-01 1.80930956e+02] [-1.31008536e-01 -2.55811573e-01 -9.57808542e-01 -3.79707398e+01] [-9.23519774e-01 3.82794059e-01 2.40818724e-02 -1.35498041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:-38.00, Z:-135.60 [[ 3.00321964e-01 9.04288785e-01 -3.03427933e-01 1.81068671e+02] [-1.14769850e-01 -2.81542623e-01 -9.52660293e-01 -3.80006899e+01] [-9.46907915e-01 3.20929189e-01 1.92316553e-02 -1.35603456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:-40.20, Z:-135.25 [[ 3.43897839e-01 -8.82037396e-01 3.22093632e-01 1.81881586e+02] [-1.33340268e-01 2.93667980e-01 9.46561932e-01 -4.02047195e+01] [-9.29491608e-01 -3.68468654e-01 -1.66193185e-02 -1.35247712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:-40.20, Z:-135.41 [[ 4.03113990e-01 -8.57937361e-01 3.18500541e-01 1.81875517e+02] [-1.54419672e-01 2.79272830e-01 9.47713697e-01 -4.02007707e+01] [-9.02027536e-01 -4.31219399e-01 -1.99036211e-02 -1.35410481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:-38.06, Z:-136.24 [[ 3.58500963e-01 8.81907963e-01 -3.06129717e-01 1.81223340e+02] [-1.34253726e-01 -2.75812236e-01 -9.51789655e-01 -3.80617306e+01] [-9.23825198e-01 3.82316563e-01 1.95204782e-02 -1.36239617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:-40.26, Z:-135.77 [[ 4.04810971e-01 -8.58206535e-01 3.15609920e-01 1.82035088e+02] [-1.54926078e-01 2.75793110e-01 9.48649604e-01 -4.02581428e+01] [-9.01180330e-01 -4.32919974e-01 -2.13144963e-02 -1.35771566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:-40.26, Z:-135.93 [[ 4.64389714e-01 -8.30508242e-01 3.07568292e-01 1.82042255e+02] [-1.73587943e-01 2.55193572e-01 9.51180039e-01 -4.02567547e+01] [-8.68452313e-01 -4.95108373e-01 -2.56569473e-02 -1.35932354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:-40.26, Z:-136.09 [[ 5.21736079e-01 -7.99459060e-01 2.97752708e-01 1.82058938e+02] [-1.88920183e-01 2.32083396e-01 9.54173182e-01 -4.02565225e+01] [-8.31925855e-01 -5.54078071e-01 -2.99476708e-02 -1.36091621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:-38.17, Z:-137.12 [[ 4.66454796e-01 8.36056097e-01 -2.88842736e-01 1.81452243e+02] [-1.72423020e-01 -2.34338917e-01 -9.56742167e-01 -3.81735416e+01] [-8.67577216e-01 4.96080109e-01 3.48468053e-02 -1.37119598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.612320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.22, Y:-40.34, Z:-136.44 [[ 5.45876561e-01 -7.77722069e-01 3.11716480e-01 1.82217687e+02] [-1.64447108e-01 2.65352216e-01 9.50023868e-01 -4.03405728e+01] [-8.21569187e-01 -5.69856636e-01 1.69554105e-02 -1.36435849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-39.82, Z:-137.44 [[ 5.14252746e-01 3.03681892e-01 8.02073202e-01 1.80952740e+02] [-2.10771460e-01 9.51279897e-01 -2.25037660e-01 -3.98190688e+01] [-8.31335976e-01 -5.33279048e-02 5.53205775e-01 -1.37436791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-39.74, Z:-137.52 [[ 5.10304017e-01 3.76922334e-01 7.72993767e-01 1.80953511e+02] [-2.17529670e-01 9.26179913e-01 -3.08012355e-01 -3.97378473e+01] [-8.32028036e-01 -1.09691366e-02 5.54625121e-01 -1.37522253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:180.98, Y:-39.74, Z:-137.57 [[ 5.08487215e-01 3.83986830e-01 7.70710624e-01 1.80982393e+02] [-2.23354451e-01 9.23244533e-01 -3.12621691e-01 -3.97431816e+01] [-8.31596983e-01 -1.31775158e-02 5.55223209e-01 -1.37570942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:181.01, Y:-39.75, Z:-137.62 [[ 5.06400134e-01 3.92241394e-01 7.67922908e-01 1.81009088e+02] [-2.31368247e-01 9.19704377e-01 -3.17194881e-01 -3.97455883e+01] [-8.30679023e-01 -1.70454469e-02 5.56490624e-01 -1.37620297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:-39.75, Z:-137.69 [[ 5.03005805e-01 4.01490671e-01 7.65369454e-01 1.81053152e+02] [-2.41439059e-01 9.15573784e-01 -3.21608190e-01 -3.97508145e+01] [-8.29874895e-01 -2.30192939e-02 5.57474458e-01 -1.37692659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.08, Y:-39.75, Z:-137.74 [[ 4.99816812e-01 4.13756694e-01 7.60912973e-01 1.81078464e+02] [-2.45849273e-01 9.10158452e-01 -3.33421246e-01 -3.97469341e+01] [-8.30506646e-01 -2.04203566e-02 5.56634278e-01 -1.37743955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:-39.75, Z:-137.79 [[ 4.96776652e-01 4.20859592e-01 7.59006035e-01 1.81106945e+02] [-2.51619375e-01 9.06834166e-01 -3.38141220e-01 -3.97546413e+01] [-8.30602581e-01 -2.29999614e-02 5.56390469e-01 -1.37791180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:-39.76, Z:-137.84 [[ 4.94695308e-01 4.27243202e-01 7.56795744e-01 1.81134718e+02] [-2.56078058e-01 9.03813015e-01 -3.42849911e-01 -3.97603056e+01] [-8.30482137e-01 -2.41925421e-02 5.56519668e-01 -1.37840140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.16, Y:-39.76, Z:-137.89 [[ 4.93174119e-01 4.32879736e-01 7.54582284e-01 1.81162022e+02] [-2.58991040e-01 9.01133142e-01 -3.47681897e-01 -3.97646598e+01] [-8.30483552e-01 -2.39623372e-02 5.56527516e-01 -1.37887889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:-39.77, Z:-137.94 [[ 4.92210651e-01 4.39327032e-01 7.51478831e-01 1.81188436e+02] [-2.64628826e-01 8.97957033e-01 -3.51631557e-01 -3.97711075e+01] [-8.29276950e-01 -2.57861629e-02 5.58242612e-01 -1.37935716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.22, Y:-39.78, Z:-137.98 [[ 4.90216040e-01 4.45017478e-01 7.49431570e-01 1.81215890e+02] [-2.67836354e-01 8.95143247e-01 -3.56345695e-01 -3.97753173e+01] [-8.29428672e-01 -2.60386442e-02 5.58005437e-01 -1.37984677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:-39.78, Z:-138.06 [[ 4.86110110e-01 4.53327890e-01 7.47121667e-01 1.81260220e+02] [-2.75943452e-01 8.90815343e-01 -3.60975394e-01 -3.97834356e+01] [-8.29187658e-01 -3.06895429e-02 5.58127207e-01 -1.38057075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:-39.78, Z:-138.11 [[ 4.84626402e-01 4.64698094e-01 7.41075524e-01 1.81285886e+02] [-2.79525790e-01 8.85064255e-01 -3.72191613e-01 -3.97838619e+01] [-8.28856190e-01 -2.67758386e-02 5.58820607e-01 -1.38109087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.24, Y:-38.34, Z:-138.15 [[ 4.16414573e-01 8.00983480e-01 -4.30144590e-01 1.82240962e+02] [-2.22402345e-01 -3.69000018e-01 -9.02427938e-01 -3.83396423e+01] [-8.81553232e-01 4.71449310e-01 2.44836192e-02 -1.38153681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-38.40, Z:-138.24 [[ 3.60720580e-01 8.25288270e-01 -4.34488128e-01 1.82369146e+02] [-1.97130946e-01 -3.87863671e-01 -9.00389451e-01 -3.83974064e+01] [-9.11603013e-01 4.10440061e-01 2.27794488e-02 -1.38240879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.52, Y:-38.45, Z:-138.32 [[ 2.86744463e-01 8.36331865e-01 -4.67254346e-01 1.82517394e+02] [-1.79929783e-01 -4.32040772e-01 -8.83722832e-01 -3.84455404e+01] [-9.40958493e-01 3.37475602e-01 2.65957122e-02 -1.38318506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.95, Y:-39.63, Z:-137.74 [[ 3.94608763e-01 -5.94127162e-01 -7.00925702e-01 1.83945328e+02] [-8.74733868e-02 -7.83655706e-01 6.15005806e-01 -3.96314432e+01] [-9.14676080e-01 -1.81374335e-01 -3.61207724e-01 -1.37739078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:-40.33, Z:-138.60 [[ 3.90283807e-01 2.52124779e-01 8.85500788e-01 1.81801277e+02] [-1.59693682e-01 9.65734492e-01 -2.04584501e-01 -4.03347008e+01] [-9.06739476e-01 -6.15628633e-02 4.17173268e-01 -1.38603039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.77, Y:-38.56, Z:-138.58 [[ 2.96397417e-01 7.99783144e-01 -5.22011009e-01 1.82773229e+02] [-6.74362092e-02 -5.27681500e-01 -8.46761237e-01 -3.85599005e+01] [-9.52680917e-01 2.86180287e-01 -1.02469090e-01 -1.38583024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-38.63, Z:-138.72 [[ 2.23173350e-01 8.58400232e-01 -4.61890353e-01 1.82785954e+02] [-4.89814566e-02 -4.63367289e-01 -8.84811603e-01 -3.86291240e+01] [-9.73547365e-01 2.20090432e-01 -6.13655363e-02 -1.38719173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.26, Y:-39.79, Z:-138.39 [[ 3.14563334e-01 -5.60401382e-01 -7.66159383e-01 1.84263354e+02] [ 6.05928602e-02 -7.93631759e-01 6.05373551e-01 -3.97862959e+01] [-9.47300593e-01 -2.36852111e-01 -2.15691129e-01 -1.38391782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.40, Y:-40.89, Z:-139.09 [[ 3.27615965e-01 -1.75049310e-01 9.28453294e-01 1.82404102e+02] [-2.50920694e-02 9.80728182e-01 1.93759186e-01 -4.08935954e+01] [-9.44477722e-01 -8.67754171e-02 3.16909860e-01 -1.39094259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-40.82, Z:-139.18 [[ 3.54880025e-01 -8.21460039e-02 9.31295980e-01 1.82340107e+02] [-4.14180234e-02 9.93773008e-01 1.03439629e-01 -4.08194979e+01] [-9.33993959e-01 -7.52810967e-02 3.49267865e-01 -1.39181630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-38.77, Z:-139.19 [[ 2.20599378e-01 9.27060718e-01 -3.03140792e-01 1.82760029e+02] [ 2.63173587e-02 -3.16341737e-01 -9.48280181e-01 -3.87671916e+01] [-9.75009390e-01 2.01212153e-01 -9.41825798e-02 -1.39191004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.52, Y:-40.84, Z:-139.45 [[ 2.87891691e-01 -1.15855257e-01 9.50629231e-01 1.82520777e+02] [-4.48762985e-02 9.89932766e-01 1.34235750e-01 -4.08394604e+01] [-9.56610941e-01 -8.13060782e-02 2.79794262e-01 -1.39449056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.51, Y:-39.04, Z:-139.59 [[ 1.41543291e-01 9.86428016e-01 8.32181808e-02 1.82508950e+02] [-3.92709897e-02 8.95935647e-02 -9.95203890e-01 -3.90359946e+01] [-9.89152812e-01 1.37596373e-01 5.14193724e-02 -1.39591160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:-39.24, Z:-139.37 [[ 1.74846957e-01 -1.18409562e-01 -9.77449598e-01 1.84442961e+02] [ 1.11129526e-01 -9.84025188e-01 1.39085076e-01 -3.92437778e+01] [-9.78304027e-01 -1.32942113e-01 -1.58895011e-01 -1.39365977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:-41.18, Z:-139.80 [[ 2.51413813e-01 -6.40061591e-01 7.26024968e-01 1.83329636e+02] [ 4.58219582e-02 7.57149138e-01 6.51632973e-01 -4.11826697e+01] [-9.66794416e-01 -1.30561644e-01 2.19686627e-01 -1.39804604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:-39.20, Z:-139.99 [[ 1.05682483e-01 9.69389941e-01 2.21617586e-01 1.82540155e+02] [ 3.47066203e-02 2.19134098e-01 -9.75077278e-01 -3.91984037e+01] [-9.93794075e-01 1.10740185e-01 -1.04856131e-02 -1.39990400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:182.65, Y:-39.15, Z:-140.11 [[ 3.17250476e-02 9.80834713e-01 1.92241483e-01 1.82650864e+02] [ 1.56999673e-03 1.92289160e-01 -9.81337054e-01 -3.91543410e+01] [-9.99495401e-01 3.14347833e-02 4.56047547e-03 -1.40113410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:184.80, Y:-39.50, Z:-140.12 [[ 1.00674086e-01 -3.48013559e-01 -9.32068287e-01 1.84802887e+02] [ 1.30092342e-01 -9.24180160e-01 3.59119776e-01 -3.95001636e+01] [-9.86377570e-01 -1.57409002e-01 -4.77670943e-02 -1.40116405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:-41.19, Z:-140.47 [[ 1.18661309e-01 -7.41445115e-01 6.60438215e-01 1.83674340e+02] [ 8.67751815e-02 6.70336287e-01 7.36966302e-01 -4.11935148e+01] [-9.89135765e-01 -3.01397402e-02 1.43882016e-01 -1.40465462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:-39.13, Z:-140.30 [[ 6.45270140e-02 5.30134274e-02 -9.96506819e-01 1.84542893e+02] [ 2.06488340e-01 -9.77685742e-01 -3.86413774e-02 -3.91327162e+01] [-9.76319021e-01 -2.03273626e-01 -7.40337961e-02 -1.40304185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:-41.11, Z:-140.74 [[ 1.25177153e-01 -9.50890208e-01 2.83087431e-01 1.84222275e+02] [ 1.61503102e-01 3.01055614e-01 9.39830977e-01 -4.11052435e+01] [-9.78901133e-01 -7.19258680e-02 1.91257003e-01 -1.40740603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:183.91, Y:-41.19, Z:-140.85 [[ 1.23820246e-01 -8.42787278e-01 5.23811179e-01 1.83913847e+02] [ 1.54988827e-01 5.37820255e-01 8.28690435e-01 -4.11945494e+01] [-9.80126017e-01 -2.14237730e-02 1.97215648e-01 -1.40845644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.90, Y:-41.18, Z:-140.93 [[ 1.24800996e-01 -8.32971350e-01 5.39057921e-01 1.83896679e+02] [ 1.50660308e-01 5.52915180e-01 8.19503676e-01 -4.11831494e+01] [-9.80676391e-01 -2.10602421e-02 1.94500085e-01 -1.40926556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.94, Y:-41.16, Z:-140.99 [[ 1.57181277e-01 -8.47067221e-01 5.07711699e-01 1.83940271e+02] [ 1.63152377e-01 5.29310767e-01 8.32593186e-01 -4.11629550e+01] [-9.73999665e-01 -4.80336896e-02 2.21398773e-01 -1.40990695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:182.65, Y:-39.33, Z:-140.99 [[ 3.26587299e-02 9.33655326e-01 3.56680724e-01 1.82646094e+02] [ 1.16910009e-01 3.50852606e-01 -9.29104138e-01 -3.93327775e+01] [-9.92605388e-01 7.20429076e-02 -9.76952520e-02 -1.40991068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:184.30, Y:-41.00, Z:-141.24 [[ 9.50421042e-02 -9.48064494e-01 3.03546889e-01 1.84304594e+02] [ 1.40802950e-01 3.14664436e-01 9.38701668e-01 -4.09991234e+01] [-9.85465133e-01 -4.64758842e-02 1.63396648e-01 -1.41242016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:-39.45, Z:-141.29 [[-4.88480291e-03 8.63526590e-01 5.04279652e-01 1.82635765e+02] [ 8.60191898e-02 5.02779330e-01 -8.60124203e-01 -3.94454452e+01] [-9.96281505e-01 3.91761899e-02 -7.67358356e-02 -1.41286990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.73, Y:-40.70, Z:-141.44 [[ 9.83561555e-03 -9.99665639e-01 -2.39138377e-02 1.84729787e+02] [ 9.38503010e-02 -2.28865750e-02 9.95323227e-01 -4.06979929e+01] [-9.95537735e-01 -1.20339375e-02 9.35938176e-02 -1.41435209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:182.59, Y:-39.93, Z:-141.41 [[-2.35430362e-02 6.01377426e-01 7.98618130e-01 1.82593582e+02] [ 4.24311323e-02 7.98720793e-01 -6.00203876e-01 -3.99257217e+01] [-9.98821968e-01 1.97556499e-02 -4.43214376e-02 -1.41410683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.91, Y:-39.09, Z:-141.47 [[-2.17029371e-02 -1.73443058e-01 -9.84604737e-01 1.84907477e+02] [ 2.82575475e-02 -9.84549665e-01 1.72810496e-01 -3.90870744e+01] [-9.99365045e-01 -2.40720198e-02 2.62686949e-02 -1.41467807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:-40.99, Z:-141.63 [[ 3.84877548e-02 -6.75654504e-01 7.36213070e-01 1.83713341e+02] [-3.55323847e-02 7.35367650e-01 6.76736188e-01 -4.09941525e+01] [-9.98627129e-01 -5.22054625e-02 4.29503403e-03 -1.41629392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.58, Y:-39.78, Z:-141.88 [[ 2.38988159e-02 6.37951524e-01 7.69705593e-01 1.82583360e+02] [-1.03823174e-01 7.67346082e-01 -6.32772265e-01 -3.97766308e+01] [-9.94308602e-01 -6.47907694e-02 8.45728146e-02 -1.41882932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.76, Y:-38.88, Z:-142.08 [[ 1.12229079e-02 1.85621049e-02 -9.99764720e-01 1.84760035e+02] [-3.47763720e-02 -9.99215589e-01 -1.89422933e-02 -3.88788318e+01] [-9.99332102e-01 3.49807774e-02 -1.05685819e-02 -1.42083722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:-40.87, Z:-142.21 [[ 2.32229435e-02 -3.73407093e-01 9.27376859e-01 1.83305324e+02] [-6.62168779e-02 9.25015507e-01 3.74114471e-01 -4.08735117e+01] [-9.97534972e-01 -7.00960394e-02 -3.24426904e-03 -1.42209852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.65, Y:-39.28, Z:-142.49 [[ 2.15872079e-02 8.99459109e-01 4.36471423e-01 1.82651633e+02] [-1.06412642e-01 4.36160318e-01 -8.93554994e-01 -3.92808873e+01] [-9.94087693e-01 -2.71567198e-02 1.05129304e-01 -1.42486012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:-39.04, Z:-142.61 [[ 3.02664265e-02 -1.16905912e-01 -9.92681697e-01 1.84858992e+02] [-1.88272742e-02 -9.93027170e-01 1.16372563e-01 -3.90408504e+01] [-9.99364537e-01 1.51673089e-02 -3.22564036e-02 -1.42606077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:-40.34, Z:-142.72 [[ 4.13958510e-02 3.35298239e-01 9.41202143e-01 1.82684096e+02] [-3.73064973e-02 9.41871425e-01 -3.33895857e-01 -4.03360317e+01] [-9.98446097e-01 -2.12910521e-02 5.14983720e-02 -1.42724632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.09, Y:-38.61, Z:-142.86 [[-1.92964371e-02 6.05636249e-01 -7.95507625e-01 1.84093340e+02] [ 4.54000974e-02 -7.94304280e-01 -6.05821378e-01 -3.86141409e+01] [-9.98782498e-01 -4.78063177e-02 -1.21687021e-02 -1.42857852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.11, Y:-40.29, Z:-142.94 [[-5.92406728e-03 -8.89435981e-01 -4.57021379e-01 1.85105665e+02] [ 4.00074053e-02 -4.56874291e-01 8.88631133e-01 -4.02865467e+01] [-9.99181822e-01 -1.30199289e-02 3.82905798e-02 -1.42937431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:-40.79, Z:-142.93 [[-2.04890287e-02 -5.58243432e-02 9.98230355e-01 1.83029802e+02] [-3.41178148e-02 9.97897472e-01 5.51054472e-02 -4.07936568e+01] [-9.99207773e-01 -3.29283813e-02 -2.23505545e-02 -1.42927699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:-39.19, Z:-142.96 [[-2.98893336e-02 9.67148862e-01 2.52447431e-01 1.82812023e+02] [-1.61918480e-02 2.52058649e-01 -9.67576489e-01 -3.91920620e+01] [-9.99422059e-01 -3.30078069e-02 8.12606231e-03 -1.42960156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:-39.24, Z:-143.07 [[ 5.01766085e-03 -2.40320636e-01 -9.70680594e-01 1.84997705e+02] [ 5.66412247e-02 -9.69066119e-01 2.40213716e-01 -3.92360653e+01] [-9.98381988e-01 -5.61858485e-02 8.74961002e-03 -1.43074922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.83, Y:-40.73, Z:-143.09 [[ 1.17170432e-02 -9.97757503e-01 -6.58989911e-02 1.84834425e+02] [ 2.63701362e-02 -6.55722644e-02 9.97499320e-01 -4.07331531e+01] [-9.99583577e-01 -1.34255080e-02 2.55426882e-02 -1.43087175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-40.39, Z:-143.07 [[-4.20155154e-02 3.30081618e-01 9.43016873e-01 1.82739407e+02] [-3.20483877e-02 9.42919385e-01 -3.31475390e-01 -4.03900539e+01] [-9.98602823e-01 -4.41492797e-02 -2.90386603e-02 -1.43066153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:183.05, Y:-38.91, Z:-143.14 [[-5.22883772e-02 9.98016591e-01 -3.50543850e-02 1.83046629e+02] [-2.07144979e-02 -3.61787944e-02 -9.99130624e-01 -3.89119436e+01] [-9.98417165e-01 -5.15167850e-02 2.25651430e-02 -1.43136108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:185.12, Y:-39.54, Z:-143.26 [[ 1.67352422e-02 -4.76934019e-01 -8.78779764e-01 1.85119608e+02] [ 5.94275016e-02 -8.76874602e-01 4.77031765e-01 -3.95356384e+01] [-9.98092332e-01 -6.02069280e-02 1.36682883e-02 -1.43264108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.85, Y:-40.50, Z:-143.46 [[ 5.58037669e-03 1.70119007e-01 9.85407724e-01 1.82846668e+02] [-5.81424905e-02 9.83811168e-01 -1.69514119e-01 -4.04994430e+01] [-9.98292698e-01 -5.63481066e-02 1.53811797e-02 -1.43457164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:182.80, Y:-39.16, Z:-143.55 [[-2.11600141e-02 9.57802693e-01 2.86646568e-01 1.82796421e+02] [-1.90566680e-02 2.86272276e-01 -9.57958782e-01 -3.91583981e+01] [-9.99594466e-01 -2.57329498e-02 1.21950026e-02 -1.43546209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.96, Y:-39.17, Z:-143.67 [[ 2.81093773e-02 -1.86821815e-01 -9.81991585e-01 1.84960852e+02] [ 1.14410785e-01 -9.75322583e-01 1.88828045e-01 -3.91693043e+01] [-9.93035767e-01 -1.17658267e-01 -6.04127993e-03 -1.43669299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.60, Y:-40.90, Z:-143.91 [[ 7.22425594e-02 -9.82915239e-01 1.69288648e-01 1.84600145e+02] [ 1.13038281e-01 1.76707310e-01 9.77750926e-01 -4.09023193e+01] [-9.90960826e-01 -5.14991315e-02 1.23872838e-01 -1.43911153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.67, Y:-39.80, Z:-144.00 [[-3.86949125e-02 6.76910627e-01 7.35047418e-01 1.82672128e+02] [ 2.93591643e-02 7.36050914e-01 -6.76289207e-01 -3.98013210e+01] [-9.98819675e-01 -4.58857377e-03 -4.83549560e-02 -1.43995934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-40.17, Z:-144.08 [[ 2.27540254e-03 -8.82741869e-01 -4.69852760e-01 1.85154267e+02] [ 4.80256781e-02 -4.69215345e-01 8.81776896e-01 -4.01706581e+01] [-9.98843510e-01 -2.45713948e-02 4.13266230e-02 -1.44077965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.13, Y:-40.25, Z:-144.08 [[ 7.52863556e-03 -9.09736065e-01 -4.15118793e-01 1.85126391e+02] [ 3.45697644e-02 -4.14645631e-01 9.09326087e-01 -4.02465905e+01] [-9.99373930e-01 -2.11965436e-02 2.83276455e-02 -1.44079093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.07, Y:-40.68, Z:-144.03 [[-2.68275363e-02 -4.61058659e-02 9.98576253e-01 1.83066822e+02] [-4.24577150e-02 9.98086922e-01 4.49426129e-02 -4.06790755e+01] [-9.98738017e-01 -4.11915664e-02 -2.87337629e-02 -1.44033264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.81, Y:-39.20, Z:-144.08 [[-3.99457124e-02 9.39512629e-01 3.40176954e-01 1.82806274e+02] [-1.75795669e-02 3.39735181e-01 -9.40356829e-01 -3.91969772e+01] [-9.99047196e-01 -4.35433870e-02 2.94526121e-03 -1.44076832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:185.00, Y:-39.08, Z:-144.20 [[ 3.94482213e-03 -1.82763242e-01 -9.83149040e-01 1.85002379e+02] [ 6.35963249e-02 -9.81120608e-01 1.82641341e-01 -3.90753625e+01] [-9.97967908e-01 -6.32451534e-02 7.75272425e-03 -1.44197951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.92, Y:-40.58, Z:-144.28 [[ 2.09038306e-02 -9.92969241e-01 -1.16512300e-01 1.84921052e+02] [ 4.43376127e-02 -1.15502399e-01 9.92317173e-01 -4.05799402e+01] [-9.98797880e-01 -2.59091073e-02 4.16114431e-02 -1.44278478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.82, Y:-40.69, Z:-144.30 [[ 2.87307420e-02 -9.99584053e-01 -2.50321995e-03 1.84821489e+02] [ 4.17672776e-02 -1.30156994e-03 9.99126519e-01 -4.06860464e+01] [-9.98714193e-01 -2.88101989e-02 4.17125095e-02 -1.44301618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:-40.78, Z:-144.44 [[ 1.07687823e-01 -9.84738675e-01 1.36722620e-01 1.84613676e+02] [ 4.29512299e-02 1.42002122e-01 9.88934067e-01 -4.07789437e+01] [-9.93256525e-01 -1.00623752e-01 5.75876365e-02 -1.44444476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.65, Y:-40.99, Z:-144.61 [[ 1.08210525e-01 -5.83708198e-01 8.04720586e-01 1.83652016e+02] [ 1.45284784e-03 8.09565805e-01 5.87027338e-01 -4.09856856e+01] [-9.94126939e-01 -6.23533999e-02 8.84515800e-02 -1.44609555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:-38.95, Z:-144.76 [[-1.96686524e-02 9.87504254e-01 1.56360135e-01 1.82952984e+02] [ 9.74728734e-03 1.56572350e-01 -9.87618393e-01 -3.89522167e+01] [-9.99759038e-01 -1.79010357e-02 -1.27050548e-02 -1.44763677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.68, Y:-40.77, Z:-144.84 [[ 4.45344027e-02 -9.85471062e-01 1.63900800e-01 1.84681544e+02] [ 1.81720706e-02 1.64835540e-01 9.86153650e-01 -4.07652660e+01] [-9.98842562e-01 -4.09393469e-02 2.52489020e-02 -1.44838525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:-39.74, Z:-144.98 [[-5.79822981e-02 6.41364837e-01 7.65041959e-01 1.82744985e+02] [-6.44553116e-02 7.62327294e-01 -6.43974075e-01 -3.97408348e+01] [-9.96234694e-01 -8.66501146e-02 -2.86211808e-03 -1.44983182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:-38.40, Z:-145.12 [[-6.52129673e-02 7.71461305e-01 -6.32925528e-01 1.83910938e+02] [-2.54887044e-02 -6.35356512e-01 -7.71798179e-01 -3.83951359e+01] [-9.97545786e-01 -3.41987978e-02 6.10970326e-02 -1.45123154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:-38.40, Z:-145.15 [[-6.52952696e-02 6.49405225e-01 -7.57634069e-01 1.84132986e+02] [-1.69571235e-02 -7.59866805e-01 -6.49857595e-01 -3.84002895e+01] [-9.97721897e-01 -2.95853324e-02 6.06277525e-02 -1.45149550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:-39.13, Z:-145.07 [[-1.41294902e-01 9.19767869e-01 3.66145897e-01 1.82871879e+02] [-6.58564116e-02 3.60304224e-01 -9.30507281e-01 -3.91254181e+01] [-9.87774612e-01 -1.55588990e-01 9.66346125e-03 -1.45071298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.37, Y:-38.45, Z:-145.30 [[-1.19358630e-01 4.92137388e-01 -8.62295952e-01 1.84371712e+02] [-2.83201498e-02 -8.69838915e-01 -4.92522315e-01 -3.84504965e+01] [-9.92447221e-01 -3.43664383e-02 1.17760186e-01 -1.45295509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:-40.56, Z:-145.28 [[-2.44905187e-02 -9.99314426e-01 -2.77649540e-02 1.84892371e+02] [-5.82272836e-02 -2.63002405e-02 9.97956853e-01 -4.05589621e+01] [-9.98002905e-01 2.60571588e-02 -5.75432579e-02 -1.45278771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:-38.41, Z:-145.37 [[-7.58927813e-02 7.20174677e-01 -6.89629408e-01 1.83990864e+02] [-2.38695250e-02 -6.92738037e-01 -7.20794185e-01 -3.84059785e+01] [-9.96830242e-01 -3.82419491e-02 6.97640438e-02 -1.45374182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.18, Y:-38.42, Z:-145.40 [[-7.73944270e-02 6.07886076e-01 -7.90243393e-01 1.84182658e+02] [-1.58337434e-02 -7.93270274e-01 -6.08663754e-01 -3.84232654e+01] [-9.96874814e-01 -3.45946714e-02 7.10198104e-02 -1.45401051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.28, Y:-38.44, Z:-145.42 [[-7.73798020e-02 5.42950062e-01 -8.36192320e-01 1.84280553e+02] [-1.10493959e-02 -8.39122536e-01 -5.43830195e-01 -3.84446263e+01] [-9.96940458e-01 -3.28420528e-02 7.09304059e-02 -1.45418784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.35, Y:-38.47, Z:-145.45 [[-8.21624380e-02 4.95499006e-01 -8.64713865e-01 1.84345976e+02] [ 9.71160088e-04 -8.67607206e-01 -4.97249227e-01 -3.84650342e+01] [-9.96618478e-01 -4.16949844e-02 7.08035144e-02 -1.45450079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.53, Y:-38.54, Z:-145.50 [[-8.39432216e-02 3.46062181e-01 -9.34448769e-01 1.84534525e+02] [ 2.35415732e-02 -9.36808090e-01 -3.49050709e-01 -3.85442640e+01] [-9.96192416e-01 -5.12988351e-02 7.04918409e-02 -1.45500634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.08, Y:-38.81, Z:-145.40 [[-1.75765666e-01 9.82851109e-01 5.57685251e-02 1.83079899e+02] [-5.33260300e-03 5.56990443e-02 -9.98433363e-01 -3.88138977e+01] [-9.84417591e-01 -1.75787696e-01 -4.54882483e-03 -1.45401907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-40.46, Z:-145.68 [[-5.09313649e-02 -9.88318773e-01 -1.43638429e-01 1.84954783e+02] [-8.22297865e-04 -1.43783544e-01 9.89608820e-01 -4.04605630e+01] [-9.98701817e-01 5.05202415e-02 6.51039974e-03 -1.45683434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:-40.43, Z:-145.69 [[ 1.96831776e-02 -9.83765375e-01 -1.78376734e-01 1.84966796e+02] [ 3.44648696e-03 -1.78343475e-01 9.83962259e-01 -4.04276914e+01] [-9.99800327e-01 -1.99822769e-02 -1.19831759e-04 -1.45691733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:183.04, Y:-40.54, Z:-145.68 [[-2.35512188e-02 -9.97983803e-03 9.99672818e-01 1.83041631e+02] [-9.11314389e-02 9.95808370e-01 7.79429994e-03 -4.05442920e+01] [-9.95560345e-01 -9.09180570e-02 -2.43619778e-02 -1.45684705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:-38.84, Z:-145.81 [[-4.77360402e-02 9.95055950e-01 8.70914896e-02 1.83002166e+02] [-5.86803779e-02 8.42466138e-02 -9.94715598e-01 -3.88383786e+01] [-9.97134837e-01 -5.25943453e-02 5.43686594e-02 -1.45810952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372320588 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:183.37, Y:-38.55, Z:-145.82 [[-5.69235528e-02 9.57944281e-01 -2.81251601e-01 1.83369294e+02] [-3.20448235e-02 -2.83316305e-01 -9.58491002e-01 -3.85501543e+01] [-9.97864138e-01 -4.55480552e-02 4.68245261e-02 -1.45824995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:185.05, Y:-39.09, Z:-145.88 [[ 4.70708678e-03 -2.67848214e-01 -9.63449624e-01 1.85054849e+02] [ 3.44350767e-02 -9.62845476e-01 2.67848493e-01 -3.90919118e+01] [-9.99395852e-01 -3.44372478e-02 4.69117659e-03 -1.45875910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:185.16, Y:-40.01, Z:-145.91 [[ 2.81754251e-02 -8.52466963e-01 -5.22021285e-01 1.85162501e+02] [ 2.63776506e-02 -5.21412701e-01 8.52896837e-01 -4.00100575e+01] [-9.99254905e-01 -3.78004261e-02 7.79505121e-03 -1.45910967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:185.11, Y:-39.39, Z:-146.04 [[ 4.32146027e-02 -4.50645406e-01 -8.91656445e-01 1.85113791e+02] [ 1.06382612e-01 -8.85340433e-01 4.52609167e-01 -3.93865939e+01] [-9.93385745e-01 -1.14416067e-01 9.68120043e-03 -1.46037344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:-40.65, Z:-146.22 [[ 6.84382584e-02 -9.97580262e-01 -1.22402904e-02 1.84789991e+02] [ 6.85027694e-02 -7.54122574e-03 9.97622424e-01 -4.06450338e+01] [-9.95300746e-01 -6.91140351e-02 6.78209023e-02 -1.46215025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.17, Y:-40.97, Z:-146.33 [[ 6.56860188e-02 -8.48939525e-01 5.24392057e-01 1.84172084e+02] [ 5.71828081e-02 5.27865909e-01 8.47400560e-01 -4.09727470e+01] [-9.96200519e-01 -2.56761587e-02 8.32181560e-02 -1.46329401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.552320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.10, Y:-40.96, Z:-146.48 [[ 8.59263504e-02 -8.18815312e-01 5.67589770e-01 1.84095265e+02] [ 4.27619535e-02 5.72202829e-01 8.18996543e-01 -4.09612635e+01] [-9.95383382e-01 -4.61021366e-02 8.41814431e-02 -1.46477631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.79, Y:-40.97, Z:-146.56 [[ 1.00428993e-01 -6.59898305e-01 7.44612815e-01 1.83794914e+02] [ 4.61781657e-02 7.50681567e-01 6.59048377e-01 -4.09692387e+01] [-9.93872021e-01 -3.18027109e-02 1.05863087e-01 -1.46555145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.612320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.69, Y:-39.58, Z:-146.70 [[ 7.33642203e-03 7.31354903e-01 6.81957611e-01 1.82693629e+02] [-5.03049267e-03 6.81994327e-01 -7.31340161e-01 -3.95762303e+01] [-9.99960435e-01 1.93483731e-03 8.68247368e-03 -1.46703476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:-40.68, Z:-146.76 [[ 1.90108873e-02 -1.83815764e-01 9.82776857e-01 1.83230799e+02] [-1.40627449e-02 9.82808105e-01 1.84093639e-01 -4.06758417e+01] [-9.99720374e-01 -1.73203237e-02 1.60990999e-02 -1.46764809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.672320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.99, Y:-40.44, Z:-146.83 [[ 1.54217977e-02 8.10624285e-02 9.96589710e-01 1.82985404e+02] [-1.49551968e-02 9.96615449e-01 -8.08330968e-02 -4.04445845e+01] [-9.99769229e-01 -1.36576036e-02 1.65819064e-02 -1.46831159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:183.35, Y:-38.58, Z:-146.98 [[-5.05194990e-02 9.78849883e-01 -1.98244009e-01 1.83352623e+02] [ 1.46276862e-02 -1.97750979e-01 -9.80143143e-01 -3.85788298e+01] [-9.98615948e-01 -5.24161917e-02 -4.32802851e-03 -1.46977203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:183.31, Y:-38.62, Z:-146.99 [[-1.18192983e-01 9.82699842e-01 -1.42588357e-01 1.83305969e+02] [ 2.28778235e-02 -1.40861884e-01 -9.89764889e-01 -3.86210595e+01] [-9.92727064e-01 -1.20245376e-01 -5.83314723e-03 -1.46990226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.36, Y:-38.59, Z:-147.01 [[-1.83406482e-01 9.65584065e-01 -1.84416585e-01 1.83363036e+02] [ 3.58986335e-02 -1.80894921e-01 -9.82847046e-01 -3.85918797e+01] [-9.82381469e-01 -1.86880822e-01 -1.48584732e-03 -1.47008445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79232058799994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:184.66, Y:-40.75, Z:-147.32 [[-1.10235920e-01 -9.62796447e-01 2.46720578e-01 1.84660637e+02] [ 4.42216229e-03 2.47755874e-01 9.68812403e-01 -4.07485792e+01] [-9.93895611e-01 1.07888965e-01 -2.30539546e-02 -1.47321104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:-40.42, Z:-147.37 [[-4.05845592e-02 -9.89703423e-01 -1.37258981e-01 1.85018764e+02] [ 1.40286762e-02 -1.37923035e-01 9.90343593e-01 -4.04228575e+01] [-9.99077620e-01 3.82670964e-02 1.94817744e-02 -1.47370950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:183.49, Y:-38.49, Z:-147.27 [[-1.11100777e-01 9.33854109e-01 -3.39960469e-01 1.83494630e+02] [ 5.25418605e-02 -3.36080364e-01 -9.40366600e-01 -3.84917697e+01] [-9.92419251e-01 -1.22337615e-01 -1.17276428e-02 -1.47270172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:183.22, Y:-38.68, Z:-147.25 [[-1.84741241e-01 9.79842707e-01 -7.60193630e-02 1.83215097e+02] [ 6.19290925e-02 -6.55907067e-02 -9.95923012e-01 -3.86773155e+01] [-9.80834064e-01 -1.88695864e-01 -4.85634611e-02 -1.47254273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:-38.89, Z:-147.61 [[-1.70518953e-01 -1.49916456e-01 -9.73883126e-01 1.85039403e+02] [ 5.87608964e-02 -9.88146366e-01 1.41823542e-01 -3.88916144e+01] [-9.83600754e-01 -3.30426435e-02 1.77306909e-01 -1.47610796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.86, Y:-40.57, Z:-147.69 [[-1.08244914e-01 -9.93731269e-01 2.79500270e-02 1.84857490e+02] [ 4.85448255e-02 2.27979850e-02 9.98560790e-01 -4.05701003e+01] [-9.92938285e-01 1.09445956e-01 4.57727451e-02 -1.47685949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:-39.26, Z:-147.67 [[-9.87669350e-02 -4.58284991e-01 -8.83300605e-01 1.85206973e+02] [ 6.20626118e-02 -8.88749465e-01 4.54172457e-01 -3.92611743e+01] [-9.93173361e-01 -9.96272103e-03 1.16221424e-01 -1.47670948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:-39.36, Z:-147.69 [[-9.65491982e-02 -5.28136808e-01 -8.43652633e-01 1.85232115e+02] [ 6.67529152e-02 -8.49139958e-01 5.23932611e-01 -3.93604244e+01] [-9.93087257e-01 -5.73099916e-03 1.17238454e-01 -1.47694711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.58, Y:-40.75, Z:-147.75 [[-3.89651142e-02 -9.61113154e-01 2.73392071e-01 1.84580298e+02] [ 4.80798889e-02 2.71479625e-01 9.61242497e-01 -4.07494345e+01] [-9.98083185e-01 5.05995840e-02 3.56319791e-02 -1.47745450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.00, Y:-40.89, Z:-147.74 [[ 8.44689995e-03 -7.37225728e-01 6.75593721e-01 1.84004544e+02] [ 3.42052532e-03 6.75635173e-01 7.37228196e-01 -4.08937168e+01] [-9.99958474e-01 -3.91640738e-03 8.22872198e-03 -1.47741337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:182.76, Y:-39.41, Z:-147.89 [[-3.96039773e-02 7.82548978e-01 6.21328111e-01 1.82760264e+02] [-2.95072383e-02 6.20628843e-01 -7.83549081e-01 -3.94124974e+01] [-9.98779679e-01 -4.93653367e-02 -1.48851141e-03 -1.47891791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.08, Y:-38.30, Z:-148.00 [[-3.41478460e-02 6.83095154e-01 -7.29530627e-01 1.84079226e+02] [-3.25800563e-02 -7.30329235e-01 -6.82317923e-01 -3.82989209e+01] [-9.98885611e-01 4.68461549e-04 4.71944489e-02 -1.48001503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.19, Y:-38.32, Z:-148.02 [[-7.57429595e-02 6.19257011e-01 -7.81526556e-01 1.84188373e+02] [ 1.95810579e-02 -7.82703181e-01 -6.22087062e-01 -3.83183862e+01] [-9.96935096e-01 -6.24218319e-02 4.71585479e-02 -1.48023004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:-40.57, Z:-148.12 [[-2.18887003e-02 -9.95083950e-01 9.65857988e-02 1.84808637e+02] [ 7.49219268e-03 9.64429658e-02 9.95310314e-01 -4.05745815e+01] [-9.99732340e-01 2.25096886e-02 5.34434952e-03 -1.48121615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21232058799995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:185.28, Y:-39.44, Z:-148.13 [[-1.55085994e-03 -6.16843854e-01 -7.87084020e-01 1.85277321e+02] [-2.81464269e-03 -7.87079156e-01 6.16845588e-01 -3.94438035e+01] [-9.99994836e-01 3.17200140e-03 -5.15545516e-04 -1.48134019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:185.21, Y:-39.91, Z:-148.26 [[ 4.46516045e-02 -8.54615062e-01 -5.17338699e-01 1.85210099e+02] [ 7.29205629e-03 -5.17562581e-01 8.55614283e-01 -3.99147120e+01] [-9.98976006e-01 -4.19770135e-02 -1.68780985e-02 -1.48262988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27232058799996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:184.35, Y:-40.81, Z:-148.37 [[ 7.37329403e-02 -8.86017863e-01 4.57750805e-01 1.84347579e+02] [-3.70573944e-04 4.58975821e-01 8.88448681e-01 -4.08113512e+01] [-9.97277953e-01 -6.56775641e-02 3.35133016e-02 -1.48371439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:-40.64, Z:-148.53 [[ 5.08666852e-02 -2.00102467e-01 9.78453669e-01 1.83270783e+02] [-2.93149742e-02 9.79000654e-01 2.01738323e-01 -4.06385457e+01] [-9.98275119e-01 -3.89451038e-02 4.39325194e-02 -1.48534081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.75, Y:-39.84, Z:-148.69 [[ 5.46051924e-02 5.35559599e-01 8.42730199e-01 1.82751823e+02] [-3.59579944e-02 8.44496685e-01 -5.34352292e-01 -3.98421760e+01] [-9.97860359e-01 -1.12447809e-03 6.53715530e-02 -1.48693508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:184.80, Y:-40.51, Z:-148.70 [[ 1.10175311e-01 -9.93730586e-01 1.89979966e-02 1.84797740e+02] [-5.66371827e-02 1.28062094e-02 9.98312692e-01 -4.05097865e+01] [-9.92297148e-01 -1.11065404e-01 -5.48711726e-02 -1.48697407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.54, Y:-40.66, Z:-148.87 [[ 1.74250302e-01 -9.60105450e-01 2.18710670e-01 1.84536318e+02] [-6.97920675e-02 2.09508298e-01 9.75312945e-01 -4.06562198e+01] [-9.82224974e-01 -1.85212845e-01 -3.05008600e-02 -1.48867735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.26, Y:-38.58, Z:-149.39 [[ 1.32873740e-01 9.80853716e-01 -1.42374705e-01 1.83256014e+02] [-4.44873159e-02 -1.37601438e-01 -9.89488112e-01 -3.85801811e+01] [-9.90134056e-01 1.37810854e-01 2.53519315e-02 -1.49391297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.44, Y:-38.54, Z:-149.52 [[ 6.71574898e-02 9.71534642e-01 -2.27179030e-01 1.83439156e+02] [-3.22428269e-02 -2.25460909e-01 -9.73718531e-01 -3.85435496e+01] [-9.97221275e-01 7.27173865e-02 1.61836346e-02 -1.49515666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:183.71, Y:-38.49, Z:-149.65 [[ 3.90091012e-03 9.23062042e-01 -3.84631317e-01 1.83707878e+02] [-1.00699836e-02 -3.84578480e-01 -9.23037371e-01 -3.84851001e+01] [-9.99941687e-01 7.47391688e-03 7.79501355e-03 -1.49649234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:182.91, Y:-39.62, Z:-149.64 [[-5.61976455e-02 7.15033425e-01 6.96827830e-01 1.82913379e+02] [-4.62700940e-02 6.95315748e-01 -7.17213420e-01 -3.96236708e+01] [-9.97346932e-01 -7.25479948e-02 -5.99044408e-03 -1.49643375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:-38.40, Z:-149.81 [[-5.22291977e-02 7.19843065e-01 -6.92169107e-01 1.84174800e+02] [-5.00379939e-02 -6.94130908e-01 -7.18107570e-01 -3.83950338e+01] [-9.97380725e-01 -2.87142870e-03 7.22734033e-02 -1.49807588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:-39.03, Z:-149.71 [[-1.27174908e-01 9.51963621e-01 2.78553060e-01 1.83091277e+02] [-5.89516201e-02 2.73082533e-01 -9.60182606e-01 -3.90296414e+01] [-9.90126885e-01 -1.38532289e-01 2.13905517e-02 -1.49713583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.57, Y:-38.46, Z:-149.96 [[-1.30887143e-01 4.69874869e-01 -8.72975466e-01 1.84565790e+02] [-4.88450347e-02 -8.82537575e-01 -4.67698184e-01 -3.84623086e+01] [-9.90193273e-01 -1.85751622e-02 1.38463876e-01 -1.49964520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:185.40, Y:-39.94, Z:-150.03 [[-8.13256344e-02 -8.23310352e-01 -5.61734995e-01 1.85403595e+02] [-2.10565641e-02 -5.62056833e-01 8.26830537e-01 -3.99371562e+01] [-9.96465134e-01 7.90707269e-02 2.83735414e-02 -1.50029359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.94, Y:-38.68, Z:-150.02 [[-7.35901905e-02 1.34567308e-01 -9.88168064e-01 1.84942238e+02] [-4.00841829e-03 -9.90886609e-01 -1.34639003e-01 -3.86819636e+01] [-9.97280510e-01 -5.94711896e-03 7.34589363e-02 -1.50017473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:-40.58, Z:-150.03 [[-1.85060935e-02 -9.99681000e-01 -1.71878375e-02 1.85043860e+02] [-1.64529057e-02 -1.68839676e-02 9.99722078e-01 -4.05751837e+01] [-9.99693366e-01 1.87837401e-02 -1.61352009e-02 -1.50029794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-38.94, Z:-150.01 [[-8.69864382e-02 9.79504567e-01 1.81670477e-01 1.83124594e+02] [-3.30772760e-03 1.82076735e-01 -9.83278761e-01 -3.89446128e+01] [-9.96204004e-01 -8.61328336e-02 -1.25982724e-02 -1.50014283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.88, Y:-38.64, Z:-150.18 [[-7.35744404e-02 1.88514378e-01 -9.79310539e-01 1.84878517e+02] [-7.29472719e-03 -9.82047408e-01 -1.88493173e-01 -3.86418580e+01] [-9.97263049e-01 -6.72447651e-03 7.36287494e-02 -1.50182240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-38.77, Z:-150.06 [[-1.55519813e-01 9.87824272e-01 4.09808983e-03 1.83279740e+02] [ 1.52519586e-03 4.38867913e-03 -9.99989207e-01 -3.87707538e+01] [-9.87831596e-01 -1.55511884e-01 -2.18915205e-03 -1.50060319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.01, Y:-40.60, Z:-150.32 [[-8.61479740e-02 -9.96281172e-01 1.53386728e-03 1.85012430e+02] [-2.86593559e-02 4.01710922e-03 9.99581164e-01 -4.05962987e+01] [-9.95870056e-01 8.60679325e-02 -2.88988425e-02 -1.50315736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.96, Y:-40.13, Z:-150.17 [[-1.26916089e-01 3.74929571e-01 9.18324629e-01 1.82961820e+02] [-7.72611971e-02 9.19261880e-01 -3.85990030e-01 -4.01313011e+01] [-9.88899901e-01 -1.19939205e-01 -8.77016154e-02 -1.50167322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:184.34, Y:-38.43, Z:-150.48 [[-1.08944190e-01 5.91009677e-01 -7.99273873e-01 1.84337824e+02] [-3.70317399e-02 -8.05914609e-01 -5.90872485e-01 -3.84284653e+01] [-9.93357848e-01 -3.47736223e-02 1.09685831e-01 -1.50478431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:185.31, Y:-40.09, Z:-150.51 [[-4.61613997e-02 -8.81011583e-01 -4.70837249e-01 1.85313953e+02] [-5.73806567e-02 -4.68222867e-01 8.81745319e-01 -4.00863528e+01] [-9.97284606e-01 6.77195486e-02 -2.89392003e-02 -1.50509274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.932320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:183.33, Y:-40.68, Z:-150.41 [[-6.21172418e-02 -1.53861754e-01 9.86137926e-01 1.83332770e+02] [-1.05973587e-01 9.83477390e-01 1.46771325e-01 -4.06820065e+01] [-9.92426847e-01 -9.53875439e-02 -7.73961849e-02 -1.50412394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:-38.47, Z:-150.61 [[-4.46228408e-02 8.94922222e-01 -4.43985381e-01 1.83718692e+02] [-6.37982081e-02 -4.46073684e-01 -8.92719473e-01 -3.84676702e+01] [-9.96964689e-01 -1.15102072e-02 7.69995092e-02 -1.50611039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.992320588 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:185.36, Y:-39.65, Z:-150.61 [[ 1.48173996e-02 -6.70359775e-01 -7.41888278e-01 1.85359658e+02] [-4.44745849e-02 -7.41677268e-01 6.69280839e-01 -3.96495167e+01] [-9.98900624e-01 2.30781716e-02 -4.08037012e-02 -1.50609505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:183.84, Y:-40.89, Z:-150.68 [[ 4.69754340e-02 -5.96234258e-01 8.01434975e-01 1.83842639e+02] [-1.41706712e-01 7.90228483e-01 5.96203114e-01 -4.08911375e+01] [-9.88793465e-01 -1.41575615e-01 -4.73690704e-02 -1.50680209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.052320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:182.82, Y:-39.36, Z:-151.01 [[ 4.13716450e-02 8.48561739e-01 5.27476409e-01 1.82821536e+02] [-1.72436348e-01 5.26070725e-01 -8.32775659e-01 -3.93565874e+01] [-9.84151458e-01 -5.65028066e-02 1.68087299e-01 -1.51006726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:183.04, Y:-38.93, Z:-151.14 [[ 1.40586504e-02 9.85628718e-01 1.68340085e-01 1.83044391e+02] [-1.52648213e-01 1.68498894e-01 -9.73810375e-01 -3.89307494e+01] [-9.88180589e-01 -1.20063537e-02 1.52823330e-01 -1.51137016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-39.12, Z:-151.17 [[ 7.07338274e-02 -2.29559638e-01 -9.70720917e-01 1.85152835e+02] [-3.59994406e-02 -9.73111979e-01 2.27501903e-01 -3.91187173e+01] [-9.96845407e-01 1.88533297e-02 -7.70959534e-02 -1.51173054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.78, Y:-38.79, Z:-151.35 [[ 5.40490068e-02 2.19648111e-01 -9.74080804e-01 1.84784086e+02] [ 3.65231873e-02 -9.75288822e-01 -2.17893942e-01 -3.87896963e+01] [-9.97870113e-01 -2.37995845e-02 -6.07356413e-02 -1.51348979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.172320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:183.86, Y:-41.09, Z:-151.55 [[ 3.68803228e-02 -5.74918522e-01 8.17379065e-01 1.83855156e+02] [ 7.83370844e-03 8.18076709e-01 5.75055764e-01 -4.10942521e+01] [-9.99288985e-01 -1.48051329e-02 3.46746771e-02 -1.51548997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:182.90, Y:-39.57, Z:-151.70 [[-1.45632845e-02 8.16239087e-01 5.77530661e-01 1.82903988e+02] [-4.65241468e-02 5.76413190e-01 -8.15832911e-01 -3.95728969e+01] [-9.98811000e-01 -3.87503280e-02 2.95803579e-02 -1.51698672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23232058799994 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:184.59, Y:-38.62, Z:-151.78 [[ 3.73683370e-03 4.43580394e-01 -8.96226796e-01 1.84588617e+02] [ 1.01442536e-02 -8.96203753e-01 -4.43526693e-01 -3.86156821e+01] [-9.99941563e-01 -7.43416639e-03 -7.84875639e-03 -1.51776877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:184.98, Y:-40.73, Z:-151.90 [[ 1.25114378e-01 -9.92136060e-01 3.52573782e-03 1.84977039e+02] [-1.44584272e-02 1.73001159e-03 9.99893975e-01 -4.07345548e+01] [-9.92036968e-01 -1.25152089e-01 -1.41282776e-02 -1.51896145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:-40.76, Z:-152.18 [[ 1.29822146e-01 -6.70055048e-02 9.89270677e-01 1.83263137e+02] [-3.04309430e-02 9.96974792e-01 7.15207791e-02 -4.07627158e+01] [-9.91070214e-01 -3.93894206e-02 1.27390366e-01 -1.52175390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.30, Y:-38.92, Z:-152.31 [[ 1.53629594e-02 9.99817197e-01 1.13820984e-02 1.83303526e+02] [-2.13103478e-02 1.17082636e-02 -9.99704349e-01 -3.89161726e+01] [-9.99654865e-01 1.51158609e-02 2.14863258e-02 -1.52314576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35232058799994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.39, Y:-39.51, Z:-152.35 [[ 9.94716364e-02 -4.45039930e-01 -8.89969019e-01 1.85388776e+02] [ 7.30167728e-02 -8.88728925e-01 4.52580875e-01 -3.95087247e+01] [-9.92357770e-01 -1.10001626e-01 -5.59079411e-02 -1.52352431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:183.14, Y:-39.25, Z:-152.66 [[-2.07463629e-03 9.50909121e-01 3.09463307e-01 1.83139761e+02] [ 5.59761627e-02 3.09089194e-01 -9.49384295e-01 -3.92536513e+01] [-9.98429950e-01 1.53529413e-02 -5.38694914e-02 -1.52660320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41232058799994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:184.81, Y:-41.00, Z:-152.78 [[ 3.01475172e-02 -9.45690682e-01 3.23666899e-01 1.84807084e+02] [ 2.72439343e-02 3.24471218e-01 9.45503145e-01 -4.09969626e+01] [-9.99174107e-01 -1.96866126e-02 3.55463365e-02 -1.52776023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.71, Y:-41.03, Z:-152.84 [[ 3.32317319e-02 -9.14982449e-01 4.02122830e-01 1.84706966e+02] [ 2.44858386e-02 4.02969641e-01 9.14885737e-01 -4.10334321e+01] [-9.99147685e-01 -2.05569228e-02 3.57954916e-02 -1.52841617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.59, Y:-41.06, Z:-152.96 [[ 4.20616227e-02 -8.73540773e-01 4.84930240e-01 1.84586756e+02] [ 1.64131699e-02 4.85898408e-01 8.73861170e-01 -4.10575813e+01] [-9.98980194e-01 -2.87967764e-02 3.47752486e-02 -1.52957625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.23, Y:-41.10, Z:-153.03 [[ 3.83623762e-02 -7.03698372e-01 7.09462422e-01 1.84229944e+02] [ 1.30557135e-02 7.10277412e-01 7.03800786e-01 -4.10968203e+01] [-9.99178601e-01 -1.77369324e-02 3.64352137e-02 -1.53034067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-41.08, Z:-153.15 [[ 4.57425035e-02 -6.37340798e-01 7.69223199e-01 1.84112999e+02] [ 2.68535640e-03 7.70104886e-01 6.37911634e-01 -4.10758612e+01] [-9.98949655e-01 -2.71140367e-02 3.69380126e-02 -1.53150715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:185.21, Y:-40.57, Z:-153.23 [[ 1.28876939e-01 -9.77810925e-01 -1.65156079e-01 1.85208520e+02] [ 1.82848068e-02 -1.64173533e-01 9.86261992e-01 -4.05722390e+01] [-9.91492007e-01 -1.30126274e-01 -3.27909847e-03 -1.53227312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:184.93, Y:-40.79, Z:-153.41 [[ 1.90539647e-01 -9.78313527e-01 8.12236739e-02 1.84934598e+02] [ 1.10506088e-02 8.48717804e-02 9.96330600e-01 -4.07892910e+01] [-9.81617302e-01 -1.88942910e-01 2.69823992e-02 -1.53409187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:183.55, Y:-40.90, Z:-153.79 [[ 2.20817393e-01 -2.76633228e-01 9.35261320e-01 1.83547785e+02] [-5.38681037e-03 9.58571855e-01 2.84799897e-01 -4.09031952e+01] [-9.75300293e-01 -6.79268463e-02 2.10179167e-01 -1.53786194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:183.26, Y:-39.00, Z:-153.94 [[ 8.87775037e-02 9.85919228e-01 1.41710374e-01 1.83255324e+02] [ 1.64691382e-03 1.42126648e-01 -9.89847111e-01 -3.90038871e+01] [-9.96050120e-01 8.81095404e-02 1.09939250e-02 -1.53940600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:185.17, Y:-38.96, Z:-153.86 [[ 1.05861789e-01 2.40309466e-02 -9.94090436e-01 1.85167332e+02] [ 1.08655195e-01 -9.94001432e-01 -1.24579833e-02 -3.89553222e+01] [-9.88426694e-01 -1.06694266e-01 -1.07837857e-01 -1.53860575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71232058799995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:184.85, Y:-40.99, Z:-154.16 [[ 1.47747290e-01 -9.41707604e-01 3.02254078e-01 1.84846106e+02] [ 8.06013667e-02 3.16056251e-01 9.45310460e-01 -4.09875027e+01] [-9.85735339e-01 -1.15304967e-01 1.22599375e-01 -1.54159963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.12, Y:-41.09, Z:-154.35 [[ 1.63361237e-01 -6.06572839e-01 7.78063299e-01 1.84118192e+02] [ 6.36861060e-02 7.93496659e-01 6.05233123e-01 -4.10863332e+01] [-9.84508601e-01 -4.93198096e-02 1.68256858e-01 -1.54349519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:183.35, Y:-39.06, Z:-154.43 [[ 4.05631629e-02 9.82145735e-01 1.83696450e-01 1.83349931e+02] [ 7.63802514e-02 1.80261889e-01 -9.80648616e-01 -3.90609007e+01] [-9.96253325e-01 5.38089907e-02 -6.77045458e-02 -1.54433939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:184.52, Y:-41.05, Z:-154.60 [[ 8.55111556e-02 -7.81132906e-01 6.18481387e-01 1.84521231e+02] [ 3.98131977e-02 6.22938216e-01 7.81257248e-01 -4.10479751e+01] [-9.95541436e-01 -4.21824884e-02 8.43675655e-02 -1.54598637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83232058799996 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:183.30, Y:-39.24, Z:-154.72 [[-2.29124193e-02 9.23870531e-01 3.82018670e-01 1.83301526e+02] [ 3.50096738e-02 3.82626091e-01 -9.23239729e-01 -3.92426399e+01] [-9.99124288e-01 -7.77930674e-03 -4.11112953e-02 -1.54720943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:185.56, Y:-40.40, Z:-154.80 [[ 3.62051675e-02 -9.67059881e-01 -2.51961054e-01 1.85558425e+02] [ 1.55289801e-02 -2.51551489e-01 9.67719329e-01 -4.04007790e+01] [-9.99223717e-01 -3.89491385e-02 5.90998984e-03 -1.54799915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89232058799996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:183.40, Y:-40.33, Z:-154.98 [[-1.49018691e-02 2.17964283e-01 9.75842972e-01 1.83402515e+02] [-4.62292142e-02 9.74757489e-01 -2.18427785e-01 -4.03279403e+01] [-9.98819700e-01 -4.83674361e-02 -4.44939100e-03 -1.54982573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:183.59, Y:-40.49, Z:-155.11 [[ 1.39578535e-02 -1.33054936e-02 9.99814054e-01 1.83592440e+02] [-1.33651963e-01 9.90914004e-01 1.50528935e-02 -4.04900551e+01] [-9.90930033e-01 -1.33837217e-01 1.20527272e-02 -1.55109922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95232058799996 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:183.29, Y:-39.21, Z:-155.35 [[ 1.33357014e-02 8.86117948e-01 4.63267894e-01 1.83291308e+02] [-1.14877099e-01 4.61599051e-01 -8.79618991e-01 -3.92126598e+01] [-9.93290195e-01 -4.14885355e-02 1.07950406e-01 -1.55352717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:183.36, Y:-39.06, Z:-155.44 [[ 4.78675032e-03 9.41565360e-01 3.36796319e-01 1.83364395e+02] [-1.44053694e-01 3.33936499e-01 -9.31522919e-01 -3.90588449e+01] [-9.89558295e-01 -4.40577864e-02 1.37234439e-01 -1.55435501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:185.52, Y:-38.95, Z:-155.52 [[ 5.83534483e-02 -1.28272360e-01 -9.90020746e-01 1.85521712e+02] [-4.08559617e-02 -9.91186629e-01 1.26015301e-01 -3.89492603e+01] [-9.97459606e-01 3.30948223e-02 -6.30798484e-02 -1.55524524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:183.24, Y:-39.60, Z:-155.64 [[ 1.98145649e-02 7.59976330e-01 6.49648644e-01 1.83241589e+02] [-7.70100910e-02 6.49005942e-01 -7.56875639e-01 -3.95963885e+01] [-9.96833401e-01 -3.50323397e-02 7.13856167e-02 -1.55638297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.61, Y:-38.51, Z:-155.78 [[-3.75230671e-02 6.94450061e-01 -7.18561850e-01 1.84607069e+02] [ 1.63645825e-02 -7.18544793e-01 -6.95288128e-01 -3.85114354e+01] [-9.99161759e-01 -3.78483078e-02 1.55976192e-02 -1.55783610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:185.82, Y:-39.92, Z:-155.82 [[ 3.75180394e-02 -7.64463365e-01 -6.43574518e-01 1.85817625e+02] [ 1.21309579e-02 -6.43632069e-01 7.65238917e-01 -3.99236065e+01] [-9.99222316e-01 -3.65174392e-02 -1.48741404e-02 -1.55820553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13232058799997 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:183.94, Y:-40.84, Z:-155.99 [[ 3.13282554e-02 -3.05659964e-01 9.51625203e-01 1.83936529e+02] [-1.05374662e-01 9.45776591e-01 3.07250419e-01 -4.08442883e+01] [-9.93938993e-01 -1.09902804e-01 -2.57928485e-03 -1.55987733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:183.30, Y:-39.43, Z:-156.19 [[ 1.92297083e-02 8.46610235e-01 5.31865894e-01 1.83304932e+02] [-1.12226391e-01 5.30430143e-01 -8.40267279e-01 -3.94317993e+01] [-9.93496581e-01 -4.35312948e-02 1.05212028e-01 -1.56193661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:184.72, Y:-38.55, Z:-156.35 [[-3.21317881e-02 6.45495543e-01 -7.63087841e-01 1.84719206e+02] [-5.70863270e-03 -7.63588143e-01 -6.45678371e-01 -3.85460041e+01] [-9.99467338e-01 -1.63906124e-02 2.82203494e-02 -1.56345603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:185.76, Y:-40.15, Z:-156.46 [[ 8.20342663e-02 -8.40007921e-01 -5.36336715e-01 1.85762612e+02] [ 1.20924453e-02 -5.37272003e-01 8.43322339e-01 -4.01493677e+01] [-9.96556146e-01 -7.56669518e-02 -3.39169648e-02 -1.56457077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:183.99, Y:-40.99, Z:-156.67 [[ 7.87782810e-02 -3.49152489e-01 9.33748640e-01 1.83990074e+02] [-1.86452876e-02 9.35979729e-01 3.51559811e-01 -4.09932948e+01] [-9.96717781e-01 -4.51052896e-02 6.72248254e-02 -1.56666599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:183.55, Y:-39.14, Z:-156.82 [[-3.65763435e-02 9.72165711e-01 2.31421697e-01 1.83550446e+02] [ 6.70397449e-04 2.31600471e-01 -9.72810759e-01 -3.91406143e+01] [-9.99330637e-01 -3.54267159e-02 -9.12283581e-03 -1.56822860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312320588 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:184.72, Y:-38.56, Z:-156.79 [[-2.55568982e-02 6.65640633e-01 -7.45834696e-01 1.84717939e+02] [ 4.93406125e-02 -7.44329161e-01 -6.65987691e-01 -3.85614811e+01] [-9.98454981e-01 -5.38205203e-02 -1.38203720e-02 -1.56788701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:185.46, Y:-38.89, Z:-156.91 [[ 2.63157296e-02 8.41667817e-02 -9.96104129e-01 1.85456950e+02] [ 7.54510381e-02 -9.93774109e-01 -8.19765896e-02 -3.88869763e+01] [-9.96802199e-01 -7.29998168e-02 -3.25023618e-02 -1.56911852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.83, Y:-39.66, Z:-157.09 [[ 7.31897025e-02 -5.43651303e-01 -8.36113945e-01 1.85826811e+02] [ 1.17790266e-01 -8.27782517e-01 5.48544946e-01 -3.96593734e+01] [-9.90337680e-01 -1.38633925e-01 3.45167543e-03 -1.57092189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-39.36, Z:-157.20 [[ 5.87644422e-02 -2.65831864e-01 -9.62226668e-01 1.85679658e+02] [ 2.11012260e-01 -9.38805008e-01 2.72248018e-01 -3.93577182e+01] [-9.75715413e-01 -2.19040127e-01 9.25429780e-04 -1.57199578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.432320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:185.52, Y:-40.76, Z:-157.53 [[ 1.15129773e-01 -9.89126857e-01 -9.15051731e-02 1.85519252e+02] [ 1.94330420e-01 -6.79105514e-02 9.78582569e-01 -4.07564072e+01] [-9.74156468e-01 -1.30446228e-01 1.84398911e-01 -1.57533973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:185.11, Y:-41.04, Z:-157.69 [[ 1.34303212e-01 -9.40924230e-01 3.10844400e-01 1.85109461e+02] [ 1.79505015e-01 3.31597309e-01 9.26186360e-01 -4.10424538e+01] [-9.74546354e-01 -6.85916747e-02 2.13435201e-01 -1.57689599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.492320588 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:184.62, Y:-41.11, Z:-157.87 [[ 1.36933882e-01 -7.42517211e-01 6.55680793e-01 1.84623428e+02] [ 1.26955281e-01 6.69612154e-01 7.31779967e-01 -4.11129985e+01] [-9.82411049e-01 -1.69633324e-02 1.85959073e-01 -1.57866837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:183.43, Y:-39.45, Z:-157.90 [[ 5.00932108e-03 8.59884797e-01 5.10463557e-01 1.83425901e+02] [ 9.55614755e-02 5.07722117e-01 -8.56204565e-01 -3.94508746e+01] [-9.95410926e-01 5.30696542e-02 -7.96285169e-02 -1.57901174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.552320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:185.85, Y:-39.56, Z:-157.98 [[ 6.46594116e-02 -5.11282981e-01 -8.56976589e-01 1.85849094e+02] [ 1.76257464e-01 -8.39420489e-01 5.14107526e-01 -3.95567031e+01] [-9.82218136e-01 -1.84290411e-01 3.58410070e-02 -1.57979321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.38, Y:-40.82, Z:-158.27 [[ 9.02738715e-02 -9.88777152e-01 1.19039367e-01 1.85379078e+02] [ 1.20334181e-01 1.29481055e-01 9.84253190e-01 -4.08238033e+01] [-9.88620409e-01 -7.45278412e-02 1.30672445e-01 -1.58271255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.612320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:184.93, Y:-41.00, Z:-158.47 [[ 1.03028279e-01 -8.66567133e-01 4.88309920e-01 1.84927209e+02] [ 1.05435462e-01 4.97670998e-01 8.60933761e-01 -4.10044746e+01] [-9.89074586e-01 -3.72153423e-02 1.42641092e-01 -1.58474145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:184.75, Y:-41.03, Z:-158.55 [[ 1.01677268e-01 -7.87267161e-01 6.08171152e-01 1.84753970e+02] [ 1.05403519e-01 6.16423728e-01 7.80328063e-01 -4.10282844e+01] [-9.89217788e-01 -1.52382464e-02 1.45657010e-01 -1.58552204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.672320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:185.27, Y:-38.75, Z:-158.35 [[ 5.33285583e-02 2.72335931e-01 -9.60723272e-01 1.85272022e+02] [ 2.05228372e-01 -9.44543369e-01 -2.56357446e-01 -3.87468428e+01] [-9.77260139e-01 -1.83496500e-01 -1.06262196e-01 -1.58347037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:185.57, Y:-40.67, Z:-158.77 [[ 1.13607614e-01 -9.92261477e-01 -5.01046100e-02 1.85566028e+02] [ 1.77095177e-01 -2.93987806e-02 9.83754548e-01 -4.06721056e+01] [-9.77614755e-01 -1.20635291e-01 1.72384797e-01 -1.58773976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.31, Y:-38.62, Z:-158.65 [[ 4.39904029e-02 9.03283137e-01 -4.26783809e-01 1.84310002e+02] [ 2.31525573e-01 -4.24784767e-01 -8.75187872e-01 -3.86151146e+01] [-9.71833707e-01 -6.03114986e-02 -2.27819599e-01 -1.58654662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:185.42, Y:-40.84, Z:-159.16 [[ 4.91391160e-02 -9.79764651e-01 1.94027258e-01 1.85421318e+02] [ 2.06069605e-01 2.00027543e-01 9.57874887e-01 -4.08373152e+01] [-9.77302750e-01 -7.08600494e-03 2.11728891e-01 -1.59160902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79232058799994 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:185.54, Y:-40.74, Z:-159.19 [[ 7.30880328e-02 -9.94667500e-01 7.27647098e-02 1.85544343e+02] [ 2.53082104e-01 8.90690946e-02 9.63335946e-01 -4.07361790e+01] [-9.64680044e-01 -5.19928833e-02 2.58242429e-01 -1.59194357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:185.27, Y:-40.87, Z:-159.34 [[ 9.07259053e-02 -9.42421707e-01 3.21885286e-01 1.85267742e+02] [ 2.21581812e-01 3.34219042e-01 9.16078126e-01 -4.08667755e+01] [-9.70912102e-01 -1.17880923e-02 2.39145835e-01 -1.59341692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85232058799994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:183.76, Y:-40.41, Z:-159.47 [[ 7.41362762e-02 9.58113194e-02 9.92634879e-01 1.83755214e+02] [ 9.91793821e-02 9.89730844e-01 -1.02938362e-01 -4.04068676e+01] [-9.92304017e-01 1.06080381e-01 6.38724518e-02 -1.59471048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:184.25, Y:-38.49, Z:-159.35 [[-3.36161119e-02 9.54207472e-01 -2.97250833e-01 1.84246390e+02] [ 1.55918459e-01 -2.88770319e-01 -9.44616926e-01 -3.84871955e+01] [-9.87197747e-01 -7.81012403e-02 -1.39071223e-01 -1.59353032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91232058799994 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:185.92, Y:-40.27, Z:-159.64 [[-1.15664897e-02 -9.69358174e-01 -2.45379189e-01 1.85922010e+02] [ 1.35029420e-01 -2.44662031e-01 9.60160167e-01 -4.02720734e+01] [-9.90774077e-01 -2.20277270e-02 1.33721753e-01 -1.59637585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:184.15, Y:-40.67, Z:-159.68 [[-2.28712480e-02 -2.40331532e-01 9.70421383e-01 1.84150315e+02] [ 6.98145171e-02 9.67921646e-01 2.41357869e-01 -4.06726046e+01] [-9.97297769e-01 7.32696559e-02 -5.35894613e-03 -1.59675448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97232058799995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:184.03, Y:-38.61, Z:-159.55 [[-9.11769678e-02 9.92130500e-01 -8.58127735e-02 1.84025614e+02] [ 9.29749719e-02 -7.73143416e-02 -9.92662152e-01 -3.86055844e+01] [-9.91484955e-01 -9.84863652e-02 -8.51940181e-02 -1.59548955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:186.11, Y:-39.58, Z:-159.82 [[-6.48531523e-02 -7.03624205e-01 -7.07606562e-01 1.86105701e+02] [ 8.73828888e-02 -7.10379739e-01 6.98373007e-01 -3.95801184e+01] [-9.94061517e-01 -1.65410145e-02 1.07555081e-01 -1.59824584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03232058799995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:186.11, Y:-39.64, Z:-159.80 [[-5.15622020e-02 -7.34593219e-01 -6.76545743e-01 1.86107189e+02] [ 9.37462776e-02 -6.78015844e-01 7.29044683e-01 -3.96390357e+01] [-9.94260014e-01 -2.58324958e-02 1.03825370e-01 -1.59801609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:184.83, Y:-40.84, Z:-159.84 [[-2.45539798e-02 -7.23054554e-01 6.90354412e-01 1.84834495e+02] [ 2.65972778e-02 6.89845676e-01 7.23467711e-01 -4.08432825e+01] [-9.99344629e-01 3.61255596e-02 2.29282601e-03 -1.59842782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09232058799995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:183.55, Y:-39.55, Z:-159.76 [[-9.71160058e-02 6.94996707e-01 7.12424072e-01 1.83551559e+02] [ 8.01349548e-03 7.16330466e-01 -6.97715162e-01 -3.95549004e+01] [-9.95240808e-01 -6.20503026e-02 -7.51365067e-02 -1.59755090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:184.95, Y:-38.28, Z:-159.89 [[-7.46255489e-02 6.37744341e-01 -7.66624538e-01 1.84954556e+02] [ 1.69560642e-02 -7.67845518e-01 -6.40410612e-01 -3.82824470e+01] [-9.97067460e-01 -6.07899284e-02 4.64872593e-02 -1.59893299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:185.65, Y:-38.58, Z:-159.98 [[-6.51141889e-02 8.89685472e-02 -9.93903788e-01 1.85645269e+02] [ 3.22378041e-02 -9.95310057e-01 -9.12064421e-02 -3.85821128e+01] [-9.97356940e-01 -3.79801091e-02 6.19406565e-02 -1.59979289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.73, Y:-40.44, Z:-160.05 [[ 7.23283908e-04 -9.99511076e-01 -3.12583666e-02 1.85725107e+02] [ 9.82392287e-03 -3.12497644e-02 9.99463327e-01 -4.04388745e+01] [-9.99951483e-01 -1.02997553e-03 9.79651727e-03 -1.60046822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21232058799995 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:183.79, Y:-40.32, Z:-160.05 [[-2.93079618e-02 1.17423668e-01 9.92649347e-01 1.83790127e+02] [-4.44257438e-02 9.91941605e-01 -1.18651616e-01 -4.03202127e+01] [-9.98582694e-01 -4.75766226e-02 -2.38551529e-02 -1.60050541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.30, Y:-38.37, Z:-160.16 [[-1.73895952e-02 9.32307446e-01 -3.61248429e-01 1.84298891e+02] [-3.46421044e-02 -3.61647939e-01 -9.31670915e-01 -3.83678069e+01] [-9.99248481e-01 -3.68697431e-03 3.85860031e-02 -1.60160650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27232058799996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.36, Y:-38.34, Z:-160.18 [[-1.47698547e-02 9.11823267e-01 -4.10317171e-01 1.84361152e+02] [-3.49063543e-02 -4.10582003e-01 -9.11155291e-01 -3.83440825e+01] [-9.99281441e-01 8.65045278e-04 3.78926625e-02 -1.60182056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:186.02, Y:-39.68, Z:-160.28 [[ 7.51853809e-02 -7.42152764e-01 -6.66000325e-01 1.86021752e+02] [ 3.30771441e-02 -6.65667028e-01 7.45515466e-01 -3.96777403e+01] [-9.96620821e-01 -7.80812530e-02 -2.55001351e-02 -1.60283390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33232058799996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:184.57, Y:-40.85, Z:-160.50 [[ 1.00176223e-01 -6.03474068e-01 7.91064962e-01 1.84570014e+02] [ 4.66352079e-02 7.97038404e-01 6.02125353e-01 -4.08507908e+01] [-9.93876190e-01 -2.34271647e-02 1.07987436e-01 -1.60498792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:184.40, Y:-40.80, Z:-160.61 [[ 1.12372244e-01 -4.84356063e-01 8.67624160e-01 1.84400953e+02] [ 3.40789538e-02 8.74519475e-01 4.83791600e-01 -4.07961331e+01] [-9.93081620e-01 -2.47970243e-02 1.14778064e-01 -1.60609287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39232058799996 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:183.89, Y:-38.72, Z:-160.72 [[ 1.43177925e-03 9.97576966e-01 6.95567924e-02 1.83890969e+02] [ 3.25054267e-02 6.94736790e-02 -9.97054063e-01 -3.87155345e+01] [-9.99470533e-01 3.68853453e-03 -3.23271939e-02 -1.60722807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:185.98, Y:-40.16, Z:-160.77 [[-7.83790325e-03 -9.52616767e-01 -3.04072134e-01 1.85976361e+02] [-4.50739019e-03 -3.04044729e-01 9.52647094e-01 -4.01609098e+01] [-9.99959125e-01 8.83732751e-03 -1.91074230e-03 -1.60774040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45232058799996 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:184.03, Y:-40.52, Z:-160.79 [[-1.94364186e-02 -9.76016286e-02 9.95035752e-01 1.84025435e+02] [-4.54699629e-02 9.94280302e-01 9.66393452e-02 -4.05248793e+01] [-9.98776606e-01 -4.33659160e-02 -2.37631906e-02 -1.60785044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:183.58, Y:-39.38, Z:-160.85 [[-1.68158383e-02 7.88055237e-01 6.15374822e-01 1.83581542e+02] [-3.61899895e-02 6.14578842e-01 -7.88024830e-01 -3.93801911e+01] [-9.99203439e-01 -3.55217064e-02 1.81850523e-02 -1.60854965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51232058799997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:183.88, Y:-38.72, Z:-160.92 [[-2.83306453e-02 9.95885613e-01 8.60768249e-02 1.83880268e+02] [-3.21839906e-02 8.51579733e-02 -9.95847534e-01 -3.87196684e+01] [-9.99080360e-01 -3.09832990e-02 2.96389929e-02 -1.60921256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:184.32, Y:-38.39, Z:-161.01 [[-2.08520265e-02 9.38974849e-01 -3.43353208e-01 1.84324591e+02] [-3.21777863e-02 -3.43880261e-01 -9.38462016e-01 -3.83923078e+01] [-9.99264621e-01 -8.52048868e-03 3.73847324e-02 -1.61007354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57232058799997 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:186.07, Y:-39.67, Z:-161.13 [[ 6.30185738e-02 -7.31871560e-01 -6.78522423e-01 1.86069919e+02] [ 3.53174677e-02 -6.77812547e-01 7.34386021e-01 -3.96663522e+01] [-9.97387255e-01 -7.02436535e-02 -1.68669298e-02 -1.61129826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:183.65, Y:-39.20, Z:-161.40 [[ 1.36427473e-03 8.72361298e-01 4.88859800e-01 1.83651176e+02] [ 3.52374409e-02 4.88514719e-01 -8.71843846e-01 -3.91990858e+01] [-9.99378037e-01 1.84156028e-02 -3.00733114e-02 -1.61396666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63232058799997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:185.78, Y:-40.45, Z:-161.48 [[ 1.84961498e-02 -9.99717760e-01 -1.49094657e-02 1.85779971e+02] [ 5.05222763e-02 -1.39584430e-02 9.98625386e-01 -4.04493851e+01] [-9.98551647e-01 -1.92239848e-02 5.02498394e-02 -1.61484062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:185.24, Y:-40.75, Z:-161.62 [[ 3.92889512e-02 -8.87763457e-01 4.58620130e-01 1.85236021e+02] [ 1.39570719e-02 4.59417298e-01 8.88110886e-01 -4.07546835e+01] [-9.99130411e-01 -2.84919512e-02 3.04406022e-02 -1.61616313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692320588 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:183.65, Y:-39.36, Z:-161.79 [[-4.46699641e-02 7.62703552e-01 6.45203756e-01 1.83653529e+02] [-3.94148738e-02 6.44000023e-01 -7.64009449e-01 -3.93642760e+01] [-9.98223954e-01 -5.95588992e-02 1.29440631e-03 -1.61785309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:184.73, Y:-38.23, Z:-161.91 [[-2.78783836e-02 8.10979002e-01 -5.84410690e-01 1.84732052e+02] [-4.14970330e-02 -5.85072869e-01 -8.09918350e-01 -3.82267137e+01] [-9.98749614e-01 1.67209525e-03 4.99641083e-02 -1.61907209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752320588 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:186.17, Y:-39.69, Z:-161.91 [[ 1.66995439e-02 -8.01214151e-01 -5.98144639e-01 1.86169496e+02] [-2.92428706e-02 -5.98363524e-01 8.00690919e-01 -3.96949371e+01] [-9.99432829e-01 4.12029311e-03 -3.34221997e-02 -1.61908816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:185.35, Y:-40.69, Z:-161.97 [[ 2.24551661e-02 -9.13467429e-01 4.06291793e-01 1.85348033e+02] [-7.83502573e-02 4.03536398e-01 9.11602771e-01 -4.06887865e+01] [-9.96672967e-01 -5.23032582e-02 -6.25089313e-02 -1.61972946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.812320588 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:183.70, Y:-39.09, Z:-162.20 [[ 2.89389066e-02 8.95397351e-01 4.44326595e-01 1.83701714e+02] [-5.35169850e-02 4.45263102e-01 -8.93799028e-01 -3.90862258e+01] [-9.98147520e-01 2.08654683e-03 6.08043939e-02 -1.62197052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:183.73, Y:-39.02, Z:-162.26 [[ 2.59434532e-02 9.18400521e-01 3.94800481e-01 1.83731167e+02] [-5.48054238e-02 3.95646147e-01 -9.16766324e-01 -3.90228776e+01] [-9.98159959e-01 2.14687650e-03 6.05977571e-02 -1.62259496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.872320588 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:183.76, Y:-38.96, Z:-162.32 [[ 2.05534256e-02 9.37938151e-01 3.46192983e-01 1.83763573e+02] [-5.63426966e-02 3.46802474e-01 -9.36244383e-01 -3.89647178e+01] [-9.98199908e-01 -2.62417001e-04 5.99739435e-02 -1.62324149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:183.75, Y:-39.02, Z:-162.39 [[ 9.57176238e-03 9.23639329e-01 3.83143277e-01 1.83748813e+02] [-1.09274960e-01 3.81832256e-01 -9.17748937e-01 -3.90175756e+01] [-9.93965474e-01 -3.30834915e-02 1.04585459e-01 -1.62392532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.932320588 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:185.97, Y:-38.89, Z:-162.49 [[ 4.65152164e-02 -1.89930197e-01 -9.80695088e-01 1.85974101e+02] [-3.63562872e-03 -9.81783447e-01 1.89968538e-01 -3.88940361e+01] [-9.98910965e-01 -5.27098440e-03 -4.63583852e-02 -1.62494740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:184.14, Y:-40.61, Z:-162.63 [[ 5.23955750e-02 -1.43865691e-01 9.88209171e-01 1.84143415e+02] [-1.80739523e-02 9.89269731e-01 1.44978384e-01 -4.06101008e+01] [-9.98462837e-01 -2.54570713e-02 4.92331347e-02 -1.62632075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.992320588 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:184.40, Y:-38.49, Z:-162.77 [[-3.63496903e-02 9.58598637e-01 -2.82431148e-01 1.84397635e+02] [ 3.15343840e-02 -2.81376918e-01 -9.59079044e-01 -3.84909951e+01] [-9.98841470e-01 -4.37685185e-02 -2.00008537e-02 -1.62770498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:186.16, Y:-39.11, Z:-162.84 [[-1.01463221e-02 -3.55664708e-01 -9.34558542e-01 1.86164217e+02] [ 1.26927812e-02 -9.34577163e-01 3.55533992e-01 -3.91070444e+01] [-9.99867964e-01 -8.25478474e-03 1.39968952e-02 -1.62843690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.052320588 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:185.38, Y:-40.77, Z:-162.96 [[ 8.60529847e-02 -9.11369375e-01 4.02493162e-01 1.85376078e+02] [-4.68245015e-02 3.99845654e-01 9.15385667e-01 -4.07733625e+01] [-9.95189605e-01 -9.76182105e-02 -8.26650474e-03 -1.62956133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:184.04, Y:-40.48, Z:-163.13 [[ 7.67065546e-02 -1.12635758e-02 9.96990088e-01 1.84037496e+02] [-8.18257814e-02 9.96492056e-01 1.75534720e-02 -4.04843324e+01] [-9.93690418e-01 -8.29259594e-02 7.55158214e-02 -1.63134172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.112320588 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:184.63, Y:-38.41, Z:-163.36 [[-2.79395993e-03 8.91793736e-01 -4.52433560e-01 1.84634188e+02] [-9.70262783e-03 -4.52438204e-01 -8.91742973e-01 -3.84099211e+01] [-9.99949025e-01 1.89830031e-03 9.91683694e-03 -1.63360542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:184.39, Y:-38.52, Z:-163.37 [[-1.03571227e-02 9.65932712e-01 -2.58586011e-01 1.84390891e+02] [-7.01758923e-03 -2.58663726e-01 -9.65941939e-01 -3.85153051e+01] [-9.99921739e-01 -8.18972877e-03 9.45753095e-03 -1.63365978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.172320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.58, Y:-38.43, Z:-163.38 [[-1.13267187e-02 9.12231279e-01 -4.09518985e-01 1.84575006e+02] [-5.18020444e-03 -4.09593293e-01 -9.12253528e-01 -3.84311220e+01] [-9.99922432e-01 -8.21144702e-03 9.36489253e-03 -1.63381480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:184.77, Y:-38.38, Z:-163.40 [[-1.52603720e-02 8.36165461e-01 -5.48264938e-01 1.84769371e+02] [-3.33374836e-03 -5.48368291e-01 -8.36230294e-01 -3.83773229e+01] [-9.99877996e-01 -1.09334081e-02 1.11558694e-02 -1.63401654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23232058799994 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:185.07, Y:-38.36, Z:-163.43 [[-1.98253229e-02 6.82536994e-01 -7.30582103e-01 1.85073401e+02] [ 3.38061180e-03 -7.30675780e-01 -6.82716248e-01 -3.83554697e+01] [-9.99797744e-01 -1.60048845e-02 1.21784907e-02 -1.63429705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:186.25, Y:-39.92, Z:-163.46 [[ 4.18692128e-02 -8.38466624e-01 -5.43342148e-01 1.86249475e+02] [ 1.73521097e-02 -5.43126770e-01 8.39471391e-01 -3.99177607e+01] [-9.98972409e-01 -4.45761388e-02 -8.19112549e-03 -1.63463124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:184.95, Y:-40.91, Z:-163.58 [[ 2.47227192e-02 -6.82599181e-01 7.30374660e-01 1.84948798e+02] [ 8.39946234e-03 7.30714015e-01 6.82632022e-01 -4.09054096e+01] [-9.99659060e-01 -1.07417653e-02 2.37987035e-02 -1.63584174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.81, Y:-40.87, Z:-163.74 [[ 3.92271298e-02 -6.05867114e-01 7.94598183e-01 1.84812115e+02] [-1.33337867e-02 7.94822053e-01 6.06696064e-01 -4.08675333e+01] [-9.99141353e-01 -3.43939479e-02 2.31000850e-02 -1.63736601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:184.12, Y:-40.51, Z:-163.90 [[ 3.15576576e-02 -3.69700221e-02 9.98817967e-01 1.84124340e+02] [-2.39736442e-02 9.99000197e-01 3.77342145e-02 -4.05128398e+01] [-9.99214381e-01 -2.51361099e-02 3.06398000e-02 -1.63898296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:183.85, Y:-40.13, Z:-163.98 [[ 2.84183246e-02 3.27095876e-01 9.44563755e-01 1.83853836e+02] [-2.23257466e-02 9.44917380e-01 -3.26546637e-01 -4.01290756e+01] [-9.99346767e-01 -1.18081827e-02 3.41556285e-02 -1.63980642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41232058799994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:185.69, Y:-40.60, Z:-164.03 [[ 1.20165962e-01 -9.83406449e-01 1.35911356e-01 1.85692592e+02] [-4.81906040e-02 1.30963775e-01 9.90215207e-01 -4.05994907e+01] [-9.91583485e-01 -1.25539814e-01 -3.16535627e-02 -1.64026223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:183.92, Y:-40.32, Z:-164.31 [[ 1.36169248e-01 1.61711368e-01 9.77398266e-01 1.83915887e+02] [-7.26185698e-02 9.85562949e-01 -1.52945142e-01 -4.03158695e+01] [-9.88020485e-01 -5.01508392e-02 1.45946613e-01 -1.64308226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:184.95, Y:-38.36, Z:-164.39 [[ 5.92456287e-02 7.56540922e-01 -6.51257083e-01 1.84947569e+02] [ 3.22281666e-02 -6.53512590e-01 -7.56229225e-01 -3.83609666e+01] [-9.97723058e-01 2.38144541e-02 -6.30996912e-02 -1.64392459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:185.86, Y:-40.53, Z:-164.52 [[ 1.31445783e-01 -9.91226912e-01 -1.38280331e-02 1.85861233e+02] [ 1.79491888e-04 -1.39252662e-02 9.99903023e-01 -4.05281029e+01] [-9.91323345e-01 -1.31435518e-01 -1.65250033e-03 -1.64515892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.20, Y:-40.61, Z:-164.86 [[ 1.11450029e-01 -1.24386929e-01 9.85954757e-01 1.84195069e+02] [-1.38918968e-02 9.91843777e-01 1.26700189e-01 -4.06098958e+01] [-9.93672937e-01 -2.78175214e-02 1.08813047e-01 -1.64855033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:186.20, Y:-39.65, Z:-164.74 [[ 1.76682496e-01 -6.72025987e-01 -7.19141411e-01 1.86202436e+02] [ 8.05413729e-02 -7.18314347e-01 6.91040944e-01 -3.96450376e+01] [-9.80967065e-01 -1.80015475e-01 -7.27876759e-02 -1.64739799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59232058799995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:185.10, Y:-40.91, Z:-165.07 [[ 2.23508518e-01 -7.71720112e-01 5.95392317e-01 1.85101939e+02] [ 2.61964352e-02 6.15380959e-01 7.87794404e-01 -4.09098404e+01] [-9.74349880e-01 -1.60481604e-01 1.57759202e-01 -1.65073545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:183.88, Y:-39.16, Z:-165.40 [[ 1.00983947e-01 8.98464967e-01 4.27273853e-01 1.83876380e+02] [ 1.70045938e-04 4.29453682e-01 -9.03088869e-01 -3.91630490e+01] [-9.94888041e-01 9.12701346e-02 4.32151475e-02 -1.65398884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65232058799995 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:184.11, Y:-40.35, Z:-165.50 [[ 9.31942636e-02 8.61566652e-02 9.91913231e-01 1.84114571e+02] [-8.26805438e-02 9.93477654e-01 -7.85243777e-02 -4.03460187e+01] [-9.92209029e-01 -7.46939038e-02 9.97098983e-02 -1.65503381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:186.24, Y:-39.98, Z:-165.44 [[ 1.85566872e-01 -8.77163622e-01 -4.42887024e-01 1.86237606e+02] [-5.50689402e-02 -4.59290247e-01 8.86577623e-01 -3.99813633e+01] [-9.81087329e-01 -1.40130117e-01 -1.33533526e-01 -1.65440928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71232058799995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:184.04, Y:-40.33, Z:-165.87 [[ 1.89706559e-01 1.51906214e-01 9.70018517e-01 1.84043019e+02] [-8.68361518e-02 9.86683357e-01 -1.37533400e-01 -4.03341591e+01] [-9.77993305e-01 -5.81416870e-02 2.00371256e-01 -1.65869793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:184.50, Y:-38.53, Z:-166.01 [[ 6.18187778e-02 9.72407616e-01 -2.24948586e-01 1.84503947e+02] [-3.99484884e-02 -2.22788410e-01 -9.74047967e-01 -3.85270575e+01] [-9.97287600e-01 6.92008109e-02 2.50737072e-02 -1.66013734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77232058799996 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:186.19, Y:-38.94, Z:-165.97 [[ 9.74577823e-02 -1.36922732e-01 -9.85775911e-01 1.86185710e+02] [ 7.69085614e-02 -9.86493002e-01 1.44625826e-01 -3.89366237e+01] [-9.92263601e-01 -8.99095195e-02 -8.56108899e-02 -1.65966486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:185.73, Y:-40.82, Z:-166.18 [[ 1.32903387e-01 -9.43374257e-01 3.03943583e-01 1.85734753e+02] [ 1.63735706e-02 3.08711943e-01 9.51014638e-01 -4.08175327e+01] [-9.90993742e-01 -1.21416424e-01 5.64752677e-02 -1.66178937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:184.54, Y:-40.77, Z:-166.41 [[ 1.17982251e-01 -2.60602460e-01 9.58210074e-01 1.84536937e+02] [ 1.81172843e-02 9.65353859e-01 2.60314600e-01 -4.07671855e+01] [-9.92850418e-01 -1.33523382e-02 1.18616030e-01 -1.66406867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:-40.53, Z:-166.34 [[ 2.04765691e-01 -9.77405515e-01 -5.24354030e-02 1.86049036e+02] [ 1.73270013e-02 -4.99425374e-02 9.98601781e-01 -4.05326164e+01] [-9.78657645e-01 -2.05387932e-01 6.70898840e-03 -1.66340859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:185.95, Y:-40.58, Z:-166.51 [[ 2.69315875e-01 -9.62998825e-01 1.01104926e-02 1.85946645e+02] [ 1.66084355e-02 1.51410924e-02 9.99747422e-01 -4.05829835e+01] [-9.62908677e-01 -2.69079932e-01 2.00716404e-02 -1.66507041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:185.97, Y:-40.51, Z:-166.64 [[ 3.49320226e-01 -9.34371170e-01 -7.01847292e-02 1.85974132e+02] [ 5.77240449e-02 -5.33017167e-02 9.96908653e-01 -4.05061251e+01] [-9.35223671e-01 -3.52291702e-01 3.53163156e-02 -1.66635794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:184.45, Y:-40.70, Z:-167.25 [[ 3.10734830e-01 -2.07141201e-01 9.27651006e-01 1.84452931e+02] [ 1.11929813e-02 9.76694301e-01 2.14343088e-01 -4.07026455e+01] [-9.50430735e-01 -5.62206829e-02 3.05811466e-01 -1.67248955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:185.73, Y:-40.69, Z:-166.96 [[ 3.83045004e-01 -9.01677900e-01 2.00632725e-01 1.85728132e+02] [-1.53409292e-02 2.10958979e-01 9.77374527e-01 -4.06932621e+01] [-9.23602285e-01 -3.77456322e-01 6.69742059e-02 -1.66957714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01232058799997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:185.66, Y:-40.70, Z:-167.14 [[ 4.41531951e-01 -8.63746849e-01 2.42880459e-01 1.85664380e+02] [-3.07259593e-02 2.55981233e-01 9.66193316e-01 -4.07036357e+01] [-8.96719271e-01 -4.34067955e-01 8.64844428e-02 -1.67135756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:185.62, Y:-40.71, Z:-167.31 [[ 4.95929506e-01 -8.22077306e-01 2.79719196e-01 1.85617351e+02] [-4.95470034e-02 2.94809275e-01 9.54270709e-01 -4.07085284e+01] [-8.66948107e-01 -4.87110249e-01 1.05473151e-01 -1.67314543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07232058799997 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:184.82, Y:-38.45, Z:-168.04 [[ 4.60078410e-01 8.35142499e-01 -3.01437992e-01 1.84824767e+02] [-4.17032785e-03 -3.37467368e-01 -9.41327990e-01 -3.84530654e+01] [-8.87868495e-01 4.34341780e-01 -1.51778632e-01 -1.68038870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:184.47, Y:-40.48, Z:-168.23 [[ 4.36161252e-01 2.99576506e-02 8.99369725e-01 1.84474069e+02] [-5.71759915e-03 9.99517781e-01 -3.05207175e-02 -4.04760328e+01] [-8.99850361e-01 8.16971875e-03 4.36122212e-01 -1.68234486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13232058799997 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:184.50, Y:-40.47, Z:-168.29 [[ 4.36638992e-01 3.41580217e-02 8.98988109e-01 1.84495007e+02] [-5.83210385e-03 9.99365406e-01 -3.51393094e-02 -4.04710932e+01] [-8.99617906e-01 1.01002006e-02 4.36561116e-01 -1.68285123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:184.52, Y:-40.46, Z:-168.34 [[ 4.35786517e-01 4.14895888e-02 8.99093280e-01 1.84515325e+02] [-8.66434377e-03 9.99084064e-01 -4.19041980e-02 -4.04635878e+01] [-9.00008356e-01 1.04712312e-02 4.35746845e-01 -1.68335769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192320588 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.55, Y:-38.90, Z:-168.52 [[ 3.99889007e-01 8.97101128e-01 1.87878547e-01 1.84551080e+02] [-1.82291611e-02 2.12725274e-01 -9.76941992e-01 -3.88991880e+01] [-9.16382278e-01 3.87243495e-01 1.01419900e-01 -1.68517060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.70, Y:-38.85, Z:-168.61 [[ 3.38629771e-01 9.28403643e-01 1.52959324e-01 1.84703169e+02] [-2.94030681e-02 1.72925418e-01 -9.84495942e-01 -3.88501617e+01] [-9.40460174e-01 3.28882161e-01 8.58556103e-02 -1.68609981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252320588 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:186.56, Y:-40.43, Z:-168.04 [[ 3.73780012e-01 -9.25358003e-01 -6.32540002e-02 1.86556559e+02] [-6.20203866e-02 -9.29798646e-02 9.93734480e-01 -4.04256798e+01] [-9.25441502e-01 -3.67515048e-01 -9.21450760e-02 -1.68039820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:186.58, Y:-40.39, Z:-168.19 [[ 4.36825929e-01 -8.93034472e-01 -1.08039527e-01 1.86576778e+02] [-5.26424468e-02 -1.45277155e-01 9.87989535e-01 -4.03938901e+01] [-8.98004388e-01 -4.25891981e-01 -1.10472348e-01 -1.68188370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:186.63, Y:-40.31, Z:-168.32 [[ 5.04198414e-01 -8.39869409e-01 -2.01005809e-01 1.86634279e+02] [-1.24660928e-02 -2.39810719e-01 9.70739623e-01 -4.03131721e+01] [-8.63497861e-01 -4.86939621e-01 -1.31382074e-01 -1.68319160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:184.96, Y:-40.56, Z:-169.37 [[ 4.94353999e-01 -7.53257231e-03 8.69228039e-01 1.84955591e+02] [-1.12144885e-02 9.99823967e-01 1.50422823e-02 -4.05567924e+01] [-8.69188334e-01 -1.71841603e-02 4.94182502e-01 -1.69374627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372320588 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:184.94, Y:-40.50, Z:-169.45 [[ 4.95350736e-01 4.75276993e-02 8.67391934e-01 1.84936134e+02] [-1.33754424e-02 9.98801112e-01 -4.70896514e-02 -4.04982680e+01] [-8.68590091e-01 1.17241426e-02 4.95392570e-01 -1.69450173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:185.01, Y:-40.55, Z:-169.48 [[ 5.19923495e-01 1.08653861e-02 8.54143725e-01 1.85008478e+02] [-3.47937853e-02 9.99358649e-01 8.46659492e-03 -4.05473388e+01] [-8.53503926e-01 -3.41208750e-02 5.19968089e-01 -1.69476145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.432320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:185.66, Y:-38.45, Z:-169.33 [[ 4.68880736e-01 7.68807963e-01 -4.34839248e-01 1.85661858e+02] [ 7.04487471e-03 -4.95550409e-01 -8.68550610e-01 -3.84530748e+01] [-8.83233392e-01 4.04183261e-01 -2.37770196e-01 -1.69332203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:185.24, Y:-40.65, Z:-169.61 [[ 4.66192421e-01 -6.43292661e-02 8.82341415e-01 1.85235564e+02] [-3.78764193e-03 9.97198526e-01 7.47044378e-02 -4.06483929e+01] [-8.84675240e-01 -3.81686361e-02 4.64642739e-01 -1.69611167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.492320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:185.31, Y:-38.78, Z:-169.72 [[ 3.80811806e-01 9.24545906e-01 -1.40440955e-02 1.85314793e+02] [-1.10615768e-02 -1.06323151e-02 -9.99882291e-01 -3.87757558e+01] [-9.24586400e-01 3.80922330e-01 6.17802441e-03 -1.69718047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:187.28, Y:-39.39, Z:-169.04 [[ 4.25551639e-01 -4.01992810e-01 -8.10745079e-01 1.87280862e+02] [ 5.76657405e-02 -8.82048913e-01 4.67615631e-01 -3.93881235e+01] [-9.03094937e-01 -2.45746814e-01 -3.52176148e-01 -1.69042613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.552320588 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:185.56, Y:-40.78, Z:-170.02 [[ 4.04191574e-01 -1.79706436e-01 8.96847126e-01 1.85556811e+02] [ 8.07387410e-02 9.83692085e-01 1.60720680e-01 -4.07837209e+01] [-9.11103961e-01 7.44836300e-03 4.12109324e-01 -1.70015525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:185.57, Y:-40.77, Z:-170.07 [[ 4.05579749e-01 -1.70479605e-01 8.98021031e-01 1.85572488e+02] [ 7.40367677e-02 9.85352334e-01 1.53620749e-01 -4.07714236e+01] [-9.11056324e-01 4.18110967e-03 4.12260711e-01 -1.70070092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.612320588 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:185.59, Y:-40.76, Z:-170.12 [[ 4.06926049e-01 -1.61526328e-01 8.99066425e-01 1.85588806e+02] [ 6.89975046e-02 9.86864996e-01 1.46071295e-01 -4.07601356e+01] [-9.10851544e-01 2.59312489e-03 4.12725987e-01 -1.70121016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:185.76, Y:-40.85, Z:-170.13 [[ 4.51505703e-01 -2.72126621e-01 8.49758614e-01 1.85757948e+02] [ 5.15970883e-02 9.58727003e-01 2.79607356e-01 -4.08473654e+01] [-8.90775135e-01 -8.23992457e-02 4.46911651e-01 -1.70127310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.672320588 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:185.78, Y:-38.64, Z:-170.11 [[ 3.51727052e-01 9.17125180e-01 -1.87535292e-01 1.85780546e+02] [ 9.10349142e-02 -2.32898306e-01 -9.68230873e-01 -3.86448825e+01] [-9.31665565e-01 3.23480731e-01 -1.65407047e-01 -1.70105762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:185.82, Y:-40.79, Z:-170.33 [[ 3.34439394e-01 -2.20567179e-01 9.16242551e-01 1.85821771e+02] [ 7.45739066e-02 9.75371170e-01 2.07580859e-01 -4.07941263e+01] [-9.39462093e-01 -1.09543019e-03 3.42651099e-01 -1.70325124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73232058799994 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:185.91, Y:-40.83, Z:-170.36 [[ 3.68464731e-01 -2.69030294e-01 8.89863160e-01 1.85908261e+02] [ 6.02656246e-02 9.62109910e-01 2.65918363e-01 -4.08278431e+01] [-9.27686260e-01 -4.43533790e-02 3.70716848e-01 -1.70362431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:185.99, Y:-38.61, Z:-170.30 [[ 2.82183270e-01 9.29668770e-01 -2.36830276e-01 1.85991326e+02] [ 1.05151831e-01 -2.75347111e-01 -9.55576821e-01 -3.86090710e+01] [-9.53580461e-01 2.44744655e-01 -1.75454721e-01 -1.70300900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79232058799994 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:185.74, Y:-38.91, Z:-170.55 [[ 2.10709610e-01 9.67705303e-01 1.38375963e-01 1.85744786e+02] [ 9.84644335e-02 1.19823929e-01 -9.87900289e-01 -3.89095459e+01] [-9.72577100e-01 2.21785195e-01 -7.00365012e-02 -1.70547194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:185.80, Y:-38.95, Z:-170.68 [[ 1.43826765e-01 9.69401701e-01 1.98932661e-01 1.85804167e+02] [ 8.57335709e-02 1.88060933e-01 -9.78408320e-01 -3.89474074e+01] [-9.85882151e-01 1.57776511e-01 -5.60620738e-02 -1.70680847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85232058799994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:187.91, Y:-40.30, Z:-170.60 [[ 2.22009397e-01 -9.33748223e-01 -2.80759834e-01 1.87913109e+02] [ 1.05385286e-01 -2.63279788e-01 9.58946137e-01 -4.03034813e+01] [-9.69332641e-01 -2.42483009e-01 3.99527363e-02 -1.70602023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:186.56, Y:-40.90, Z:-171.02 [[ 2.33501815e-01 -5.22993288e-01 8.19728567e-01 1.86556051e+02] [ 6.98517137e-02 8.49877158e-01 5.22330885e-01 -4.08962939e+01] [-9.69844132e-01 -6.47057644e-02 2.34979836e-01 -1.71022689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91232058799994 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:185.98, Y:-38.80, Z:-171.12 [[ 1.32081684e-01 9.87351325e-01 8.77028528e-02 1.85976643e+02] [ 7.47329163e-02 7.83071632e-02 -9.94124227e-01 -3.88008400e+01] [-9.88417634e-01 1.37859892e-01 -6.34447019e-02 -1.71120347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:188.01, Y:-40.27, Z:-171.08 [[ 2.12694338e-01 -9.35359643e-01 -2.82601232e-01 1.88005756e+02] [ 7.83823597e-02 -2.71954156e-01 9.59112685e-01 -4.02666386e+01] [-9.73969879e-01 -2.26148789e-01 1.54725869e-02 -1.71079245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:187.91, Y:-40.35, Z:-171.25 [[ 2.77694993e-01 -9.36831356e-01 -2.12679341e-01 1.87912046e+02] [ 9.06149428e-02 -1.94856014e-01 9.76637121e-01 -4.03490456e+01] [-9.56386127e-01 -2.90479164e-01 3.07803805e-02 -1.71250909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:187.83, Y:-40.41, Z:-171.42 [[ 3.40510103e-01 -9.27751075e-01 -1.52744274e-01 1.87831488e+02] [ 9.86758825e-02 -1.26294214e-01 9.87072865e-01 -4.04090639e+01] [-9.35048630e-01 -3.51180459e-01 4.85422001e-02 -1.71424944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03232058799995 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:186.03, Y:-38.77, Z:-172.02 [[ 2.62683335e-01 9.58347109e-01 1.12108364e-01 1.86029193e+02] [ 1.20209911e-01 8.27786586e-02 -9.89291297e-01 -3.87731972e+01] [-9.57364634e-01 2.73346873e-01 -9.34582468e-02 -1.72018451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:186.09, Y:-38.82, Z:-172.15 [[ 1.97728348e-01 9.63602406e-01 1.79927493e-01 1.86087181e+02] [ 1.08493938e-01 1.60911091e-01 -9.80987608e-01 -3.88176342e+01] [-9.74234349e-01 2.13490101e-01 -7.27283355e-02 -1.72151884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09232058799995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:188.13, Y:-40.27, Z:-172.00 [[ 2.81043640e-01 -9.33314098e-01 -2.23470953e-01 1.88127047e+02] [ 1.24515254e-01 -1.95426447e-01 9.72781813e-01 -4.02681367e+01] [-9.51583114e-01 -3.01219684e-01 6.12884822e-02 -1.72002979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:186.80, Y:-40.77, Z:-172.51 [[ 2.61134260e-01 -4.94018716e-01 8.29309596e-01 1.86795363e+02] [ 8.77437399e-02 8.67710104e-01 4.89264970e-01 -4.07677261e+01] [-9.61306369e-01 -5.49971203e-02 2.69935885e-01 -1.72507252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15232058799995 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:186.66, Y:-40.71, Z:-172.59 [[ 2.83410373e-01 -3.80714710e-01 8.80190247e-01 1.86656635e+02] [ 8.79562975e-02 9.24272827e-01 3.71461210e-01 -4.07066601e+01] [-9.54956674e-01 -2.78576850e-02 2.95434763e-01 -1.72591935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:186.06, Y:-39.05, Z:-172.75 [[ 2.03972142e-01 8.77260360e-01 4.34522297e-01 1.86055108e+02] [ 7.59605820e-02 4.28333263e-01 -9.00422460e-01 -3.90485567e+01] [-9.76025284e-01 2.16667664e-01 2.07308455e-02 -1.72747083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21232058799995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:186.18, Y:-38.95, Z:-172.86 [[ 1.40630762e-01 9.08563104e-01 3.93365065e-01 1.86176238e+02] [ 4.82237347e-02 3.90555982e-01 -9.19315232e-01 -3.89533285e+01] [-9.88886981e-01 1.48253534e-01 1.11098793e-02 -1.72858487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:188.43, Y:-40.04, Z:-172.70 [[ 2.19357269e-01 -9.22882281e-01 -3.16497526e-01 1.88430553e+02] [ 4.53182704e-02 -3.14410202e-01 9.48204872e-01 -4.00365600e+01] [-9.74591526e-01 -2.22338752e-01 -2.71447345e-02 -1.72700504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:188.40, Y:-40.03, Z:-172.85 [[ 2.80868238e-01 -8.98744578e-01 -3.36706425e-01 1.88401474e+02] [ 6.66881510e-02 -3.31704874e-01 9.41023149e-01 -4.00269687e+01] [-9.57426615e-01 -2.86757843e-01 -3.32297492e-02 -1.72850479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:186.25, Y:-38.91, Z:-173.52 [[ 2.06877847e-01 9.05100151e-01 3.71477151e-01 1.86252652e+02] [ 7.00726685e-02 3.65008560e-01 -9.28363384e-01 -3.89108508e+01] [-9.75854178e-01 2.18088214e-01 1.20894023e-02 -1.73516591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33232058799996 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.50, Y:-39.99, Z:-173.23 [[ 2.78671444e-01 -8.98027679e-01 -3.40424019e-01 1.88499318e+02] [ 6.34482615e-02 -3.36476132e-01 9.39552090e-01 -3.99912565e+01] [-9.58288341e-01 -2.83425650e-01 -3.67879948e-02 -1.73231080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:186.34, Y:-38.90, Z:-173.90 [[ 2.08821681e-01 9.00213433e-01 3.82111608e-01 1.86343502e+02] [ 6.62342115e-02 3.76809815e-01 -9.23919581e-01 -3.88955984e+01] [-9.75708222e-01 2.18243301e-01 1.90611322e-02 -1.73904430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39232058799996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:188.60, Y:-39.95, Z:-173.61 [[ 2.80181016e-01 -8.94381395e-01 -3.48683981e-01 1.88599135e+02] [ 6.28463487e-02 -3.45363009e-01 9.36362498e-01 -3.99544379e+01] [-9.57887746e-01 -2.84264511e-01 -4.05555539e-02 -1.73611731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:186.44, Y:-38.87, Z:-174.29 [[ 2.09551330e-01 8.97522693e-01 3.87996464e-01 1.86436332e+02] [ 6.46355333e-02 3.83223813e-01 -9.21391207e-01 -3.88748737e+01] [-9.75659002e-01 2.18157112e-01 2.22932019e-02 -1.74291453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45232058799996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:188.68, Y:-39.95, Z:-174.00 [[ 2.81769846e-01 -9.02011811e-01 -3.27078655e-01 1.88682562e+02] [ 5.93210535e-02 -3.23861431e-01 9.44242970e-01 -3.99503711e+01] [-9.57646472e-01 -2.85461847e-01 -3.77460949e-02 -1.73996394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:186.54, Y:-38.82, Z:-174.67 [[ 2.10366054e-01 9.05688907e-01 3.68067558e-01 1.86542966e+02] [ 6.22740133e-02 3.63313630e-01 -9.29583322e-01 -3.88241473e+01] [-9.75637264e-01 2.18473819e-01 2.00279718e-02 -1.74673325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51232058799997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:186.67, Y:-38.74, Z:-174.79 [[ 1.48387642e-01 9.33507704e-01 3.26411510e-01 1.86669008e+02] [ 4.06118864e-02 3.24034879e-01 -9.45173038e-01 -3.87407422e+01] [-9.88095027e-01 1.53508185e-01 1.01712628e-02 -1.74785048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:186.81, Y:-38.63, Z:-174.90 [[ 8.44628794e-02 9.63719704e-01 2.53200224e-01 1.86812145e+02] [ 2.18661518e-02 2.52254394e-01 -9.67413868e-01 -3.86300159e+01] [-9.96186676e-01 8.72470754e-02 2.33291058e-04 -1.74903077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57232058799997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:188.87, Y:-40.05, Z:-174.88 [[ 1.56811617e-01 -9.75548899e-01 -1.53995005e-01 1.88872707e+02] [ 7.97211703e-03 -1.54668635e-01 9.87934238e-01 -4.00526292e+01] [-9.87596356e-01 -1.56147232e-01 -1.64766489e-02 -1.74878055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:186.89, Y:-38.58, Z:-175.30 [[ 8.39521590e-02 9.72772910e-01 2.16020602e-01 1.86885699e+02] [ 1.66952043e-02 2.15382359e-01 -9.76387069e-01 -3.85788683e+01] [-9.96329918e-01 8.55763106e-02 1.84117159e-03 -1.75300514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63232058799997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:187.01, Y:-38.52, Z:-175.43 [[ 1.58208135e-02 9.85468734e-01 1.69118525e-01 1.87009802e+02] [ 5.81422685e-03 1.69046162e-01 -9.85590985e-01 -3.85157348e+01] [-9.99857938e-01 1.65761446e-02 -3.05529097e-03 -1.75431497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:187.40, Y:-38.22, Z:-175.57 [[-4.74267397e-02 9.83728367e-01 -1.73289367e-01 1.87401021e+02] [ 1.81633816e-02 -1.72606579e-01 -9.84823365e-01 -3.82236360e+01] [-9.98709565e-01 -4.98544823e-02 -9.68166642e-03 -1.75566983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692320588 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:189.14, Y:-38.50, Z:-175.66 [[-2.60859717e-02 -1.24449331e-01 -9.91883000e-01 1.89137435e+02] [ 7.48705484e-02 -9.89677071e-01 1.22203504e-01 -3.85036943e+01] [-9.96852007e-01 -7.10750270e-02 3.51342777e-02 -1.75661845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:189.34, Y:-39.67, Z:-175.77 [[-2.37535281e-02 -8.87499075e-01 -4.60196874e-01 1.89339495e+02] [ 6.80947399e-02 -4.60694002e-01 8.84943017e-01 -3.96713400e+01] [-9.97396048e-01 -1.03164676e-02 7.13771266e-02 -1.75768323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752320588 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:189.30, Y:-39.77, Z:-175.79 [[-2.10992781e-02 -9.22474447e-01 -3.85481146e-01 1.89302720e+02] [ 6.95428605e-02 -3.85987245e-01 9.19879143e-01 -3.97696152e+01] [-9.97355810e-01 -7.39867574e-03 7.22955640e-02 -1.75785202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:189.27, Y:-39.83, Z:-175.80 [[-1.58334137e-02 -9.41320537e-01 -3.37142329e-01 1.89274899e+02] [ 6.95209008e-02 -3.37404994e-01 9.38788962e-01 -3.98280307e+01] [-9.97454835e-01 -8.57420444e-03 7.07837245e-02 -1.75803073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812320588 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:189.25, Y:-39.87, Z:-175.81 [[-4.86989967e-03 -9.52806026e-01 -3.03540707e-01 1.89253817e+02] [ 5.93983434e-02 -3.03283962e-01 9.51047147e-01 -3.98695175e+01] [-9.98222481e-01 -1.33983110e-02 5.80720621e-02 -1.75810204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:187.49, Y:-40.37, Z:-175.82 [[-2.49965781e-02 -2.69609059e-01 9.62645379e-01 1.87485378e+02] [-1.75933435e-03 9.62956638e-01 2.69650549e-01 -4.03720521e+01] [-9.99685989e-01 5.04672593e-03 -2.45449532e-02 -1.75818186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:187.02, Y:-38.63, Z:-175.82 [[-7.79400732e-02 9.59562190e-01 2.70491681e-01 1.87018726e+02] [ 1.87768436e-02 2.72681761e-01 -9.61921040e-01 -3.86270480e+01] [-9.96781207e-01 -6.98932163e-02 -3.92703855e-02 -1.75821359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:188.32, Y:-37.99, Z:-175.94 [[-6.45058785e-02 5.92687903e-01 -8.02844967e-01 1.88323598e+02] [ 7.40819549e-03 -8.04213938e-01 -5.94293749e-01 -3.79938170e+01] [-9.97889829e-01 -4.42830728e-02 4.74857788e-02 -1.75935671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.932320588 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:188.74, Y:-40.37, Z:-175.99 [[-1.33291337e-02 -9.63807254e-01 2.66266615e-01 1.88736108e+02] [-2.81113662e-02 2.66546217e-01 9.63412095e-01 -4.03711093e+01] [-9.99515925e-01 5.35633031e-03 -3.06467689e-02 -1.75985800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:186.85, Y:-39.34, Z:-175.99 [[-7.07607387e-02 6.42756538e-01 7.62795484e-01 1.86845566e+02] [-6.68571736e-02 7.59936659e-01 -6.46549605e-01 -3.93416017e+01] [-9.95250238e-01 -9.67486778e-02 -1.08007939e-02 -1.75991850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.992320588 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:187.55, Y:-38.10, Z:-176.13 [[-4.84984316e-02 9.49613276e-01 -3.09649041e-01 1.87549408e+02] [-4.22888068e-02 -3.11688055e-01 -9.49242968e-01 -3.81013462e+01] [-9.97927632e-01 -3.29421067e-02 5.52743942e-02 -1.76131464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:189.33, Y:-38.87, Z:-176.19 [[-7.64326881e-03 -4.47858253e-01 -8.94071902e-01 1.89327224e+02] [-6.30336930e-03 -8.94058677e-01 4.47905515e-01 -3.88705472e+01] [-9.99950923e-01 9.05912763e-03 4.01051484e-03 -1.76192714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.052320588 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:188.14, Y:-40.49, Z:-176.28 [[ 6.89633468e-02 -7.57679293e-01 6.48973147e-01 1.88143172e+02] [-9.52868548e-02 6.42545037e-01 7.60300132e-01 -4.04945960e+01] [-9.93058141e-01 -1.14271452e-01 -2.78848206e-02 -1.76284993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:186.79, Y:-39.12, Z:-176.57 [[ 6.20282380e-02 7.62342566e-01 6.44194311e-01 1.86789715e+02] [-8.36561106e-02 6.47137058e-01 -7.57769941e-01 -3.91174044e+01] [-9.94562292e-01 -6.88765627e-03 1.03915386e-01 -1.76568447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.112320588 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:188.71, Y:-40.27, Z:-176.46 [[ 1.62168300e-01 -9.70207457e-01 1.79997034e-01 1.88709296e+02] [-7.74815619e-02 1.69328428e-01 9.82509283e-01 -4.02713296e+01] [-9.83716448e-01 -1.73278311e-01 -4.77134860e-02 -1.76461885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:187.14, Y:-40.15, Z:-176.78 [[ 1.78446314e-01 -2.52022695e-02 9.83626839e-01 1.87138941e+02] [-1.45001595e-01 9.88083847e-01 5.16221737e-02 -4.01527264e+01] [-9.73206787e-01 -1.51839247e-01 1.72665551e-01 -1.76778735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.172320588 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:186.78, Y:-39.44, Z:-177.00 [[ 1.38834179e-01 5.80750285e-01 8.02155956e-01 1.86783013e+02] [-1.68218516e-01 8.12058722e-01 -5.58805120e-01 -3.94441908e+01] [-9.75923973e-01 -5.73562345e-02 2.10434457e-01 -1.76997048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:188.39, Y:-38.07, Z:-177.11 [[ 8.61644536e-02 5.39935767e-01 -8.37284333e-01 1.88385032e+02] [-5.23527791e-02 -8.36794918e-01 -5.45007754e-01 -3.80668252e+01] [-9.94904454e-01 9.07944571e-02 -4.38348390e-02 -1.77109854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23232058799994 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:186.87, Y:-39.58, Z:-177.27 [[ 8.33596655e-02 5.43006643e-01 8.35580608e-01 1.86874592e+02] [-1.13175581e-01 8.38232531e-01 -5.33439323e-01 -3.95760970e+01] [-9.90071944e-01 -5.00999975e-02 1.31329876e-01 -1.77266119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:186.91, Y:-39.05, Z:-177.43 [[ 4.14212014e-02 8.36758403e-01 5.46003351e-01 1.86906542e+02] [-1.16564306e-01 5.46787710e-01 -8.29117581e-01 -3.90540082e+01] [-9.92319025e-01 -2.93014555e-02 1.20184767e-01 -1.77427214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29232058799994 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:188.46, Y:-38.14, Z:-177.56 [[-2.76226903e-02 5.57352231e-01 -8.29816532e-01 1.88455002e+02] [-8.51433632e-03 -8.30234364e-01 -5.57349448e-01 -3.81420769e+01] [-9.99582159e-01 -8.33015413e-03 2.76787910e-02 -1.77555454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:188.97, Y:-38.43, Z:-177.68 [[-1.62330717e-02 1.38980700e-01 -9.90162033e-01 1.88974951e+02] [ 5.41296724e-02 -9.88718130e-01 -1.39665453e-01 -3.84274734e+01] [-9.98401956e-01 -5.58643458e-02 8.52695250e-03 -1.77679265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35232058799994 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:189.47, Y:-39.47, Z:-177.78 [[ 3.65859627e-02 -7.10589213e-01 -7.02655276e-01 1.89470393e+02] [ 6.19324834e-02 -7.00162186e-01 7.11292683e-01 -3.94662554e+01] [-9.97409562e-01 -6.95405138e-02 1.83924471e-02 -1.77784967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:188.90, Y:-40.50, Z:-177.93 [[ 4.56171950e-02 -9.82539804e-01 1.80373517e-01 1.88901248e+02] [ 1.89892972e-02 1.81381746e-01 9.83229408e-01 -4.04998725e+01] [-9.98778493e-01 -4.14270013e-02 2.69318668e-02 -1.77926080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41232058799994 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:188.10, Y:-38.21, Z:-178.02 [[-3.70329040e-02 7.87078917e-01 -6.15739672e-01 1.88103193e+02] [ 7.23534179e-02 -6.12433342e-01 -7.87204156e-01 -3.82111388e+01] [-9.96691300e-01 -7.37033257e-02 -3.42676646e-02 -1.78021755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:189.50, Y:-39.24, Z:-178.15 [[-1.49738551e-02 -5.52076826e-01 -8.33658780e-01 1.89504391e+02] [ 5.45364534e-02 -8.32962110e-01 5.50635904e-01 -3.92385215e+01] [-9.98399499e-01 -3.72196510e-02 4.25809660e-02 -1.78146768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47232058799995 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:188.10, Y:-40.74, Z:-178.20 [[-7.75075911e-03 -6.35793269e-01 7.71820475e-01 1.88099540e+02] [-5.75808910e-03 7.71859239e-01 6.35767378e-01 -4.07436919e+01] [-9.99953384e-01 4.83468740e-04 -9.64344932e-03 -1.78200105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:187.12, Y:-38.87, Z:-178.20 [[-6.80137805e-02 9.50440109e-01 3.03377199e-01 1.87116888e+02] [ 7.24131342e-03 3.04543602e-01 -9.52470870e-01 -3.88669594e+01] [-9.97658102e-01 -6.25842953e-02 -2.75955964e-02 -1.78200819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53232058799995 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:188.64, Y:-38.25, Z:-178.32 [[-6.19274128e-02 4.63779791e-01 -8.83783515e-01 1.88636473e+02] [-1.08262104e-03 -8.85513754e-01 -4.64611902e-01 -3.82481882e+01] [-9.98080069e-01 -2.78154104e-02 5.53396735e-02 -1.78323134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:188.97, Y:-40.51, Z:-178.32 [[-5.76680239e-04 -9.86907622e-01 1.61285505e-01 1.88967973e+02] [-4.51935524e-02 1.61146459e-01 9.85895208e-01 -4.05102527e+01] [-9.98978083e-01 -6.72051862e-03 -4.46947913e-02 -1.78322313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59232058799995 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:187.64, Y:-40.60, Z:-178.39 [[-1.83908004e-03 -3.07672787e-01 9.51490449e-01 1.87638553e+02] [-4.68582808e-02 9.50473399e-01 3.07253346e-01 -4.05964645e+01] [-9.98899854e-01 -4.40201432e-02 -1.61650145e-02 -1.78385478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:187.13, Y:-38.83, Z:-178.52 [[-1.80415153e-02 9.63562683e-01 2.66873488e-01 1.87132818e+02] [-4.95743891e-02 2.65726545e-01 -9.62772966e-01 -3.88258604e+01] [-9.98607472e-01 -3.05999734e-02 4.29739219e-02 -1.78520476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65232058799995 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:189.37, Y:-39.00, Z:-178.65 [[ 4.25427984e-02 -3.23040236e-01 -9.45428536e-01 1.89365589e+02] [ 3.56739415e-02 -9.45190682e-01 3.24564237e-01 -3.89987845e+01] [-9.98457551e-01 -4.75350332e-02 -2.86869381e-02 -1.78646189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:188.31, Y:-40.80, Z:-178.86 [[ 4.05544034e-02 -7.70914002e-01 6.35646869e-01 1.88309466e+02] [ 1.47690380e-03 6.36215781e-01 7.71509753e-01 -4.08003013e+01] [-9.99176240e-01 -3.03493285e-02 2.69399173e-02 -1.78860493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71232058799995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:189.43, Y:-39.60, Z:-178.93 [[ 1.00140432e-01 -7.05066745e-01 -7.02034742e-01 1.89425233e+02] [ 9.65435398e-02 -6.95366502e-01 7.12140979e-01 -3.96010824e+01] [-9.90278364e-01 -1.39091024e-01 -1.56466258e-03 -1.78925086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:188.47, Y:-40.79, Z:-179.17 [[ 1.04353741e-01 -8.62422874e-01 4.95315135e-01 1.88474952e+02] [ 3.21800553e-02 5.00701498e-01 8.65021650e-01 -4.07906963e+01] [-9.94019487e-01 -7.43289764e-02 8.00028899e-02 -1.79168113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77232058799996 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:187.75, Y:-40.75, Z:-179.30 [[ 9.58665054e-02 -4.47156591e-01 8.89303433e-01 1.87749405e+02] [ 2.80302407e-02 8.94276764e-01 4.46635618e-01 -4.07525382e+01] [-9.94999457e-01 -1.78900065e-02 9.82650951e-02 -1.79296829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:187.71, Y:-40.73, Z:-179.36 [[ 9.78642634e-02 -4.15240425e-01 9.04432405e-01 1.87711095e+02] [ 2.20041773e-02 9.09475496e-01 4.15174829e-01 -4.07297115e+01] [-9.94956483e-01 -2.07294877e-02 9.81421734e-02 -1.79362257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83232058799996 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:187.67, Y:-40.70, Z:-179.43 [[ 9.92826384e-02 -3.77357349e-01 9.20730356e-01 1.87667183e+02] [ 1.65748474e-02 9.25800803e-01 3.77648179e-01 -4.07030007e+01] [-9.94921219e-01 -2.22329425e-02 9.81705868e-02 -1.79426347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:187.63, Y:-40.68, Z:-179.49 [[ 9.97248905e-02 -3.42770437e-01 9.34111007e-01 1.87630383e+02] [ 1.27585298e-02 9.39154158e-01 3.43258923e-01 -4.06777349e+01] [-9.94933247e-01 -2.23135754e-02 9.80302924e-02 -1.79488143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89232058799996 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:188.96, Y:-40.47, Z:-179.48 [[ 1.93182868e-01 -9.80483945e-01 3.64912777e-02 1.88962402e+02] [ 1.91879462e-02 4.09600916e-02 9.98976523e-01 -4.04717840e+01] [-9.80975128e-01 -1.92284957e-01 2.67262612e-02 -1.79481132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:187.42, Y:-40.54, Z:-179.86 [[ 1.68401445e-01 -1.76504842e-01 9.69787087e-01 1.87416960e+02] [-3.57061773e-03 9.83722086e-01 1.79661093e-01 -4.05421799e+01] [-9.85712029e-01 -3.37179268e-02 1.65029990e-01 -1.79861233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95232058799996 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:188.91, Y:-40.46, Z:-179.74 [[ 2.62785801e-01 -9.63299463e-01 5.47518636e-02 1.88911415e+02] [ 1.54730473e-03 5.71669252e-02 9.98363435e-01 -4.04638096e+01] [-9.64852957e-01 -2.62271018e-01 1.65131741e-02 -1.79736013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:188.80, Y:-40.51, Z:-179.91 [[ 3.25667164e-01 -9.36878514e-01 1.27277442e-01 1.88800614e+02] [-9.06232595e-03 1.31516867e-01 9.91272509e-01 -4.05097813e+01] [-9.45441046e-01 -3.23978337e-01 3.43404268e-02 -1.79909394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01232058799997 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:188.72, Y:-40.53, Z:-180.08 [[ 3.87435343e-01 -9.04639583e-01 1.77541770e-01 1.88719521e+02] [-2.29611992e-02 1.83054358e-01 9.82834618e-01 -4.05331651e+01] [-9.21610893e-01 -3.84861439e-01 5.01501182e-02 -1.80083998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:188.66, Y:-40.54, Z:-180.26 [[ 4.48387117e-01 -8.68419205e-01 2.11653200e-01 1.88662800e+02] [-3.62603592e-02 2.18923742e-01 9.75067988e-01 -4.05427646e+01] [-8.93103678e-01 -4.44882545e-01 6.66733930e-02 -1.80257377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07232058799997 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:187.66, Y:-38.37, Z:-180.94 [[ 3.52731538e-01 9.05323151e-01 -2.36580756e-01 1.87659349e+02] [ 1.25890344e-02 -2.57400126e-01 -9.66222899e-01 -3.83706416e+01] [-9.35639877e-01 3.37838966e-01 -1.02190286e-01 -1.80940923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:187.39, Y:-40.35, Z:-181.10 [[ 3.60915181e-01 1.75253028e-02 9.32433963e-01 1.87392579e+02] [-2.94447194e-02 9.99539096e-01 -7.38945528e-03 -4.03523602e+01] [-9.32133703e-01 -2.47882899e-02 3.61264862e-01 -1.81098000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13232058799997 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:187.41, Y:-40.34, Z:-181.15 [[ 3.60464613e-01 2.57663857e-02 9.32416943e-01 1.87408245e+02] [-3.30138882e-02 9.99344521e-01 -1.48529668e-02 -4.03433935e+01] [-9.32188471e-01 -2.54287398e-02 3.61078985e-01 -1.81151792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:187.42, Y:-40.33, Z:-181.21 [[ 3.58983166e-01 3.54511571e-02 9.32670522e-01 1.87421830e+02] [-3.73145416e-02 9.99024597e-01 -2.36110021e-02 -4.03319753e+01] [-9.32597829e-01 -2.63262207e-02 3.59955857e-01 -1.81206490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192320588 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:187.44, Y:-40.32, Z:-181.26 [[ 3.57878149e-01 4.53415223e-02 9.32666809e-01 1.87436822e+02] [-4.21361085e-02 9.98587109e-01 -3.23779799e-02 -4.03206073e+01] [-9.32817120e-01 -2.77115784e-02 3.59283022e-01 -1.81264671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:187.45, Y:-40.31, Z:-181.32 [[ 3.57294952e-01 5.63398669e-02 9.32290800e-01 1.87450740e+02] [-4.60762426e-02 9.98026863e-01 -4.26539570e-02 -4.03087154e+01] [-9.32854381e-01 -2.77164136e-02 3.59185890e-01 -1.81321360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252320588 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:187.46, Y:-40.30, Z:-181.38 [[ 3.58145894e-01 6.66777678e-02 9.31281694e-01 1.87464584e+02] [-4.92293118e-02 9.97407803e-01 -5.24799857e-02 -4.02977953e+01] [-9.32366877e-01 -2.70508655e-02 3.60500010e-01 -1.81377240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:187.48, Y:-40.29, Z:-181.43 [[ 3.57833254e-01 7.62714375e-02 9.30665370e-01 1.87478113e+02] [-5.23977989e-02 9.96728358e-01 -6.15390146e-02 -4.02873899e+01] [-9.32314235e-01 -2.67441110e-02 3.60659007e-01 -1.81431814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312320588 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:187.49, Y:-40.28, Z:-181.49 [[ 3.57337966e-01 8.56203241e-02 9.30042331e-01 1.87492435e+02] [-5.57800064e-02 9.95968083e-01 -7.02578730e-02 -4.02776681e+01] [-9.32307980e-01 -2.67719617e-02 3.60673112e-01 -1.81486481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:187.51, Y:-40.27, Z:-181.54 [[ 3.55501006e-01 9.49736709e-02 9.29838178e-01 1.87507604e+02] [-5.89728086e-02 9.95121204e-01 -7.90948605e-02 -4.02680045e+01] [-9.32813616e-01 -2.67168664e-02 3.59367453e-01 -1.81542054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372320588 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:187.91, Y:-38.43, Z:-181.60 [[ 2.86319388e-01 9.42808153e-01 -1.70686833e-01 1.87906128e+02] [-5.67122834e-03 -1.76474265e-01 -9.84288916e-01 -3.84323145e+01] [-9.58117449e-01 2.82789004e-01 -4.51811231e-02 -1.81604162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:187.99, Y:-38.47, Z:-181.72 [[ 2.21971501e-01 9.64369855e-01 -1.43942476e-01 1.87991429e+02] [ 4.32131913e-03 -1.48596784e-01 -9.88888428e-01 -3.84686177e+01] [-9.75043578e-01 2.18883027e-01 -3.71516010e-02 -1.81724482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.432320588 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:188.08, Y:-38.49, Z:-181.85 [[ 1.56695442e-01 9.78992077e-01 -1.30464751e-01 1.88083909e+02] [ 1.19621875e-02 -1.33968088e-01 -9.90913446e-01 -3.84915761e+01] [-9.87574526e-01 1.53710977e-01 -3.27030755e-02 -1.81846767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:188.27, Y:-38.45, Z:-181.95 [[ 7.29165896e-02 9.73759462e-01 -2.15582192e-01 1.88265904e+02] [ 6.39902818e-03 -2.16609925e-01 -9.76237263e-01 -3.84529364e+01] [-9.97317514e-01 6.98043754e-02 -2.20255713e-02 -1.81953257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.492320588 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:190.06, Y:-39.07, Z:-181.89 [[ 1.39225159e-01 -3.13742347e-01 -9.39245492e-01 1.90056388e+02] [ 1.20814071e-01 -9.36016092e-01 3.30571982e-01 -3.90728756e+01] [-9.82863325e-01 -1.59498009e-01 -9.24124988e-02 -1.81889410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:189.23, Y:-40.82, Z:-182.23 [[ 1.94572723e-01 -8.50219652e-01 4.89150283e-01 1.89233342e+02] [ 7.11598008e-02 5.09602164e-01 8.57462487e-01 -4.08178053e+01] [-9.78303500e-01 -1.32030975e-01 1.59656142e-01 -1.82233448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.552320588 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:188.52, Y:-40.74, Z:-182.47 [[ 1.87676141e-01 -4.24602088e-01 8.85714814e-01 1.88515909e+02] [ 2.54965803e-02 9.03539916e-01 4.27744720e-01 -4.07422651e+01] [-9.81899990e-01 -5.76947796e-02 1.80398786e-01 -1.82471561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:188.16, Y:-38.64, Z:-182.56 [[ 6.61704655e-02 9.97710616e-01 1.39640943e-02 1.88157215e+02] [ 6.02030469e-02 9.97724735e-03 -9.98136287e-01 -3.86382297e+01] [-9.95990493e-01 6.68878238e-02 -5.94050199e-02 -1.82559773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.612320588 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:188.10, Y:-38.79, Z:-182.71 [[-1.19603803e-03 9.82200760e-01 1.87830340e-01 1.88100088e+02] [ 4.53096571e-02 1.87690798e-01 -9.81182551e-01 -3.87871633e+01] [-9.98972274e-01 7.33699665e-03 -4.47276650e-02 -1.82714366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:189.60, Y:-40.70, Z:-182.82 [[ 2.69286369e-02 -9.19589249e-01 3.91957220e-01 1.89598157e+02] [ 1.98891306e-02 3.92514672e-01 9.19530671e-01 -4.07032544e+01] [-9.99439478e-01 -1.69660193e-02 2.88597157e-02 -1.82819166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.672320588 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:189.51, Y:-40.71, Z:-182.96 [[ 7.20104051e-02 -8.93076688e-01 4.44104189e-01 1.89514967e+02] [ 2.96376039e-02 4.46979473e-01 8.94053110e-01 -4.07119088e+01] [-9.96963447e-01 -5.12189425e-02 5.86558261e-02 -1.82959716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:187.98, Y:-39.90, Z:-183.13 [[ 1.37962127e-02 3.81335920e-01 9.24333587e-01 1.87980731e+02] [-6.83407438e-02 9.22619501e-01 -3.79608745e-01 -3.99039354e+01] [-9.97566643e-01 -5.79324819e-02 3.87894353e-02 -1.83129268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73232058799994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:187.94, Y:-39.10, Z:-183.26 [[-2.06881508e-02 8.60523566e-01 5.08990366e-01 1.87944483e+02] [-6.95526457e-02 5.06627151e-01 -8.59355200e-01 -3.90966637e+01] [-9.97363740e-01 -5.31800966e-02 4.93705118e-02 -1.83264534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:189.94, Y:-38.42, Z:-183.35 [[-1.83843257e-02 1.60466538e-01 -9.86870056e-01 1.89937572e+02] [-1.66758336e-03 -9.87040419e-01 -1.60463174e-01 -3.84163628e+01] [-9.99829603e-01 -1.30431917e-03 1.84136639e-02 -1.83347274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79232058799994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:189.69, Y:-40.56, Z:-183.44 [[ 9.57120377e-02 -9.48990622e-01 3.00426372e-01 1.89688202e+02] [-3.23917833e-02 2.98682789e-01 9.53802581e-01 -4.05629708e+01] [-9.94881892e-01 -1.01021735e-01 -2.15196025e-03 -1.83443176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:188.12, Y:-40.23, Z:-183.64 [[ 5.77120778e-02 9.82359844e-02 9.93488303e-01 1.88122546e+02] [-5.09369250e-02 9.94140544e-01 -9.53415344e-02 -4.02275922e+01] [-9.97032971e-01 -4.51028811e-02 6.23777554e-02 -1.83642430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85232058799994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:189.87, Y:-40.40, Z:-183.66 [[ 1.34181496e-01 -9.87452836e-01 8.32599658e-02 1.89871478e+02] [-6.93167869e-02 7.44612516e-02 9.94811894e-01 -4.04020913e+01] [-9.88529468e-01 -1.39256662e-01 -5.84557357e-02 -1.83655535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:187.88, Y:-39.90, Z:-184.03 [[ 1.22006799e-01 3.87574656e-01 9.13728749e-01 1.87884831e+02] [-5.57689686e-02 9.21828931e-01 -3.83563873e-01 -3.99023429e+01] [-9.90961232e-01 -4.16030972e-03 1.34084036e-01 -1.84026744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:187.88, Y:-39.85, Z:-184.11 [[ 1.19831086e-01 4.23120566e-01 8.98114412e-01 1.87880386e+02] [-6.51195026e-02 9.06034675e-01 -4.18163386e-01 -3.98540314e+01] [-9.90656329e-01 -8.37579113e-03 1.36124520e-01 -1.84113206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:-39.88, Z:-184.18 [[ 1.38366991e-01 4.08144507e-01 9.02370565e-01 1.87900411e+02] [-9.85712514e-02 9.12286033e-01 -3.97514657e-01 -3.98784268e+01] [-9.85463487e-01 -3.39448890e-02 1.66461588e-01 -1.84177153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:-38.27, Z:-184.32 [[ 3.41165080e-02 9.07023983e-01 -4.19694600e-01 1.88755977e+02] [-5.13972065e-02 -4.17791064e-01 -9.07088173e-01 -3.82691201e+01] [-9.98095382e-01 5.25178110e-02 3.23649268e-02 -1.84319113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:190.42, Y:-39.53, Z:-184.30 [[ 1.27681279e-01 -6.87971553e-01 -7.14417688e-01 1.90419732e+02] [ 1.46318215e-02 -7.18928308e-01 6.94930211e-01 -3.95307138e+01] [-9.91707316e-01 -9.91828103e-02 -8.17274090e-02 -1.84302440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03232058799995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:189.97, Y:-40.46, Z:-184.52 [[ 1.88120343e-01 -9.82124763e-01 6.45654372e-03 1.89971422e+02] [ 7.54584424e-03 8.01902100e-03 9.99939376e-01 -4.04601699e+01] [-9.82116997e-01 -1.88060218e-01 8.91950147e-03 -1.84515959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:188.42, Y:-38.53, Z:-184.92 [[ 1.18112790e-01 9.86562724e-01 -1.12886498e-01 1.88424362e+02] [ 3.71964503e-02 -1.17998131e-01 -9.92316918e-01 -3.85266100e+01] [-9.92303277e-01 1.13006343e-01 -5.06337198e-02 -1.84915406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:-40.57, Z:-184.93 [[ 2.02574035e-01 -9.65972626e-01 1.60812455e-01 1.89877225e+02] [ 2.71346743e-02 1.69691078e-01 9.85123671e-01 -4.05741899e+01] [-9.78890939e-01 -1.95196883e-01 6.05863590e-02 -1.84932530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:188.48, Y:-40.59, Z:-185.27 [[ 1.73043070e-01 -2.11671278e-01 9.61899873e-01 1.88483252e+02] [-6.11007049e-04 9.76609849e-01 2.15018206e-01 -4.05872329e+01] [-9.84914069e-01 -3.77951380e-02 1.68866234e-01 -1.85266310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:188.67, Y:-38.40, Z:-185.37 [[ 1.20598317e-01 9.55569676e-01 -2.68965873e-01 1.88668310e+02] [ 2.89900163e-02 -2.74217944e-01 -9.61230513e-01 -3.84046684e+01] [-9.92277998e-01 1.08125457e-01 -6.07722029e-02 -1.85372630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.08, Y:-40.48, Z:-185.39 [[ 1.84452880e-01 -9.82160936e-01 3.65654458e-02 1.90078957e+02] [ 7.33662261e-03 3.85787096e-02 9.99228631e-01 -4.04758019e+01] [-9.82813975e-01 -1.84042332e-01 1.43216982e-02 -1.85389462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:189.93, Y:-40.54, Z:-185.56 [[ 2.48914399e-01 -9.59295410e-01 1.33393922e-01 1.89932731e+02] [-2.14037598e-03 1.37183692e-01 9.90543312e-01 -4.05422926e+01] [-9.68523123e-01 -2.46846006e-01 3.20937435e-02 -1.85561361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:189.82, Y:-40.58, Z:-185.74 [[ 3.10738306e-01 -9.28548725e-01 2.03073807e-01 1.89820403e+02] [-1.66286416e-02 2.08307014e-01 9.77922122e-01 -4.05762050e+01] [-9.50350037e-01 -3.07254705e-01 4.92884647e-02 -1.85735445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:188.70, Y:-38.39, Z:-186.27 [[ 2.55483753e-01 9.32543956e-01 -2.55127072e-01 1.88696926e+02] [ 2.15754924e-02 -2.69318107e-01 -9.62809563e-01 -3.83915121e+01] [-9.66572579e-01 2.40477708e-01 -8.89264957e-02 -1.86268872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:188.78, Y:-38.43, Z:-186.39 [[ 1.70518511e-01 9.55487406e-01 -2.40763897e-01 1.88778971e+02] [ 1.42649165e-02 -2.46710575e-01 -9.68984213e-01 -3.84276013e+01] [-9.85251211e-01 1.61795268e-01 -5.56986679e-02 -1.86385667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.60, Y:-39.19, Z:-186.20 [[ 2.27307144e-01 -4.02372673e-01 -8.86807586e-01 1.90602413e+02] [ 9.87843487e-02 -8.96420758e-01 4.32054947e-01 -3.91912245e+01] [-9.68799832e-01 -1.85811886e-01 -1.64014720e-01 -1.86200182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:190.52, Y:-40.17, Z:-186.46 [[ 2.87954755e-01 -8.90084877e-01 -3.53314267e-01 1.90520523e+02] [ 1.45726309e-01 -3.23917187e-01 9.34794897e-01 -4.01687873e+01] [-9.46491364e-01 -3.20665820e-01 3.64352890e-02 -1.86455867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.16, Y:-40.82, Z:-187.02 [[ 2.84283438e-01 -5.24220651e-01 8.02730114e-01 1.89155592e+02] [ 1.03714567e-01 8.49177622e-01 5.17822995e-01 -4.08211994e+01] [-9.53113957e-01 -6.39536955e-02 2.95776452e-01 -1.87018225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:188.66, Y:-38.65, Z:-187.06 [[ 2.06605673e-01 9.78360801e-01 1.11462425e-02 1.88655524e+02] [ 9.07482005e-02 -7.81836667e-03 -9.95843179e-01 -3.86503194e+01] [-9.74206785e-01 2.06758352e-01 -9.03998010e-02 -1.87060966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:190.41, Y:-38.71, Z:-186.80 [[ 2.01358979e-01 8.36753696e-02 -9.75936983e-01 1.90410713e+02] [ 2.03255967e-01 -9.78227198e-01 -4.19351957e-02 -3.87080876e+01] [-9.58197043e-01 -1.89920987e-01 -2.13982348e-01 -1.86798442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:189.76, Y:-40.86, Z:-187.45 [[ 2.30733839e-01 -7.74937655e-01 5.88416117e-01 1.89760121e+02] [ 1.76782853e-01 6.28055960e-01 7.57821572e-01 -4.08618277e+01] [-9.56822720e-01 -7.08332010e-02 2.81909452e-01 -1.87449598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.49, Y:-40.84, Z:-187.57 [[ 2.31034348e-01 -6.20988243e-01 7.48997151e-01 1.89486418e+02] [ 1.74607132e-01 7.83789415e-01 5.95975253e-01 -4.08395793e+01] [-9.57149664e-01 -6.91050939e-03 2.89511252e-01 -1.87570418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.49, Y:-40.80, Z:-187.69 [[ 2.40963469e-01 -6.08767775e-01 7.55869303e-01 1.89490752e+02] [ 1.63408316e-01 7.93147467e-01 5.86698233e-01 -4.08046278e+01] [-9.56678801e-01 -1.78575114e-02 2.90597282e-01 -1.87686779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:-40.78, Z:-187.75 [[ 2.41792886e-01 -5.67988383e-01 7.86718118e-01 1.89439029e+02] [ 1.61118119e-01 8.23021714e-01 5.44679915e-01 -4.07808577e+01] [-9.56857958e-01 -4.94518567e-03 2.90514015e-01 -1.87753004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.44, Y:-40.77, Z:-187.81 [[ 2.43749153e-01 -5.58614480e-01 7.92802758e-01 1.89438605e+02] [ 1.59141053e-01 8.29415991e-01 5.35484117e-01 -4.07653996e+01] [-9.56692467e-01 -4.35633454e-03 2.91067942e-01 -1.87808493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:-40.77, Z:-187.85 [[ 2.79723264e-01 -6.11774148e-01 7.39923839e-01 1.89543059e+02] [ 1.62271116e-01 7.89727553e-01 5.91606691e-01 -4.07697966e+01] [-9.46267922e-01 -4.54178877e-02 3.20178442e-01 -1.87845605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:-39.25, Z:-187.99 [[ 1.92909780e-01 7.72796607e-01 6.04624859e-01 1.88536682e+02] [ 8.82728583e-02 6.00032258e-01 -7.95090681e-01 -3.92534563e+01] [-9.77237801e-01 2.06752733e-01 4.75351256e-02 -1.87990305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:-38.31, Z:-187.68 [[ 1.61118765e-01 4.48296038e-01 -8.79244793e-01 1.90265637e+02] [ 1.89156032e-01 -8.88395054e-01 -4.18299203e-01 -3.83107226e+01] [-9.68638601e-01 -9.89186051e-02 -2.27935014e-01 -1.87680370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:-40.72, Z:-188.23 [[ 1.88876461e-01 -8.16346266e-01 5.45806244e-01 1.90095186e+02] [ 1.99052110e-01 5.76099131e-01 7.92772382e-01 -4.07248722e+01] [-9.61615276e-01 -4.10921570e-02 2.71307012e-01 -1.88230392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:188.69, Y:-39.27, Z:-188.32 [[ 9.76606093e-02 7.49450134e-01 6.54818221e-01 1.88686981e+02] [ 1.38799782e-01 6.41276196e-01 -7.54651881e-01 -3.92729723e+01] [-9.85493291e-01 1.64588389e-01 -4.13960910e-02 -1.88324492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:-39.43, Z:-188.23 [[ 1.51853090e-01 -6.76423901e-01 -7.20688106e-01 1.91192522e+02] [ 1.79522966e-01 -6.98140809e-01 6.93087956e-01 -3.94252677e+01] [-9.71963036e-01 -2.34627614e-01 1.54187859e-02 -1.88230576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:-39.28, Z:-188.72 [[ 9.45534182e-02 7.12885914e-01 6.94876482e-01 1.88736183e+02] [ 1.40090475e-01 6.81529966e-01 -7.18255919e-01 -3.92804746e+01] [-9.85613672e-01 1.65259129e-01 -3.54275387e-02 -1.88720203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.24, Y:-39.33, Z:-188.62 [[ 1.49246027e-01 -6.57095035e-01 -7.38885470e-01 1.91243073e+02] [ 1.83441077e-01 -7.15883144e-01 6.73691840e-01 -3.93329606e+01] [-9.71635217e-01 -2.36087777e-01 1.36955060e-02 -1.88616828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:-39.24, Z:-189.11 [[ 9.27926480e-02 7.00333812e-01 7.07758487e-01 1.88787233e+02] [ 1.41792275e-01 6.94286288e-01 -7.05593013e-01 -3.92410053e+01] [-9.85537658e-01 1.65828530e-01 -3.48772615e-02 -1.89107876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.29, Y:-39.26, Z:-189.01 [[ 1.44829557e-01 -6.48573527e-01 -7.47246131e-01 1.91292765e+02] [ 1.88452074e-01 -7.23303375e-01 6.64317728e-01 -3.92550637e+01] [-9.71344540e-01 -2.37032926e-01 1.74693188e-02 -1.89005696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.932320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:188.86, Y:-39.48, Z:-189.54 [[ 1.28077905e-01 5.11115397e-01 8.49915938e-01 1.88863964e+02] [ 9.61009895e-02 8.46545208e-01 -5.23570254e-01 -3.94845274e+01] [-9.87097082e-01 1.48735544e-01 5.93050411e-02 -1.89540094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-37.98, Z:-189.34 [[ 1.65144557e-02 8.08293823e-01 -5.88547678e-01 1.89989032e+02] [ 1.74633095e-01 -5.81912089e-01 -7.94280556e-01 -3.79792348e+01] [-9.84495076e-01 -8.96627916e-02 -1.50764814e-01 -1.89336739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:-40.00, Z:-189.74 [[ 6.20694162e-02 -9.89920231e-01 -1.27300132e-01 1.91172921e+02] [ 1.88459384e-01 -1.13627202e-01 9.75485479e-01 -3.99998753e+01] [-9.80117569e-01 -8.45387185e-02 1.79506982e-01 -1.89743713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.90, Y:-40.23, Z:-189.87 [[ 9.59330341e-02 -9.82880839e-01 1.57296246e-01 1.90903984e+02] [ 2.30969787e-01 1.75692596e-01 9.56966598e-01 -4.02334929e+01] [-9.68219918e-01 -5.54740287e-02 2.43870502e-01 -1.89871113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:-39.36, Z:-189.96 [[ 1.94815643e-02 5.27193333e-01 8.49522018e-01 1.88975836e+02] [ 1.26275673e-01 8.41581714e-01 -5.25161569e-01 -3.93644131e+01] [-9.91803873e-01 1.17504934e-01 -5.01763647e-02 -1.89963103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.53, Y:-38.07, Z:-189.93 [[-4.34981982e-02 9.90960889e-01 -1.26903202e-01 1.89534738e+02] [ 1.35934688e-01 -1.19971552e-01 -9.83426961e-01 -3.80705209e+01] [-9.89762430e-01 -6.00278480e-02 -1.29487413e-01 -1.89932086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:-39.61, Z:-190.23 [[-3.23360485e-02 -9.37547313e-01 -3.46351579e-01 1.91460232e+02] [ 1.30753822e-01 -3.47522797e-01 9.28510282e-01 -3.96138403e+01] [-9.90887389e-01 -1.52624392e-02 1.33825408e-01 -1.90232772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-40.02, Z:-190.22 [[-3.96657923e-02 -7.95620189e-02 9.96040416e-01 1.89462990e+02] [ 6.43157939e-02 9.94554535e-01 8.20046078e-02 -4.00198511e+01] [-9.97140965e-01 6.73139079e-02 -3.43326992e-02 -1.90221163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.172320588 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:191.54, Y:-39.37, Z:-190.27 [[-2.78282717e-02 -8.54221876e-01 -5.19163341e-01 1.91536701e+02] [ 4.89202261e-02 -5.19905967e-01 8.52821550e-01 -3.93678212e+01] [-9.98414943e-01 -1.66503816e-03 5.62568118e-02 -1.90270551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.42, Y:-39.97, Z:-190.27 [[-2.91080281e-02 -4.57991440e-02 9.98526495e-01 1.89424570e+02] [-6.89387250e-03 9.98935218e-01 4.56169277e-02 -3.99719185e+01] [-9.99552498e-01 -5.55589554e-03 -2.93927679e-02 -1.90267025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-38.00, Z:-190.33 [[-2.22359316e-02 1.66092359e-01 -9.85859469e-01 1.91048053e+02] [ 4.54051201e-03 -9.86076334e-01 -1.66231306e-01 -3.80036022e+01] [-9.99742440e-01 -8.17261470e-03 2.11721816e-02 -1.90329567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.22, Y:-39.91, Z:-190.33 [[ 4.35481855e-02 -9.97854582e-01 -4.88854684e-02 1.91218878e+02] [-1.10688027e-02 -4.94107914e-02 9.98717205e-01 -3.99076984e+01] [-9.98990009e-01 -4.29512185e-02 -1.31968058e-02 -1.90332625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.84, Y:-40.23, Z:-190.44 [[ 2.29819618e-02 -4.28506032e-01 9.03246594e-01 1.89839816e+02] [-5.35521764e-02 9.01660428e-01 4.29116111e-01 -4.02305723e+01] [-9.98300553e-01 -5.82327511e-02 -2.22550508e-03 -1.90436927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:-38.67, Z:-190.59 [[ 1.94660033e-02 8.75874747e-01 4.82145727e-01 1.89063702e+02] [-4.74410377e-02 4.82503082e-01 -8.74608555e-01 -3.86659382e+01] [-9.98684346e-01 -5.84836058e-03 5.09448135e-02 -1.90592511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:189.10, Y:-38.58, Z:-190.65 [[ 1.56891380e-02 9.07378283e-01 4.20022026e-01 1.89096594e+02] [-4.87692387e-02 4.20268198e-01 -9.06088408e-01 -3.85831615e+01] [-9.98686844e-01 -6.26840835e-03 5.08457938e-02 -1.90653922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.19, Y:-40.26, Z:-190.69 [[ 6.24768984e-02 -6.82335136e-01 7.28364880e-01 1.90189683e+02] [-1.09737911e-01 7.20669260e-01 6.84538829e-01 -4.02609601e+01] [-9.91995075e-01 -1.22697103e-01 -2.98528525e-02 -1.90686185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.01, Y:-38.73, Z:-190.98 [[ 5.59493287e-02 8.37844955e-01 5.43033612e-01 1.89006569e+02] [-9.87118360e-02 5.45862715e-01 -8.32039584e-01 -3.87253140e+01] [-9.93541970e-01 -7.05178869e-03 1.13245866e-01 -1.90983205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.78, Y:-37.89, Z:-191.17 [[-1.25466766e-03 9.47125778e-01 -3.20860072e-01 1.89781345e+02] [-7.46821703e-02 -3.20053032e-01 -9.44451497e-01 -3.78926339e+01] [-9.97206598e-01 2.27775538e-02 7.11349688e-02 -1.91165593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.45, Y:-38.12, Z:-191.16 [[-8.95423186e-03 9.99850755e-01 -1.47746514e-02 1.89453841e+02] [-7.47816932e-02 -1.54034350e-02 -9.97080956e-01 -3.81191392e+01] [-9.97159726e-01 -7.82322062e-03 7.49084583e-02 -1.91157899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:189.49, Y:-38.08, Z:-191.16 [[-2.81249062e-02 9.98026084e-01 -5.61509110e-02 1.89491076e+02] [-7.49593378e-02 -5.81206974e-02 -9.95491377e-01 -3.80836767e+01] [-9.96789891e-01 -2.37890665e-02 7.64460135e-02 -1.91158013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:191.46, Y:-38.46, Z:-191.18 [[ 1.58795571e-02 -2.85636877e-01 -9.58206353e-01 1.91461314e+02] [-1.45960025e-02 -9.58291294e-01 2.85420310e-01 -3.84606325e+01] [-9.99767371e-01 9.45363426e-03 -1.93863979e-02 -1.91182304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.60, Y:-40.04, Z:-191.31 [[ 1.32999554e-02 -1.99171101e-01 9.79874473e-01 1.89603853e+02] [-8.70045061e-02 9.76013885e-01 1.99567314e-01 -4.00443678e+01] [-9.96119133e-01 -8.79077309e-02 -4.34784212e-03 -1.91313939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.62, Y:-37.82, Z:-191.62 [[-1.23288593e-02 5.59597526e-01 -8.28672799e-01 1.90619988e+02] [-1.72729940e-02 -8.28731317e-01 -5.59380057e-01 -3.78153852e+01] [-9.99774796e-01 7.41714223e-03 1.98832365e-02 -1.91618807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:-37.81, Z:-191.62 [[-2.14837150e-02 8.31239706e-01 -5.55498876e-01 1.90126874e+02] [-1.44921436e-02 -5.55827661e-01 -8.31171215e-01 -3.78116475e+01] [-9.99664157e-01 -9.80627605e-03 2.39876882e-02 -1.91624345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.30, Y:-37.79, Z:-191.63 [[-1.54955946e-02 7.48182733e-01 -6.63311755e-01 1.90300055e+02] [-5.52850074e-03 -6.63445374e-01 -7.48204298e-01 -3.77905490e+01] [-9.99864652e-01 -7.92675095e-03 1.44168094e-02 -1.91630922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-39.60, Z:-191.73 [[ 1.09886944e-01 -9.17077421e-01 -3.83267352e-01 1.91476242e+02] [ 2.87371514e-02 -3.82509947e-01 9.23504367e-01 -3.95951263e+01] [-9.93528578e-01 -1.12495085e-01 -1.56786565e-02 -1.91733104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.73, Y:-40.22, Z:-192.03 [[ 1.00552204e-01 -3.14880331e-01 9.43790036e-01 1.89732145e+02] [ 2.13098962e-02 9.49061728e-01 3.14368771e-01 -4.02215872e+01] [-9.94703545e-01 -1.14984051e-02 1.02140316e-01 -1.92028846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:-38.51, Z:-192.18 [[ 4.04645324e-02 9.34326376e-01 3.54114168e-01 1.89244470e+02] [ 9.51735446e-03 3.54027943e-01 -9.35186418e-01 -3.85148805e+01] [-9.99135647e-01 4.12121112e-02 5.43325987e-03 -1.92180709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.52, Y:-38.21, Z:-192.31 [[-3.42365305e-02 9.96091505e-01 8.14221976e-02 1.89522034e+02] [-6.96495951e-03 8.12301775e-02 -9.96671033e-01 -3.82087527e+01] [-9.99389488e-01 -3.46896605e-02 4.15669755e-03 -1.92309757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:-40.01, Z:-192.35 [[ 3.96109559e-02 -9.97525164e-01 5.80906138e-02 1.91317376e+02] [-2.69722756e-02 5.70476278e-02 9.98007046e-01 -4.00099099e+01] [-9.98851074e-01 -4.10988492e-02 -2.46458126e-02 -1.92349498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.75, Y:-40.09, Z:-192.45 [[ 1.15233366e-02 -1.88122977e-01 9.82077878e-01 1.89749574e+02] [-6.18093920e-02 9.80130945e-01 1.88475278e-01 -4.00914088e+01] [-9.98021449e-01 -6.28735007e-02 -3.33387999e-04 -1.92453541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:-37.85, Z:-192.71 [[-1.47807997e-02 5.83418850e-01 -8.12036929e-01 1.90748101e+02] [-1.00026332e-03 -8.12133868e-01 -5.83470290e-01 -3.78543276e+01] [-9.99890258e-01 -7.81190676e-03 1.25875605e-02 -1.92714558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:-38.02, Z:-192.74 [[-1.68155601e-02 2.57395084e-01 -9.66159929e-01 1.91181581e+02] [ 4.72141462e-03 -9.66265340e-01 -2.57505341e-01 -3.80156279e+01] [-9.99847461e-01 -8.89173815e-03 1.50330240e-02 -1.92742542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.45, Y:-39.99, Z:-192.77 [[ 4.32953911e-02 -9.97982790e-01 -4.64312462e-02 1.91449931e+02] [-4.47560404e-04 -4.64941948e-02 9.98918460e-01 -3.99900468e+01] [-9.99062215e-01 -4.32277846e-02 -2.45964193e-03 -1.92771297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.47, Y:-38.48, Z:-192.99 [[-2.21263232e-02 9.54175101e-01 2.98429727e-01 1.89469397e+02] [-7.06615173e-03 2.98346093e-01 -9.54431600e-01 -3.84847558e+01] [-9.99730211e-01 -2.32268118e-02 1.41043963e-04 -1.92990368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-38.43, Z:-193.01 [[-8.89555169e-02 9.64093707e-01 2.50220384e-01 1.89513289e+02] [-2.05905745e-02 2.49382659e-01 -9.68186097e-01 -3.84283550e+01] [-9.95822747e-01 -9.12776761e-02 -2.33272005e-03 -1.93012932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-37.84, Z:-193.17 [[-7.43846832e-02 5.65087030e-01 -8.21671204e-01 1.90849745e+02] [-2.06341893e-02 -8.24649625e-01 -5.65267394e-01 -3.78377523e+01] [-9.97016123e-01 -2.50927168e-02 7.30014138e-02 -1.93170406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.66, Y:-39.79, Z:-193.20 [[-2.60585244e-02 -9.74178600e-01 -2.24269947e-01 1.91661203e+02] [-2.33101488e-02 -2.23692985e-01 9.74380873e-01 -3.97870928e+01] [-9.99388608e-01 3.06186937e-02 -1.68791390e-02 -1.93201219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.42, Y:-39.60, Z:-193.16 [[-5.10576618e-02 3.44877356e-01 9.37258088e-01 1.89422901e+02] [-7.05002425e-02 9.34896209e-01 -3.47848810e-01 -3.96019291e+01] [-9.96204211e-01 -8.38372695e-02 -2.34196772e-02 -1.93164380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.25, Y:-37.86, Z:-193.35 [[-3.40232968e-02 8.76650516e-01 -4.79923210e-01 1.90246461e+02] [-6.30403806e-02 -4.81127444e-01 -8.74381091e-01 -3.78562873e+01] [-9.97430863e-01 5.05214436e-04 7.16339240e-02 -1.93349520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-39.50, Z:-193.40 [[ 8.05038900e-02 -8.72167057e-01 -4.82538857e-01 1.91748129e+02] [-8.03683252e-03 -4.84662369e-01 8.74664391e-01 -3.94966159e+01] [-9.96721894e-01 -6.65358020e-02 -4.60266666e-02 -1.93399355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-37.95, Z:-193.61 [[ 4.70049122e-02 5.54995688e-01 -8.30524127e-01 1.90847518e+02] [ 5.87042642e-02 -8.31540925e-01 -5.52352694e-01 -3.79459542e+01] [-9.97168164e-01 -2.27920179e-02 -7.16671216e-02 -1.93614026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.39, Y:-37.98, Z:-193.78 [[-1.13574662e-02 8.44645197e-01 -5.35206034e-01 1.90392049e+02] [ 9.67782475e-02 -5.31799279e-01 -8.41322470e-01 -3.79795763e+01] [-9.95241166e-01 -6.13515935e-02 -7.57033896e-02 -1.93777712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-39.96, Z:-193.99 [[-1.29503579e-02 -9.84803903e-01 -1.73186489e-01 1.91696877e+02] [ 8.52269138e-02 -1.73657857e-01 9.81111269e-01 -3.99648912e+01] [-9.96277402e-01 -2.05440789e-03 8.61807287e-02 -1.93987289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-40.01, Z:-194.00 [[-9.83624993e-03 -9.91915451e-01 -1.26518718e-01 1.91659921e+02] [ 8.68399293e-02 -1.26894172e-01 9.88107634e-01 -4.00116498e+01] [-9.96173717e-01 -1.26760284e-03 8.73860304e-02 -1.94000587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:191.62, Y:-40.05, Z:-194.03 [[-3.12075871e-03 -9.96707417e-01 -8.10221341e-02 1.91622023e+02] [ 8.67475207e-02 -8.09869267e-02 9.92933022e-01 -4.00537956e+01] [-9.96225441e-01 -3.92976488e-03 8.67146379e-02 -1.94025844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:-40.11, Z:-194.03 [[ 8.46192673e-04 -9.99792395e-01 -2.03580876e-02 1.91569432e+02] [ 8.71172685e-02 -2.02069919e-02 9.95993102e-01 -4.01095112e+01] [-9.96197704e-01 -2.61634305e-03 8.70820835e-02 -1.94034509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.53, Y:-40.14, Z:-194.10 [[ 5.62345821e-03 -9.99674940e-01 2.48674777e-02 1.91525064e+02] [ 8.82940484e-02 2.52671174e-02 9.95773937e-01 -4.01444853e+01] [-9.96078580e-01 -3.40404284e-03 8.84074361e-02 -1.94098832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-40.18, Z:-194.16 [[ 8.99095253e-03 -9.97558049e-01 6.92611067e-02 1.91479027e+02] [ 8.96197521e-02 6.97890338e-02 9.93527952e-01 -4.01779222e+01] [-9.95935471e-01 -2.72559944e-03 9.00283750e-02 -1.94160765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:-40.21, Z:-194.22 [[ 1.35848983e-02 -9.93675924e-01 1.11461241e-01 1.91432193e+02] [ 8.76115898e-02 1.12225694e-01 9.89812913e-01 -4.02067341e+01] [-9.96062076e-01 -3.68121124e-03 8.85821021e-02 -1.94224994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:-40.23, Z:-194.29 [[ 1.95324058e-02 -9.87644720e-01 1.55487592e-01 1.91383586e+02] [ 8.72773047e-02 1.56607904e-01 9.83797050e-01 -4.02335211e+01] [-9.95992549e-01 -5.64538533e-03 8.92578984e-02 -1.94293751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:-40.26, Z:-194.39 [[ 2.92350321e-02 -9.77543515e-01 2.08695927e-01 1.91319804e+02] [ 8.45076673e-02 2.10454839e-01 9.73944154e-01 -4.02612462e+01] [-9.95993859e-01 -1.08368826e-02 8.87625761e-02 -1.94387826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-40.32, Z:-194.46 [[ 3.42714261e-02 -9.51188746e-01 3.06700894e-01 1.91202112e+02] [ 8.34247012e-02 3.08532872e-01 9.47548303e-01 -4.03174315e+01] [-9.95924590e-01 -6.88740119e-03 8.99264984e-02 -1.94464138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:191.13, Y:-40.34, Z:-194.53 [[ 3.80881771e-02 -9.31112477e-01 3.62737984e-01 1.91129663e+02] [ 8.04781734e-02 3.64680484e-01 9.27648321e-01 -4.03421114e+01] [-9.96028390e-01 -6.13994316e-03 8.88242462e-02 -1.94534137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:-40.36, Z:-194.60 [[ 4.35191654e-02 -9.10092997e-01 4.12112629e-01 1.91065260e+02] [ 8.08556951e-02 4.14358746e-01 9.06514857e-01 -4.03595707e+01] [-9.95775295e-01 -6.12911699e-03 9.16187487e-02 -1.94603054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.00, Y:-40.37, Z:-194.71 [[ 5.41657742e-02 -8.86034472e-01 4.60444332e-01 1.90995464e+02] [ 7.56046572e-02 4.63436752e-01 8.82898812e-01 -4.03661937e+01] [-9.95665609e-01 -1.30111619e-02 9.20907430e-02 -1.94711940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:-38.12, Z:-194.66 [[ 4.11757321e-02 2.62807932e-01 -9.63969165e-01 1.91307324e+02] [ 1.45499138e-01 -9.56080114e-01 -2.54442167e-01 -3.81152056e+01] [-9.88501168e-01 -1.29779840e-01 -7.76056262e-02 -1.94659219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:191.29, Y:-40.29, Z:-195.03 [[ 4.04440079e-02 -9.67241975e-01 2.50613735e-01 1.91290592e+02] [ 1.37329493e-01 2.53819652e-01 9.57452973e-01 -4.02938602e+01] [-9.89699395e-01 -4.30657834e-03 1.43096334e-01 -1.95034849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:-40.30, Z:-195.10 [[ 4.46354252e-02 -9.60651661e-01 2.74146065e-01 1.91262243e+02] [ 1.36863948e-01 2.77712377e-01 9.50864920e-01 -4.02994600e+01] [-9.89583720e-01 -4.92154725e-03 1.43874389e-01 -1.95096849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:-40.31, Z:-195.16 [[ 4.86843597e-02 -9.52611275e-01 3.00269199e-01 1.91230925e+02] [ 1.35706729e-01 3.04146626e-01 9.42909600e-01 -4.03062597e+01] [-9.89552180e-01 -5.15639940e-03 1.44082944e-01 -1.95156869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.20, Y:-40.31, Z:-195.22 [[ 5.33643777e-02 -9.44202321e-01 3.25014184e-01 1.91201466e+02] [ 1.34731470e-01 3.29309853e-01 9.34560031e-01 -4.03097760e+01] [-9.89444124e-01 -6.08257561e-03 1.44787182e-01 -1.95217806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:-40.31, Z:-195.28 [[ 5.60029837e-02 -9.35062044e-01 3.50032341e-01 1.91171693e+02] [ 1.32799463e-01 3.54443688e-01 9.25599252e-01 -4.03130639e+01] [-9.89559482e-01 -5.35221306e-03 1.44025641e-01 -1.95281494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-37.99, Z:-195.11 [[ 2.65287758e-02 5.02742321e-01 -8.64029156e-01 1.91046044e+02] [ 1.99456407e-01 -8.49615744e-01 -4.88231738e-01 -3.79858398e+01] [-9.79547531e-01 -1.59383960e-01 -1.22814442e-01 -1.95107036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.72, Y:-37.96, Z:-195.25 [[-2.52315046e-02 7.41067126e-01 -6.70956695e-01 1.90720530e+02] [ 2.44198518e-01 -6.46268728e-01 -7.22982583e-01 -3.79636858e+01] [-9.69396954e-01 -1.82088569e-01 -1.64661161e-01 -1.95254053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.75, Y:-39.98, Z:-195.79 [[-2.32358285e-02 -9.93477765e-01 -1.11633450e-01 1.91753666e+02] [ 2.37154330e-01 -1.13953806e-01 9.64765440e-01 -3.99799920e+01] [-9.71194069e-01 -4.05723175e-03 2.38255364e-01 -1.95792493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:-39.96, Z:-195.83 [[-1.48966014e-02 -9.91814002e-01 -1.26819075e-01 1.91762761e+02] [ 2.38916004e-01 -1.26689948e-01 9.62740256e-01 -3.99560303e+01] [-9.70925968e-01 -1.59575486e-02 2.38847487e-01 -1.95833275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.57, Y:-39.59, Z:-195.71 [[-4.31933959e-02 4.15985534e-01 9.08344850e-01 1.89566380e+02] [ 1.81152684e-01 8.97383404e-01 -4.02351502e-01 -3.95904797e+01] [-9.82505998e-01 1.47170180e-01 -1.14117933e-01 -1.95713740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-39.85, Z:-195.86 [[-3.44461337e-02 -9.76717337e-01 -2.11746798e-01 1.91831378e+02] [ 1.75433625e-01 -2.14492047e-01 9.60841405e-01 -3.98461363e+01] [-9.83888463e-01 -4.05023694e-03 1.78737485e-01 -1.95862475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-39.84, Z:-195.89 [[-2.66159191e-02 -9.76500947e-01 -2.13863259e-01 1.91829810e+02] [ 1.73042524e-01 -2.15209981e-01 9.61114431e-01 -3.98418507e+01] [-9.84554660e-01 -1.14264943e-02 1.74704200e-01 -1.95886804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:-39.72, Z:-195.82 [[-4.94887345e-02 2.88386018e-01 9.56234474e-01 1.89634508e+02] [ 1.17373895e-01 9.52452758e-01 -2.81170968e-01 -3.97165571e+01] [-9.91853938e-01 9.83221693e-02 -8.09846719e-02 -1.95818133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.94, Y:-39.62, Z:-195.92 [[-4.13183497e-02 -9.21763460e-01 -3.85544961e-01 1.91938056e+02] [ 1.10764410e-01 -3.87721767e-01 9.15097305e-01 -3.96214115e+01] [-9.92987432e-01 -4.89434974e-03 1.18118609e-01 -1.95922380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.83, Y:-39.98, Z:-195.88 [[-5.42751554e-02 1.51724864e-02 9.98410739e-01 1.89834365e+02] [ 4.93590908e-02 9.98702953e-01 -1.24936903e-02 -3.99819011e+01] [-9.97305313e-01 4.86025493e-02 -5.49536581e-02 -1.95882266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:-37.92, Z:-195.82 [[-1.07073636e-01 9.14117636e-01 -3.91055219e-01 1.90317721e+02] [ 7.72343537e-02 -3.84480653e-01 -9.19896452e-01 -3.79247442e+01] [-9.91246736e-01 -1.28699555e-01 -2.94335434e-02 -1.95820253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:-38.77, Z:-196.08 [[-1.02870383e-01 -4.86905563e-01 -8.67375730e-01 1.91994828e+02] [ 7.97964607e-02 -8.73231061e-01 4.80728655e-01 -3.87725430e+01] [-9.91488885e-01 -1.97607726e-02 1.28682954e-01 -1.96078915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:-40.35, Z:-196.07 [[-8.67506967e-02 -6.00754165e-01 7.94712999e-01 1.90556853e+02] [ 2.00971207e-02 7.96502707e-01 6.04300872e-01 -4.03524905e+01] [-9.96027320e-01 6.83949647e-02 -5.70237358e-02 -1.96066783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:-38.34, Z:-195.98 [[-1.34646200e-01 9.76973472e-01 1.65509020e-01 1.89740626e+02] [ 1.97843096e-02 1.69647339e-01 -9.85306227e-01 -3.83367321e+01] [-9.90696211e-01 -1.29393257e-01 -4.21711151e-02 -1.95978347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-39.99, Z:-196.28 [[-7.16381481e-02 -9.97298572e-01 -1.62337509e-02 1.91638860e+02] [ 7.04774716e-03 -1.67812827e-02 9.99834345e-01 -3.99871090e+01] [-9.97405788e-01 7.15118695e-02 8.23088819e-03 -1.96276354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-39.95, Z:-196.29 [[-1.86400722e-03 -9.98292662e-01 -5.83805320e-02 1.91660072e+02] [ 3.38188215e-03 -5.83865926e-02 9.98288319e-01 -3.99506665e+01] [-9.99992544e-01 1.66338055e-03 3.48494117e-03 -1.96291463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:-39.64, Z:-196.31 [[-2.49598536e-02 2.98853823e-01 9.53972431e-01 1.89585327e+02] [-4.32794677e-02 9.53051988e-01 -2.99697842e-01 -3.96432216e+01] [-9.98751167e-01 -4.87678333e-02 -1.08538037e-02 -1.96309544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:-37.89, Z:-196.44 [[-1.83370069e-02 9.22235117e-01 -3.86194438e-01 1.90261749e+02] [-4.72788711e-02 -3.86627098e-01 -9.21023450e-01 -3.78886294e+01] [-9.98713404e-01 1.37002370e-03 5.06918190e-02 -1.96435213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.39, Y:-37.85, Z:-196.44 [[-2.20877484e-02 8.73862027e-01 -4.85671998e-01 1.90394480e+02] [-4.70067279e-02 -4.86160995e-01 -8.72604065e-01 -3.78450332e+01] [-9.98650339e-01 3.55599243e-03 5.18155963e-02 -1.96444649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.51, Y:-37.82, Z:-196.48 [[-2.45817925e-02 8.23623476e-01 -5.66604011e-01 1.90512988e+02] [-4.27784938e-02 -5.67122751e-01 -8.22521602e-01 -3.78226738e+01] [-9.98782126e-01 4.01941084e-03 4.91742656e-02 -1.96481480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-37.81, Z:-196.52 [[-3.44621182e-02 7.50658038e-01 -6.59791537e-01 1.90663839e+02] [-3.47996450e-02 -6.60684652e-01 -7.49856503e-01 -3.78092749e+01] [-9.98799954e-01 -2.88113214e-03 4.88912258e-02 -1.96520195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-38.98, Z:-196.45 [[-9.45242973e-02 7.41634850e-01 6.64110613e-01 1.89463222e+02] [-6.39197524e-02 6.61199675e-01 -7.47481943e-01 -3.89767680e+01] [-9.93468380e-01 -1.13104991e-01 -1.50943187e-02 -1.96447804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.83, Y:-37.81, Z:-196.71 [[-7.41648825e-02 6.60720231e-01 -7.46959401e-01 1.90825500e+02] [-6.54285129e-02 -7.50632243e-01 -6.57472696e-01 -3.78130098e+01] [-9.95097322e-01 1.11057457e-04 9.89004942e-02 -1.96711329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:-39.42, Z:-196.72 [[-5.32737381e-02 -8.52055250e-01 -5.20733867e-01 1.91936964e+02] [-5.44380533e-02 -5.18220823e-01 8.53512552e-01 -3.94179829e+01] [-9.97094984e-01 7.38175422e-02 -1.87766687e-02 -1.96724662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:-40.18, Z:-196.64 [[-4.17729478e-02 -2.71881144e-01 9.61423769e-01 1.90055307e+02] [-9.55952992e-02 9.58936684e-01 2.67024296e-01 -4.01751810e+01] [-9.94543393e-01 -8.07532009e-02 -6.60481713e-02 -1.96639072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.71, Y:-38.28, Z:-196.84 [[-2.92579998e-02 9.92587517e-01 1.17957583e-01 1.89714280e+02] [-9.59002605e-02 1.14676293e-01 -9.88763110e-01 -3.82793999e+01] [-9.94960858e-01 -4.02413938e-02 9.18342025e-02 -1.96837470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-38.29, Z:-196.93 [[-2.08104040e-02 -6.18811088e-02 -9.97866552e-01 1.91663323e+02] [-4.45323215e-02 -9.97034741e-01 6.27582423e-02 -3.82851516e+01] [-9.98791169e-01 4.57433385e-02 1.79929863e-02 -1.96926728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:191.38, Y:-40.12, Z:-196.97 [[ 8.59867108e-02 -9.88079826e-01 1.27689246e-01 1.91375259e+02] [-3.67982710e-02 1.24926745e-01 9.91483331e-01 -4.01216309e+01] [-9.95616479e-01 -8.99531339e-02 -2.56175893e-02 -1.96971232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:-39.99, Z:-197.19 [[ 1.11154108e-01 -3.15079398e-04 9.93803132e-01 1.89717663e+02] [-7.94283914e-02 9.96798120e-01 9.19987291e-03 -3.99850028e+01] [-9.90623993e-01 -7.99587878e-02 1.10773179e-01 -1.97193964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.15, Y:-38.01, Z:-197.46 [[ 1.01417766e-02 9.55750749e-01 -2.94002807e-01 1.90147501e+02] [-7.12887493e-02 -2.92578713e-01 -9.53580416e-01 -3.80087814e+01] [-9.97404160e-01 3.06300920e-02 6.51670076e-02 -1.97458396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-38.37, Z:-197.56 [[-1.53184706e-02 -3.37403999e-02 -9.99313229e-01 1.91658420e+02] [ 9.45164605e-03 -9.99390730e-01 3.35981324e-02 -3.83721165e+01] [-9.99837992e-01 -8.93048293e-03 1.56280398e-02 -1.97564485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:-40.41, Z:-197.73 [[ 5.94467896e-02 -8.82102041e-01 4.67292273e-01 1.91001363e+02] [-1.87911465e-02 4.67048339e-01 8.84032093e-01 -4.04073495e+01] [-9.98054594e-01 -6.13338274e-02 1.11888157e-02 -1.97734955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-39.46, Z:-197.84 [[ 1.19669304e-01 -8.01874832e-01 -5.85385353e-01 1.91851540e+02] [-4.25060325e-03 -5.90030902e-01 8.07369474e-01 -3.94558745e+01] [-9.92804709e-01 -9.41291023e-02 -7.40170393e-02 -1.97837654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.89, Y:-40.24, Z:-198.27 [[ 1.68221260e-01 -1.73574034e-01 9.70347187e-01 1.89891197e+02] [ 7.72990079e-03 9.84577272e-01 1.74779417e-01 -4.02425984e+01] [-9.85718954e-01 -2.19009262e-02 1.66968540e-01 -1.98268338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.07, Y:-38.15, Z:-198.40 [[ 9.54923073e-02 9.72742979e-01 -2.11310946e-01 1.90065510e+02] [ 1.10583741e-02 -2.13304595e-01 -9.76923161e-01 -3.81466860e+01] [-9.95368742e-01 9.09518912e-02 -3.11259037e-02 -1.98402222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-38.27, Z:-198.56 [[ 2.80173351e-02 9.98100991e-01 -5.48583653e-02 1.89991027e+02] [ 2.19360969e-02 -5.54805990e-02 -9.98218769e-01 -3.82693066e+01] [-9.99366718e-01 2.67640513e-02 -2.34488586e-02 -1.98558257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872320588 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:191.84, Y:-39.99, Z:-198.60 [[-3.21161383e-02 -9.85280866e-01 -1.67899281e-01 1.91844745e+02] [-1.63834397e-02 -1.67444404e-01 9.85745380e-01 -3.99892992e+01] [-9.99349857e-01 3.44091027e-02 -1.07646221e-02 -1.98597067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:-39.76, Z:-198.64 [[-1.37933035e-02 3.21236407e-01 9.46898577e-01 1.89675748e+02] [-2.96228009e-02 9.46441719e-01 -3.21512928e-01 -3.97602163e+01] [-9.99465975e-01 -3.24845134e-02 -3.53863574e-03 -1.98641364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.932320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:190.17, Y:-38.13, Z:-198.75 [[ 1.02686981e-02 9.75942405e-01 -2.17786536e-01 1.90165549e+02] [-4.07316576e-02 -2.17209013e-01 -9.75274924e-01 -3.81321024e+01] [-9.99117353e-01 1.88856103e-02 3.75212981e-02 -1.98747992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:-39.09, Z:-198.85 [[ 6.59238684e-02 -5.78693986e-01 -8.12875952e-01 1.92045998e+02] [ 6.09719970e-02 -8.10789579e-01 5.82153479e-01 -3.90920964e+01] [-9.95960069e-01 -8.79404794e-02 -1.81662576e-02 -1.98848134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.992320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:190.83, Y:-40.54, Z:-199.12 [[ 5.71579321e-02 -7.40015960e-01 6.70156213e-01 1.90834280e+02] [ 8.99838954e-02 6.72340136e-01 7.34752775e-01 -4.05357412e+01] [-9.94301699e-01 1.83063174e-02 1.05019091e-01 -1.99120058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.79, Y:-40.53, Z:-199.19 [[ 6.21847925e-02 -7.14938443e-01 6.96416595e-01 1.90789958e+02] [ 8.75498480e-02 6.98984695e-01 7.09757297e-01 -4.05276344e+01] [-9.94217318e-01 1.68350568e-02 1.06058970e-01 -1.99188863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:-40.51, Z:-199.29 [[ 1.14402608e-01 -7.30072485e-01 6.73725619e-01 1.90825268e+02] [ 9.28788682e-02 6.83068098e-01 7.24424937e-01 -4.05100862e+01] [-9.89083191e-01 -2.03012295e-02 1.45953078e-01 -1.99294935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:190.61, Y:-40.48, Z:-199.40 [[ 1.39067960e-01 -5.98492436e-01 7.88965719e-01 1.90607559e+02] [ 8.39237112e-02 8.00964105e-01 5.92801243e-01 -4.04790119e+01] [-9.86720281e-01 -1.62267286e-02 1.61616151e-01 -1.99402512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.112320588 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:189.64, Y:-38.94, Z:-199.53 [[ 4.32010152e-02 8.17913858e-01 5.73716475e-01 1.89637333e+02] [-8.39121742e-03 5.74529397e-01 -8.18440932e-01 -3.89377496e+01] [-9.99031161e-01 3.05432994e-02 3.16835462e-02 -1.99533617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:191.17, Y:-37.99, Z:-199.61 [[-3.74729161e-02 5.73358917e-01 -8.18446903e-01 1.91171785e+02] [ 6.95043231e-02 -8.15543247e-01 -5.74507059e-01 -3.79947426e+01] [-9.96877590e-01 -7.84140528e-02 -9.29013973e-03 -1.99613293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.172320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:192.19, Y:-39.11, Z:-199.78 [[-5.79983511e-02 -6.21034650e-01 -7.81634285e-01 1.92188592e+02] [ 6.34269849e-02 -7.83662716e-01 6.17939936e-01 -3.91147599e+01] [-9.96299759e-01 -1.37372086e-02 8.48415007e-02 -1.99783366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:192.16, Y:-39.54, Z:-199.83 [[-6.03627970e-02 -8.43466772e-01 -5.33779108e-01 1.92156245e+02] [ 6.91899260e-02 -5.37003622e-01 8.40737690e-01 -3.95357572e+01] [-9.95775621e-01 1.38171415e-02 9.07744442e-02 -1.99829650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23232058799994 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:192.16, Y:-39.50, Z:-199.83 [[-5.37005948e-02 -8.27971824e-01 -5.58192533e-01 1.92163979e+02] [ 4.77694619e-02 -5.60489212e-01 8.26782874e-01 -3.95047841e+01] [-9.97413818e-01 1.77341752e-02 6.96503726e-02 -1.99826833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:190.35, Y:-40.36, Z:-199.83 [[-4.79828999e-02 -3.37767130e-01 9.40005855e-01 1.90349523e+02] [ 3.02249782e-02 9.40167898e-01 3.39368199e-01 -4.03591052e+01] [-9.98390751e-01 4.46955268e-02 -3.49029780e-02 -1.99832126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.14, Y:-38.22, Z:-199.81 [[-8.16977703e-02 9.91450537e-01 -1.01741372e-01 1.90144340e+02] [ 3.39536491e-02 -9.92546622e-02 -9.94482610e-01 -3.82197522e+01] [-9.96078623e-01 -8.47015027e-02 -2.55544791e-02 -1.99809345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:192.01, Y:-38.57, Z:-200.00 [[-8.59312993e-02 -2.25954237e-01 -9.70340401e-01 1.92013948e+02] [ 1.56054612e-02 -9.74128729e-01 2.25454404e-01 -3.85678746e+01] [-9.96178840e-01 4.23098040e-03 8.72342675e-02 -1.99999425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.04, Y:-40.47, Z:-199.97 [[-5.47684476e-02 -7.87596036e-01 6.13753128e-01 1.91039285e+02] [-1.30889486e-02 6.15189187e-01 7.88270857e-01 -4.04729435e+01] [-9.98413289e-01 3.51389880e-02 -4.40017608e-02 -1.99972641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:189.74, Y:-38.74, Z:-199.96 [[-9.55445369e-02 9.05110103e-01 4.14302961e-01 1.89739263e+02] [-9.14412042e-03 4.15391428e-01 -9.09596804e-01 -3.87368039e+01] [-9.95383156e-01 -9.06954416e-02 -3.14119459e-02 -1.99956284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41232058799994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:191.05, Y:-37.95, Z:-200.14 [[-9.47751545e-02 6.36262063e-01 -7.65629321e-01 1.91052425e+02] [-2.92764909e-02 -7.70539998e-01 -6.36718933e-01 -3.79459597e+01] [-9.95068117e-01 -3.79301953e-02 9.16555678e-02 -2.00143449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:189.90, Y:-38.46, Z:-200.01 [[-1.62924426e-01 9.70843912e-01 1.75834384e-01 1.89903562e+02] [-2.00838979e-02 1.74915297e-01 -9.84378624e-01 -3.84598741e+01] [-9.86434118e-01 -1.63910762e-01 -8.99964440e-03 -2.00005400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:191.40, Y:-38.04, Z:-200.30 [[-1.54017625e-01 3.93589688e-01 -9.06292298e-01 1.91397522e+02] [-3.23550219e-02 -9.18753783e-01 -3.93503036e-01 -3.80409447e+01] [-9.87538214e-01 -3.12832960e-02 1.54238879e-01 -2.00304164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:191.71, Y:-40.17, Z:-200.32 [[-1.13510758e-01 -9.92082001e-01 5.37458044e-02 1.91711114e+02] [-3.88785295e-02 5.84893387e-02 9.97530680e-01 -4.01741689e+01] [-9.92775789e-01 1.11140905e-01 -4.52098585e-02 -2.00323549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:191.50, Y:-38.11, Z:-200.39 [[-1.00088248e-01 2.91495072e-01 -9.51321694e-01 1.91498923e+02] [-2.04374965e-02 -9.56523382e-01 -2.90938702e-01 -3.81062720e+01] [-9.94768642e-01 -9.67691125e-03 1.01694179e-01 -2.00392291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.65, Y:-38.22, Z:-200.44 [[-9.81978927e-02 1.45168431e-01 -9.84521864e-01 1.91652860e+02] [ 9.91169640e-03 -9.89111519e-01 -1.46833788e-01 -3.82161986e+01] [-9.95117547e-01 -2.41770504e-02 9.56898014e-02 -2.00444278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59232058799995 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:191.48, Y:-40.32, Z:-200.51 [[-5.49174311e-02 -9.66490719e-01 2.50758381e-01 1.91475302e+02] [ 4.07028241e-03 2.50918593e-01 9.67999634e-01 -4.03216304e+01] [-9.98482603e-01 5.41807107e-02 -9.84591439e-03 -2.00508575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:189.60, Y:-39.17, Z:-200.43 [[-9.08661661e-02 7.04145127e-01 7.04217992e-01 1.89597463e+02] [-3.23257295e-02 7.04685209e-01 -7.08783326e-01 -3.91738746e+01] [-9.95338328e-01 -8.71687837e-02 -4.12700383e-02 -2.00432919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65232058799995 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:189.71, Y:-38.70, Z:-200.49 [[-1.42599587e-01 9.10249147e-01 3.88731075e-01 1.89708244e+02] [-5.94512344e-02 3.84158616e-01 -9.21351024e-01 -3.86973002e+01] [-9.87993375e-01 -1.54494818e-01 -6.65424557e-04 -2.00492982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:-37.99, Z:-200.80 [[-1.42480596e-01 5.13834382e-01 -8.45974886e-01 1.91181141e+02] [-7.28528004e-02 -8.57820704e-01 -5.08759382e-01 -3.79853707e+01] [-9.87112835e-01 -1.08567006e-02 1.59657079e-01 -2.00796313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:191.38, Y:-38.06, Z:-200.83 [[-1.45942234e-01 3.65670395e-01 -9.19231215e-01 1.91376781e+02] [-7.12742902e-02 -9.30651666e-01 -3.58897552e-01 -3.80585988e+01] [-9.86722271e-01 1.31392418e-02 1.61884281e-01 -2.00831634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:191.40, Y:-38.08, Z:-200.89 [[-1.54410023e-01 3.36042703e-01 -9.29103249e-01 1.91400769e+02] [-5.22518743e-02 -9.41842847e-01 -3.31966553e-01 -3.80788281e+01] [-9.86624187e-01 -2.71157682e-03 1.62988836e-01 -2.00888686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77232058799996 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:191.84, Y:-39.98, Z:-200.91 [[-1.20199323e-01 -9.79299065e-01 -1.62866399e-01 1.91836884e+02] [-3.75597790e-02 -1.59452366e-01 9.86490854e-01 -3.99808753e+01] [-9.92039004e-01 1.24692759e-01 -1.76161901e-02 -2.00914504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.73, Y:-38.59, Z:-200.76 [[-1.49945951e-01 9.47740997e-01 2.81608265e-01 1.89730497e+02] [-2.75448052e-02 2.80713497e-01 -9.59396277e-01 -3.85897004e+01] [-9.88310425e-01 -1.51614432e-01 -1.59865110e-02 -2.00757453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83232058799996 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:191.33, Y:-38.06, Z:-201.06 [[-1.51684513e-01 3.69719717e-01 -9.16678319e-01 1.91332370e+02] [-5.01056171e-02 -9.29093199e-01 -3.66435882e-01 -3.80632654e+01] [-9.87158161e-01 -9.65191531e-03 1.59454084e-01 -2.01064430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:191.63, Y:-40.18, Z:-201.06 [[-1.21584788e-01 -9.91416062e-01 4.80762987e-02 1.91630255e+02] [-4.78825076e-02 5.42376642e-02 9.97379337e-01 -4.01813649e+01] [-9.91425441e-01 1.18964141e-01 -5.40659620e-02 -2.01059277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89232058799996 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:191.32, Y:-38.07, Z:-201.14 [[-9.28597891e-02 3.62141349e-01 -9.27486228e-01 1.91318807e+02] [-3.67778460e-02 -9.32122960e-01 -3.60269590e-01 -3.80709758e+01] [-9.94999723e-01 6.56387588e-04 9.98755202e-02 -2.01137297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:191.46, Y:-40.29, Z:-201.11 [[-5.95570571e-02 -9.78354241e-01 1.98181575e-01 1.91459805e+02] [-4.29299905e-02 2.00860653e-01 9.78678708e-01 -4.02946136e+01] [-9.97301345e-01 4.97792906e-02 -5.39634077e-02 -2.01109662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95232058799996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:190.84, Y:-37.96, Z:-201.19 [[-2.91538871e-02 6.76247740e-01 -7.36097171e-01 1.90843833e+02] [-3.80473441e-02 -7.36627283e-01 -6.75227847e-01 -3.79575740e+01] [-9.98850565e-01 8.32102595e-03 4.72049791e-02 -2.01193426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:191.01, Y:-37.98, Z:-201.23 [[-4.27212817e-02 5.72346197e-01 -8.18898481e-01 1.91012240e+02] [-2.25543237e-02 -8.19990403e-01 -5.71932724e-01 -3.79816814e+01] [-9.98832416e-01 -5.96399756e-03 4.79399224e-02 -2.01227573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01232058799997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:191.74, Y:-40.03, Z:-201.26 [[-3.82696416e-03 -9.92769885e-01 -1.19972120e-01 1.91742597e+02] [-1.40824574e-02 -1.19907597e-01 9.92685173e-01 -4.00323984e+01] [-9.99893514e-01 5.48847284e-03 -1.35217575e-02 -2.01255192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:189.52, Y:-39.53, Z:-201.34 [[ 8.67226130e-03 5.03625351e-01 8.63878636e-01 1.89523461e+02] [ 6.43264513e-03 8.63865151e-01 -5.03682065e-01 -3.95325940e+01] [-9.99941705e-01 9.92508718e-03 4.25202115e-03 -2.01341877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07232058799997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:189.50, Y:-39.05, Z:-201.41 [[ 8.75327370e-03 7.86865008e-01 6.17063075e-01 1.89501114e+02] [ 4.98236834e-04 6.17083208e-01 -7.86897749e-01 -3.90546329e+01] [-9.99961565e-01 7.19537492e-03 5.00945308e-03 -2.01413548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:189.71, Y:-38.54, Z:-201.57 [[-1.30748106e-02 9.72382452e-01 2.33026642e-01 1.89714820e+02] [-9.35186440e-03 2.32917452e-01 -9.72451543e-01 -3.85419756e+01] [-9.99870788e-01 -1.48938533e-02 6.04823727e-03 -2.01571794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13232058799997 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:190.95, Y:-37.96, Z:-201.62 [[-1.66284215e-02 6.22429364e-01 -7.82499318e-01 1.90951477e+02] [-1.92240310e-02 -7.82661881e-01 -6.22150156e-01 -3.79614738e+01] [-9.99676914e-01 4.69741608e-03 2.49800330e-02 -2.01622364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:189.64, Y:-38.71, Z:-201.59 [[-8.42613639e-02 9.21170428e-01 3.79927711e-01 1.89636052e+02] [-2.95507644e-02 3.78805865e-01 -9.25004253e-01 -3.87113654e+01] [-9.96005409e-01 -8.91692743e-02 -4.69740861e-03 -2.01588971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192320588 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:189.55, Y:-39.06, Z:-201.58 [[-1.39410779e-01 7.66259064e-01 6.27225383e-01 1.89549618e+02] [-6.99127558e-02 6.24213783e-01 -7.78119116e-01 -3.90589407e+01] [-9.87763555e-01 -1.52329247e-01 -3.34508470e-02 -2.01583583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:191.14, Y:-38.00, Z:-201.92 [[-1.38559490e-01 4.94623222e-01 -8.57991338e-01 1.91141694e+02] [-8.18090795e-02 -8.69103624e-01 -4.87817758e-01 -3.80020256e+01] [-9.86969373e-01 2.59970206e-03 1.60887225e-01 -2.01922707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252320588 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:189.72, Y:-38.57, Z:-201.68 [[-2.07995539e-01 9.39296290e-01 2.72874213e-01 1.89715229e+02] [-8.15030127e-02 2.61362084e-01 -9.61793699e-01 -3.85734251e+01] [-9.74728226e-01 -2.22288870e-01 2.21933299e-02 -2.01680821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:191.18, Y:-38.03, Z:-202.06 [[-2.05840908e-01 4.55967758e-01 -8.65865419e-01 1.91181937e+02] [-9.18469631e-02 -8.89909328e-01 -4.46794722e-01 -3.80259902e+01] [-9.74265701e-01 -1.24415219e-02 2.25058998e-01 -2.02056448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312320588 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:191.60, Y:-40.19, Z:-201.97 [[-1.58037276e-01 -9.86223723e-01 4.88568126e-02 1.91598668e+02] [-9.37697652e-02 6.42443351e-02 9.93518946e-01 -4.01901363e+01] [-9.82970727e-01 1.52431736e-01 -1.02630967e-01 -2.01973702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:191.07, Y:-38.01, Z:-202.12 [[-1.41294101e-01 5.19999694e-01 -8.42399130e-01 1.91068394e+02] [-9.11068191e-02 -8.54155066e-01 -5.11975264e-01 -3.80065584e+01] [-9.85766466e-01 4.40922060e-03 1.68062590e-01 -2.02118609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372320588 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:189.64, Y:-38.68, Z:-201.86 [[-2.05648193e-01 9.15025265e-01 3.47041187e-01 1.89635735e+02] [-1.00356351e-01 3.33033015e-01 -9.37559392e-01 -3.86754086e+01] [-9.73466704e-01 -2.27635182e-01 2.33409587e-02 -2.01859695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:191.14, Y:-38.05, Z:-202.29 [[-2.14915186e-01 4.50883679e-01 -8.66322902e-01 1.91143190e+02] [-9.73638968e-02 -8.92523370e-01 -4.40366103e-01 -3.80475437e+01] [-9.71767325e-01 -1.02927892e-02 2.35716618e-01 -2.02294468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.432320588 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:191.23, Y:-38.09, Z:-202.32 [[-2.18467121e-01 3.78554759e-01 -8.99426713e-01 1.91231769e+02] [-8.70527787e-02 -9.25576308e-01 -3.68415950e-01 -3.80865813e+01] [-9.71953667e-01 -2.18917726e-03 2.35162235e-01 -2.02320969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:191.25, Y:-38.10, Z:-202.34 [[-2.18722876e-01 3.58614605e-01 -9.07499790e-01 1.91249411e+02] [-7.48716377e-02 -9.33444352e-01 -3.50821720e-01 -3.80980529e+01] [-9.72910346e-01 -8.78674027e-03 2.31015696e-01 -2.02342353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.492320588 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:191.57, Y:-40.19, Z:-202.29 [[-1.70035335e-01 -9.85160171e-01 2.33970685e-02 1.91565937e+02] [-7.90306738e-02 3.72990738e-02 9.96174147e-01 -4.01890612e+01] [-9.82263782e-01 1.67535719e-01 -8.42000326e-02 -2.02292877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:191.14, Y:-38.07, Z:-202.40 [[-1.54864735e-01 4.24372767e-01 -8.92146103e-01 1.91143602e+02] [-7.77142471e-02 -9.05475280e-01 -4.17222978e-01 -3.80701817e+01] [-9.84874312e-01 4.71933700e-03 1.73205999e-01 -2.02396496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.552320588 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:191.15, Y:-38.08, Z:-202.41 [[-1.53486795e-01 4.14591637e-01 -8.96970222e-01 1.91153398e+02] [-6.53469334e-02 -9.09997746e-01 -4.09431166e-01 -3.80755289e+01] [-9.85987618e-01 -4.22802425e-03 1.66764930e-01 -2.02413514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:191.58, Y:-40.16, Z:-202.37 [[-1.03951787e-01 -9.94400338e-01 -1.90261280e-02 1.91580980e+02] [-6.63848379e-02 -1.21499638e-02 9.97720117e-01 -4.01572937e+01] [-9.92364388e-01 1.04977836e-01 -6.47500948e-02 -2.02370017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.612320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:190.95, Y:-38.03, Z:-202.46 [[-9.02683356e-02 5.45767980e-01 -8.33059986e-01 1.90951164e+02] [-6.18117033e-02 -8.37932480e-01 -5.42262364e-01 -3.80251700e+01] [-9.93997455e-01 2.54373563e-03 1.09373619e-01 -2.02461200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:191.65, Y:-40.06, Z:-202.44 [[-4.15700775e-02 -9.91932307e-01 -1.19759034e-01 1.91649723e+02] [-5.52003365e-02 -1.17399463e-01 9.91549438e-01 -4.00644647e+01] [-9.97609569e-01 4.78295259e-02 -4.98746924e-02 -2.02437508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.672320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.43, Y:-38.02, Z:-202.50 [[-2.57195308e-02 8.29437819e-01 -5.58006640e-01 1.90428490e+02] [-4.41999631e-02 -5.58588943e-01 -8.28266115e-01 -3.80204734e+01] [-9.98691579e-01 3.36125704e-03 5.10277665e-02 -2.02501369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:191.87, Y:-39.62, Z:-202.51 [[ 1.58533795e-02 -8.65235263e-01 -5.01115366e-01 1.91870658e+02] [-2.05634497e-02 -5.01354488e-01 8.64997585e-01 -3.96183706e+01] [-9.99662851e-01 -3.40847431e-03 -2.57403848e-02 -2.02508458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.45, Y:-39.69, Z:-202.62 [[ 1.55048314e-02 4.30257915e-01 9.02572837e-01 1.89446997e+02] [-1.25925191e-03 9.02689033e-01 -4.30291674e-01 -3.96872673e+01] [-9.99879000e-01 5.53503329e-03 1.45378444e-02 -2.02615083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:190.16, Y:-38.17, Z:-202.77 [[-3.45038292e-02 9.51050324e-01 -3.07103837e-01 1.90158343e+02] [ 1.25864818e-02 -3.06848920e-01 -9.51675008e-01 -3.81668055e+01] [-9.99325306e-01 -3.67017888e-02 -1.38291493e-03 -2.02766710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79232058799994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:191.79, Y:-39.98, Z:-202.87 [[ 1.28984372e-02 -9.72218746e-01 -2.33718507e-01 1.91789501e+02] [ 1.25367525e-02 -2.33562341e-01 9.72261005e-01 -3.99774598e+01] [-9.99838217e-01 -1.54707186e-02 9.17587657e-03 -2.02869449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.79, Y:-40.57, Z:-202.98 [[ 1.27773370e-02 -7.57065124e-01 6.53214465e-01 1.90791177e+02] [ 1.84367817e-02 6.53335111e-01 7.56844315e-01 -4.05650777e+01] [-9.99748381e-01 2.37271762e-03 2.23057273e-02 -2.02983337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:-40.54, Z:-203.06 [[ 1.62791516e-02 -5.74574947e-01 8.18290058e-01 1.90477803e+02] [ 1.96026682e-02 8.18424614e-01 5.74279450e-01 -4.05414435e+01] [-9.99675310e-01 6.69188625e-03 2.45864604e-02 -2.03059373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:190.27, Y:-40.48, Z:-203.13 [[ 1.70998617e-02 -4.25812999e-01 9.04649592e-01 1.90267395e+02] [ 1.77220181e-02 9.04768826e-01 4.25534136e-01 -4.04791787e+01] [-9.99696716e-01 8.75564160e-03 2.30176875e-02 -2.03128822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:190.11, Y:-40.40, Z:-203.20 [[ 2.01523283e-02 -2.93288587e-01 9.55811534e-01 1.90106220e+02] [ 1.43345828e-02 9.55992172e-01 2.93041785e-01 -4.04003527e+01] [-9.99694155e-01 7.79568535e-03 2.34696376e-02 -2.03199388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:191.76, Y:-39.91, Z:-203.29 [[ 8.74515173e-02 -9.51981273e-01 -2.93400560e-01 1.91755841e+02] [ 1.21345534e-02 -2.93489100e-01 9.55885401e-01 -3.99072895e+01] [-9.96094867e-01 -8.71539135e-02 -1.41141996e-02 -2.03288127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97232058799995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:191.61, Y:-40.06, Z:-203.45 [[ 1.53872505e-01 -9.73871501e-01 -1.67025600e-01 1.91606063e+02] [ 2.56171511e-02 -1.65050035e-01 9.85952457e-01 -4.00569820e+01] [-9.87758581e-01 -1.55989695e-01 -4.48849065e-04 -2.03451413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:189.72, Y:-38.50, Z:-203.86 [[ 1.06955614e-01 9.87639528e-01 1.14580364e-01 1.89715732e+02] [ 3.70473428e-02 1.11202654e-01 -9.93106975e-01 -3.84957680e+01] [-9.93573345e-01 1.10463265e-01 -2.46956720e-02 -2.03855441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03232058799995 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:191.68, Y:-40.01, Z:-203.85 [[ 1.54051326e-01 -9.66610221e-01 -2.04775168e-01 1.91684924e+02] [ 3.32998710e-02 -2.02052258e-01 9.78808461e-01 -4.00147139e+01] [-9.87501548e-01 -1.57605728e-01 1.06157742e-03 -2.03851186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:189.74, Y:-38.52, Z:-204.25 [[ 1.05484308e-01 9.83246542e-01 1.48658331e-01 1.89742499e+02] [ 4.06593150e-02 1.45102825e-01 -9.88580796e-01 -3.85211507e+01] [-9.93589393e-01 1.10324107e-01 -2.46720598e-02 -2.04252898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:191.77, Y:-39.96, Z:-204.25 [[ 1.52560638e-01 -9.57942472e-01 -2.43046233e-01 1.91765248e+02] [ 3.62798779e-02 -2.40330800e-01 9.70012823e-01 -3.99628229e+01] [-9.87627978e-01 -1.56803463e-01 -1.91098434e-03 -2.04248889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:191.69, Y:-40.01, Z:-204.41 [[ 2.16458323e-01 -9.54382947e-01 -2.05667172e-01 1.91687950e+02] [ 5.11158594e-02 -1.99293813e-01 9.78605715e-01 -4.00128253e+01] [-9.74952801e-01 -2.22340206e-01 5.64529994e-03 -2.04410213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15232058799995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:189.74, Y:-38.55, Z:-204.92 [[ 1.74797633e-01 9.66741649e-01 1.86698611e-01 1.89744466e+02] [ 5.91694614e-02 1.78961364e-01 -9.82075254e-01 -3.85485103e+01] [-9.82824889e-01 1.82711286e-01 -2.59195599e-02 -2.04917379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:191.78, Y:-39.97, Z:-204.80 [[ 2.12802341e-01 -9.49481761e-01 -2.30650274e-01 1.91783781e+02] [ 5.66412209e-02 -2.23672829e-01 9.73017080e-01 -3.99686329e+01] [-9.75452170e-01 -2.20124625e-01 6.18170464e-03 -2.04802713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:191.72, Y:-40.01, Z:-204.97 [[ 2.76181612e-01 -9.41390645e-01 -1.93668195e-01 1.91715178e+02] [ 6.90409754e-02 -1.81552545e-01 9.80954646e-01 -4.00137010e+01] [-9.58622481e-01 -2.84292677e-01 1.48530537e-02 -2.04969314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:189.83, Y:-38.51, Z:-205.57 [[ 2.42549756e-01 9.54324939e-01 1.74452078e-01 1.89828264e+02] [ 7.72745996e-02 1.60245466e-01 -9.84047777e-01 -3.85113590e+01] [-9.67056489e-01 2.52161262e-01 -3.48775789e-02 -2.05571447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27232058799996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:189.92, Y:-38.51, Z:-205.70 [[ 1.78207304e-01 9.64762827e-01 1.93584203e-01 1.89921169e+02] [ 6.44232160e-02 1.84871788e-01 -9.80648801e-01 -3.85091013e+01] [-9.81881768e-01 1.87230096e-01 -2.92076211e-02 -2.05699585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:189.99, Y:-38.53, Z:-205.84 [[ 1.11231462e-01 9.64358240e-01 2.40084876e-01 1.89987662e+02] [ 4.80460980e-02 2.36083198e-01 -9.70544330e-01 -3.85332535e+01] [-9.92632427e-01 1.19490206e-01 -2.00737712e-02 -2.05838155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:192.13, Y:-39.80, Z:-205.83 [[ 1.44502582e-01 -9.39106894e-01 -3.11764726e-01 1.92127177e+02] [ 5.08337175e-02 -3.07610123e-01 9.50153643e-01 -3.98040230e+01] [-9.88197823e-01 -1.53147815e-01 3.28783760e-03 -2.05829693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:190.03, Y:-38.54, Z:-206.24 [[ 1.08850667e-01 9.60494061e-01 2.56130224e-01 1.90028987e+02] [ 5.06082934e-02 2.51972523e-01 -9.66410186e-01 -3.85366712e+01] [-9.92769023e-01 1.18156707e-01 -2.11815881e-02 -2.06237593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39232058799996 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:190.08, Y:-38.57, Z:-206.38 [[ 4.37176037e-02 9.48628154e-01 3.13358257e-01 1.90077461e+02] [ 3.11844464e-02 3.12209545e-01 -9.49501306e-01 -3.85733510e+01] [-9.98557110e-01 5.12818256e-02 -1.59333907e-02 -2.06377644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:192.33, Y:-39.63, Z:-206.48 [[ 7.80018862e-02 -9.03039027e-01 -4.22417118e-01 1.92328116e+02] [ 3.88408535e-02 -4.20633734e-01 9.06398726e-01 -3.96272347e+01] [-9.96196313e-01 -8.71078517e-02 2.26458193e-03 -2.06479631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.79, Y:-40.38, Z:-206.77 [[ 8.70117826e-02 -4.82172528e-01 8.71744574e-01 1.90788295e+02] [ 5.08517592e-02 8.76072400e-01 4.79490614e-01 -4.03788749e+01] [-9.94908563e-01 2.60841211e-03 1.00747942e-01 -2.06772343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.63, Y:-40.31, Z:-206.86 [[ 9.23261495e-02 -3.59003234e-01 9.28758612e-01 1.90630340e+02] [ 4.59830799e-02 9.33284630e-01 3.56181634e-01 -4.03102995e+01] [-9.94666496e-01 9.82230275e-03 1.02674651e-01 -2.06857206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51232058799997 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:192.11, Y:-39.92, Z:-206.84 [[ 1.51333613e-01 -9.75581917e-01 -1.59179337e-01 1.92109936e+02] [ 3.81765127e-02 -1.55145438e-01 9.87153710e-01 -3.99182704e+01] [-9.87745256e-01 -1.55466449e-01 1.37655958e-02 -2.06841237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:192.22, Y:-39.65, Z:-206.95 [[ 2.13277768e-01 -8.85768267e-01 -4.12222234e-01 1.92218628e+02] [ 9.90764027e-02 -4.00146069e-01 9.11080123e-01 -3.96472070e+01] [-9.71954968e-01 -2.35154631e-01 2.41647323e-03 -2.06951920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57232058799997 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:190.84, Y:-40.41, Z:-207.40 [[ 2.59522026e-01 -5.45529113e-01 7.96897926e-01 1.90836934e+02] [ 7.51482088e-02 8.34076126e-01 5.46506874e-01 -4.04064882e+01] [-9.62808945e-01 -8.19451194e-02 2.57456662e-01 -2.07403302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:190.09, Y:-38.54, Z:-207.62 [[ 1.74345379e-01 9.34777050e-01 3.09508571e-01 1.90085226e+02] [ 3.86291282e-02 3.07587689e-01 -9.50735296e-01 -3.85448238e+01] [-9.83926562e-01 1.77712352e-01 1.75168698e-02 -2.07618307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63232058799997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:192.24, Y:-39.78, Z:-207.45 [[ 2.13740558e-01 -9.37672187e-01 -2.74017962e-01 1.92240963e+02] [ 4.83224848e-02 -2.70008460e-01 9.61644617e-01 -3.97768503e+01] [-9.75694579e-01 -2.18783686e-01 -1.24011088e-02 -2.07452678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:192.31, Y:-39.56, Z:-207.57 [[ 2.69825910e-01 -8.39061527e-01 -4.72408437e-01 1.92305990e+02] [ 1.12655293e-01 -4.59728243e-01 8.80885195e-01 -3.95558293e+01] [-9.56296378e-01 -2.90904961e-01 -2.95218693e-02 -2.07568056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692320588 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:190.76, Y:-40.34, Z:-208.17 [[ 2.84204834e-01 -4.29312708e-01 8.57273708e-01 1.90761958e+02] [ 7.67455249e-02 9.01462600e-01 4.25999185e-01 -4.03394414e+01] [-9.55687050e-01 -5.52791070e-02 2.89147858e-01 -2.08165976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:190.54, Y:-40.21, Z:-208.28 [[ 2.87351640e-01 -2.32034857e-01 9.29294819e-01 1.90536966e+02] [ 7.31084447e-02 9.72696378e-01 2.20265549e-01 -4.02089892e+01] [-9.55030989e-01 4.64563211e-03 2.96469607e-01 -2.08282266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752320588 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:190.54, Y:-38.13, Z:-208.29 [[ 2.29931248e-01 9.67714043e-01 -1.03252856e-01 1.90536214e+02] [ 7.16024209e-02 -1.22629355e-01 -9.89866221e-01 -3.81340997e+01] [-9.70569273e-01 2.20208021e-01 -9.74869888e-02 -2.08288032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:192.16, Y:-40.02, Z:-208.20 [[ 2.82531705e-01 -9.58733890e-01 -3.17043064e-02 1.92156441e+02] [ 7.49577972e-02 -1.08844335e-02 9.97127303e-01 -4.00198286e+01] [-9.56324822e-01 -2.84096562e-01 6.87893830e-02 -2.08202630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:190.50, Y:-38.23, Z:-208.71 [[ 2.19268482e-01 9.75287360e-01 2.71274309e-02 1.90504720e+02] [ 4.20787296e-02 1.83251689e-02 -9.98946229e-01 -3.82302675e+01] [-9.74756746e-01 2.20178911e-01 -3.70207212e-02 -2.08706433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:-38.49, Z:-208.42 [[ 2.33933155e-01 -1.63755409e-01 -9.58362898e-01 1.92448386e+02] [ 1.45902368e-01 -9.68638748e-01 2.01125519e-01 -3.84946510e+01] [-9.61242830e-01 -1.86877344e-01 -2.02704416e-01 -2.08417402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:191.19, Y:-40.38, Z:-209.08 [[ 2.39593736e-01 -5.34085934e-01 8.10769422e-01 1.91190241e+02] [ 1.50190419e-01 8.45429567e-01 5.12534569e-01 -4.03823374e+01] [-9.59185946e-01 -1.03027309e-03 2.82774219e-01 -2.09081133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.19, Y:-40.37, Z:-209.14 [[ 2.42609072e-01 -5.23283367e-01 8.16893724e-01 1.91187714e+02] [ 1.47249898e-01 8.52157355e-01 5.02140727e-01 -4.03682038e+01] [-9.58883885e-01 -1.53637881e-03 2.83794527e-01 -2.09136835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.932320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.50, Y:-39.80, Z:-208.87 [[ 3.00528430e-01 -9.11642944e-01 -2.80338733e-01 1.92503766e+02] [ 1.63525758e-01 -2.40323766e-01 9.56819635e-01 -3.97961972e+01] [-9.39649929e-01 -3.33394107e-01 7.68529793e-02 -2.08866668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:191.13, Y:-40.30, Z:-209.50 [[ 3.10072018e-01 -4.64525829e-01 8.29500511e-01 1.91130275e+02] [ 1.51623613e-01 8.85498336e-01 4.39207214e-01 -4.03036748e+01] [-9.38544417e-01 -1.04140031e-02 3.45001340e-01 -2.09503931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.992320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:191.11, Y:-40.28, Z:-209.56 [[ 3.14004202e-01 -4.35389229e-01 8.43704676e-01 1.91108971e+02] [ 1.46772391e-01 9.00229039e-01 4.09933582e-01 -4.02787730e+01] [-9.38008116e-01 -4.88831488e-03 3.46578819e-01 -2.09563274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.12, Y:-40.25, Z:-209.65 [[ 3.20883288e-01 -4.23757344e-01 8.47032248e-01 1.91123676e+02] [ 1.35770516e-01 9.05669346e-01 4.01658316e-01 -4.02513131e+01] [-9.37336803e-01 -1.38834357e-02 3.48147911e-01 -2.09654696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.17, Y:-40.25, Z:-209.70 [[ 3.54368550e-01 -4.41882755e-01 8.24113197e-01 1.91170074e+02] [ 1.36131731e-01 8.96293980e-01 4.22048876e-01 -4.02536047e+01] [-9.25143817e-01 -3.73728925e-02 3.77772662e-01 -2.09697102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:191.12, Y:-40.17, Z:-209.85 [[ 3.70872552e-01 -3.65744705e-01 8.53630108e-01 1.91120062e+02] [ 1.07904350e-01 9.29928009e-01 3.51554475e-01 -4.01725537e+01] [-9.22393735e-01 -3.82715036e-02 3.84350218e-01 -2.09846555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.112320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:190.57, Y:-38.47, Z:-209.97 [[ 2.52040281e-01 8.97354169e-01 3.62258460e-01 1.90570089e+02] [ 3.79010161e-02 3.64902747e-01 -9.30273883e-01 -3.84692147e+01] [-9.66974255e-01 2.48196455e-01 5.79595563e-02 -2.09966431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:192.19, Y:-37.87, Z:-209.62 [[ 1.82560260e-01 4.30367347e-01 -8.83999829e-01 1.92187222e+02] [ 1.59194184e-01 -9.00184412e-01 -4.05370492e-01 -3.78720356e+01] [-9.70221090e-01 -6.67230891e-02 -2.32849879e-01 -2.09615170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.172320588 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:191.92, Y:-40.27, Z:-210.17 [[ 2.43037501e-01 -7.59928664e-01 6.02860845e-01 1.91919224e+02] [ 1.58082827e-01 6.44215853e-01 7.48328641e-01 -4.02663292e+01] [-9.57048898e-01 -8.65699758e-02 2.76700282e-01 -2.10168187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:191.56, Y:-40.22, Z:-210.31 [[ 2.43321933e-01 -5.46971681e-01 8.01009624e-01 1.91563971e+02] [ 1.55522887e-01 8.37145649e-01 5.24404227e-01 -4.02243326e+01] [-9.57395983e-01 -3.02372071e-03 2.88762513e-01 -2.10307183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23232058799994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:191.56, Y:-40.21, Z:-210.36 [[ 2.44876854e-01 -5.37280648e-01 8.07071764e-01 1.91562803e+02] [ 1.53708296e-01 8.43401115e-01 5.14828436e-01 -4.02099485e+01] [-9.57292581e-01 -2.01594195e-03 2.89113905e-01 -2.10362818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:191.68, Y:-40.21, Z:-210.41 [[ 2.95209619e-01 -5.99494274e-01 7.43947509e-01 1.91684823e+02] [ 1.64007880e-01 7.98888705e-01 5.78686661e-01 -4.02137437e+01] [-9.41250602e-01 -4.88206149e-02 3.34161415e-01 -2.10408597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:190.89, Y:-38.25, Z:-210.45 [[ 1.80774620e-01 9.56301786e-01 2.29798676e-01 1.90890454e+02] [ 1.30692739e-01 2.08219303e-01 -9.69311163e-01 -3.82472919e+01] [-9.74802516e-01 2.05259876e-01 -8.73409341e-02 -2.10449375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.91, Y:-40.15, Z:-210.67 [[ 2.32193182e-01 -6.62710034e-01 7.11970320e-01 1.91908788e+02] [ 1.31613941e-01 7.46649905e-01 6.52067243e-01 -4.01464973e+01] [-9.63724077e-01 -5.77003486e-02 2.60588897e-01 -2.10666838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.54, Y:-40.03, Z:-210.85 [[ 2.41193862e-01 -3.96909215e-01 8.85600698e-01 1.91543345e+02] [ 1.00668128e-01 9.17851375e-01 3.83946326e-01 -4.00259602e+01] [-9.65241653e-01 -3.45373300e-03 2.61336225e-01 -2.10845467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.26, Y:-37.90, Z:-210.83 [[ 1.16089987e-01 9.91977063e-01 -5.00461877e-02 1.91263082e+02] [ 9.19390808e-02 -6.09027530e-02 -9.93900428e-01 -3.78972578e+01] [-9.88974378e-01 1.10780687e-01 -9.82716592e-02 -2.10834954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:192.04, Y:-40.08, Z:-211.09 [[ 1.11854885e-01 -6.67835668e-01 7.35855968e-01 1.92037641e+02] [ 9.17288810e-02 7.44280397e-01 6.61537983e-01 -4.00780878e+01] [-9.89481833e-01 -6.49701045e-03 1.44511217e-01 -2.11087356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.90, Y:-40.05, Z:-211.17 [[ 1.15249104e-01 -5.74939134e-01 8.10038663e-01 1.91896754e+02] [ 8.79087020e-02 8.18176159e-01 5.68207561e-01 -4.00490615e+01] [-9.89439086e-01 5.72403507e-03 1.44836222e-01 -2.11171897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47232058799995 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:191.94, Y:-40.05, Z:-211.23 [[ 1.59432019e-01 -5.94899015e-01 7.87830308e-01 1.91942224e+02] [ 9.01792889e-02 8.03477752e-01 5.88465121e-01 -4.00458306e+01] [-9.83081445e-01 -2.27742052e-02 1.81747650e-01 -2.11233193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:-38.05, Z:-211.32 [[ 6.62036329e-02 9.80740174e-01 1.83754702e-01 1.91179109e+02] [ 6.26442451e-02 1.79710120e-01 -9.81722961e-01 -3.80543595e+01] [-9.95837727e-01 7.65048011e-02 -4.95402650e-02 -2.11320444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.41, Y:-39.01, Z:-211.41 [[ 9.38312924e-02 -7.99322960e-01 -5.93530533e-01 1.93410848e+02] [ 9.14611183e-02 -5.86719113e-01 8.04608940e-01 -3.90055799e+01] [-9.91378108e-01 -1.29782463e-01 1.80543592e-02 -2.11408975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:193.38, Y:-38.70, Z:-211.52 [[ 1.22326926e-01 -5.96003972e-01 -7.93609091e-01 1.93379823e+02] [ 1.77022255e-01 -7.73690191e-01 6.08331004e-01 -3.86997769e+01] [-9.76575263e-01 -2.14901732e-01 1.08628246e-02 -2.11519617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.44, Y:-40.04, Z:-211.94 [[ 1.43146349e-01 -8.46463715e-01 5.12843350e-01 1.92436464e+02] [ 1.45882736e-01 5.30565782e-01 8.34995915e-01 -4.00392761e+01] [-9.78890878e-01 -4.47116252e-02 1.99432997e-01 -2.11941584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-40.05, Z:-212.06 [[ 1.46508965e-01 -6.60834236e-01 7.36093225e-01 1.92079512e+02] [ 1.45041535e-01 7.50431263e-01 6.44837866e-01 -4.00526355e+01] [-9.78518307e-01 1.22895632e-02 2.05793319e-01 -2.12058033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.07, Y:-40.04, Z:-212.12 [[ 1.48896044e-01 -6.48388217e-01 7.46607452e-01 1.92068134e+02] [ 1.42534949e-01 7.61211804e-01 6.32645539e-01 -4.00393838e+01] [-9.78526319e-01 1.22192369e-02 2.05759407e-01 -2.12116724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:-38.21, Z:-212.17 [[ 1.10816942e-01 9.28756994e-01 3.53737263e-01 1.91123936e+02] [ 1.16888776e-01 3.41279155e-01 -9.32665831e-01 -3.82122151e+01] [-9.86943068e-01 1.44703091e-01 -7.07417556e-02 -2.12172031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-38.29, Z:-212.32 [[ 5.19205399e-02 8.89173653e-01 4.54614641e-01 1.91157238e+02] [ 8.43928503e-02 4.49693603e-01 -8.89186994e-01 -3.82918897e+01] [-9.95078944e-01 8.45332942e-02 -5.16915643e-02 -2.12323166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:192.76, Y:-39.87, Z:-212.45 [[ 2.88195493e-02 -8.99536036e-01 4.35894888e-01 1.92760687e+02] [ 8.46024031e-02 4.36706369e-01 8.95617095e-01 -3.98701017e+01] [-9.95997925e-01 1.10664741e-02 8.86885911e-02 -2.12445484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77232058799996 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:192.70, Y:-39.88, Z:-212.51 [[ 3.20569126e-02 -8.78930577e-01 4.75871195e-01 1.92704366e+02] [ 8.37850139e-02 4.76803217e-01 8.75007865e-01 -3.98814558e+01] [-9.95968085e-01 1.18208240e-02 8.89260497e-02 -2.12507722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.65, Y:-39.89, Z:-212.57 [[ 3.32626468e-02 -8.56511502e-01 5.15054991e-01 1.92649527e+02] [ 8.15821672e-02 5.15947264e-01 8.52726668e-01 -3.98900372e+01] [-9.96111413e-01 1.36553564e-02 8.70378361e-02 -2.12571592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:192.59, Y:-39.89, Z:-212.66 [[ 3.89880586e-02 -8.31366249e-01 5.54355564e-01 1.92592185e+02] [ 7.69607433e-02 5.55627818e-01 8.27861565e-01 -3.98910269e+01] [-9.96271537e-01 1.03869010e-02 8.56454144e-02 -2.12661074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.56, Y:-39.89, Z:-212.75 [[ 8.01677618e-02 -8.12126261e-01 5.77948151e-01 1.92556183e+02] [ 8.97591242e-02 5.83340451e-01 8.07252883e-01 -3.98866688e+01] [-9.92731801e-01 -1.28395369e-02 1.19660840e-01 -2.12747909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89232058799996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:191.30, Y:-38.06, Z:-212.85 [[ 1.41968933e-02 9.43817006e-01 3.30163454e-01 1.91301291e+02] [ 4.83341899e-02 3.29162953e-01 -9.43035289e-01 -3.80559211e+01] [-9.98730321e-01 2.93463545e-02 -4.09455391e-02 -2.12851535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:193.49, Y:-39.30, Z:-212.92 [[-2.95528829e-02 -9.78204093e-01 -2.05531943e-01 1.93489025e+02] [ 3.21793050e-02 -2.06446250e-01 9.77928647e-01 -3.92996815e+01] [-9.99045104e-01 2.22867357e-02 3.75790097e-02 -2.12919801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95232058799996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:193.42, Y:-39.40, Z:-212.94 [[-2.52375817e-02 -9.93610564e-01 -1.10005054e-01 1.93418483e+02] [ 3.45007532e-02 -1.10840255e-01 9.93239214e-01 -3.93984957e+01] [-9.99085964e-01 2.12716986e-02 3.70776529e-02 -2.12941155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:193.34, Y:-39.49, Z:-212.96 [[-2.03443967e-02 -9.99701252e-01 -1.35466704e-02 1.93337377e+02] [ 3.55439838e-02 -1.42641137e-02 9.99266311e-01 -3.94888478e+01] [-9.99161013e-01 1.98479676e-02 3.58235599e-02 -2.12960346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01232058799997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:193.20, Y:-39.58, Z:-213.12 [[ 8.20446632e-03 -9.94760816e-01 1.01899978e-01 1.93201820e+02] [ 3.52013326e-02 1.02127562e-01 9.94148292e-01 -3.95778196e+01] [-9.99346563e-01 -4.56944116e-03 3.58548085e-02 -2.13118563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:191.31, Y:-39.08, Z:-213.31 [[ 1.42296568e-02 3.12803262e-01 9.49711344e-01 1.91309093e+02] [-4.94143013e-03 9.49817909e-01 -3.12764323e-01 -3.90808842e+01] [-9.99886543e-01 -2.42403274e-04 1.50612783e-02 -2.13307320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07232058799997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:191.73, Y:-39.49, Z:-213.44 [[ 4.48308650e-02 -1.90990012e-01 9.80567697e-01 1.91725047e+02] [-8.47332447e-02 9.77290479e-01 1.94225636e-01 -3.94935559e+01] [-9.95394631e-01 -9.17939859e-02 2.76295741e-02 -2.13435450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:191.24, Y:-38.10, Z:-213.68 [[ 2.02628009e-02 8.78603143e-01 4.77122558e-01 1.91238302e+02] [-8.10396859e-02 4.77093592e-01 -8.75108150e-01 -3.80987254e+01] [-9.96504886e-01 -2.09337200e-02 8.08689753e-02 -2.13676065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13232058799997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:191.54, Y:-37.60, Z:-213.82 [[-1.15134975e-03 9.99650104e-01 2.64261801e-02 1.91543036e+02] [-1.10272975e-01 2.61381145e-02 -9.93557583e-01 -3.76015479e+01] [-9.93900672e-01 -4.05802577e-03 1.10204297e-01 -2.13821706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:193.69, Y:-38.68, Z:-213.77 [[ 1.54823355e-02 -8.09176005e-01 -5.87362315e-01 1.93691541e+02] [-8.15894037e-02 -5.86496161e-01 8.05832131e-01 -3.86827024e+01] [-9.96545767e-01 3.54463777e-02 -7.51005181e-02 -2.13766655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192320588 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:191.26, Y:-38.09, Z:-213.98 [[ 4.08958724e-02 8.90966946e-01 4.52222765e-01 1.91258033e+02] [-5.40940293e-02 4.53911935e-01 -8.89403053e-01 -3.80940601e+01] [-9.97698032e-01 1.19103623e-02 6.67591166e-02 -2.13982893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:191.34, Y:-37.92, Z:-214.05 [[ 3.74017246e-02 9.50465800e-01 3.08570696e-01 1.91337840e+02] [-6.01366072e-02 3.10367906e-01 -9.48712470e-01 -3.79168139e+01] [-9.97489198e-01 1.69270878e-02 6.87660834e-02 -2.14051656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252320588 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:191.39, Y:-37.86, Z:-214.19 [[ 1.96032698e-02 9.66007457e-01 2.57769867e-01 1.91389910e+02] [-6.85067706e-02 2.58511275e-01 -9.63576018e-01 -3.78605217e+01] [-9.97458036e-01 1.23025951e-03 7.12457175e-02 -2.14185935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:191.58, Y:-37.62, Z:-214.26 [[ 1.74988851e-02 9.99746411e-01 1.41740441e-02 1.91581143e+02] [-7.30935518e-02 1.54174059e-02 -9.97205915e-01 -3.76218937e+01] [-9.97171561e-01 1.64139604e-02 7.33448035e-02 -2.14262485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312320588 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:191.63, Y:-37.58, Z:-214.28 [[ 9.27229842e-03 9.99261906e-01 -3.72782563e-02 1.91627938e+02] [-7.53621432e-02 -3.64755099e-02 -9.96488878e-01 -3.75764166e+01] [-9.97113119e-01 1.20491115e-02 7.49683070e-02 -2.14281205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:191.69, Y:-37.52, Z:-214.29 [[ 4.16038877e-03 9.94354141e-01 -1.06030815e-01 1.91694247e+02] [-7.54691575e-02 -1.05417126e-01 -9.91560203e-01 -3.75199176e+01] [-9.97139457e-01 1.21273322e-02 7.46044931e-02 -2.14287889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372320588 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:191.75, Y:-37.48, Z:-214.31 [[-8.78997876e-04 9.87215781e-01 -1.59387045e-01 1.91747695e+02] [-7.55053629e-02 -1.58997639e-01 -9.84387470e-01 -3.74809040e+01] [-9.97145008e-01 1.11693021e-02 7.46798444e-02 -2.14307973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:191.81, Y:-37.44, Z:-214.33 [[-5.38457270e-03 9.74820389e-01 -2.22926479e-01 1.91814490e+02] [-7.41267854e-02 -2.22705476e-01 -9.72063522e-01 -3.74377064e+01] [-9.97234288e-01 1.12906765e-02 7.34594756e-02 -2.14326305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.432320588 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:191.88, Y:-37.40, Z:-214.35 [[-1.55936941e-02 9.60943399e-01 -2.76305304e-01 1.91875427e+02] [-7.07012544e-02 -2.76706899e-01 -9.58349949e-01 -3.74038687e+01] [-9.97375641e-01 4.59091564e-03 7.22547864e-02 -2.14345592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:192.05, Y:-37.33, Z:-214.37 [[-2.18131641e-02 9.09596895e-01 -4.14918876e-01 1.92046115e+02] [-7.04276209e-02 -4.15384632e-01 -9.06915408e-01 -3.73278090e+01] [-9.97278364e-01 9.43905471e-03 7.31215984e-02 -2.14368960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.492320588 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:192.14, Y:-37.30, Z:-214.39 [[-2.69546882e-02 8.73302614e-01 -4.86431896e-01 1.92141565e+02] [-7.02787071e-02 -4.87060171e-01 -8.70536210e-01 -3.72973378e+01] [-9.97163150e-01 1.07207726e-02 7.45031336e-02 -2.14385838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:192.22, Y:-37.28, Z:-214.40 [[-3.07844024e-02 8.39918146e-01 -5.41839302e-01 1.92218599e+02] [-6.84147049e-02 -5.42595510e-01 -8.37203405e-01 -3.72787579e+01] [-9.97181904e-01 1.12969695e-02 7.41662306e-02 -2.14399804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.552320588 meters Centerline goodness : 0.999858 Centerline is valid? [True, True] Translation: X:192.28, Y:-37.27, Z:-214.43 [[-4.11154595e-02 8.10141523e-01 -5.84790759e-01 1.92280196e+02] [-6.11236002e-02 -5.86228891e-01 -8.07836365e-01 -3.72699150e+01] [-9.97283021e-01 2.52995322e-03 7.36218367e-02 -2.14427872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:192.48, Y:-37.26, Z:-214.46 [[-4.58240293e-02 7.07226831e-01 -7.05500084e-01 1.92479436e+02] [-6.00179993e-02 -7.06915299e-01 -7.04747188e-01 -3.72560521e+01] [-9.97144923e-01 1.00483477e-02 7.48400468e-02 -2.14462184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.612320588 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:191.27, Y:-38.20, Z:-214.36 [[-1.06175815e-01 8.51429731e-01 5.13608907e-01 1.91270340e+02] [-7.53009185e-02 5.08160494e-01 -8.57964267e-01 -3.82008856e+01] [-9.91492041e-01 -1.29770278e-01 1.01590861e-02 -2.14363031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:192.36, Y:-39.76, Z:-214.37 [[-8.49180402e-02 -6.39278842e-01 7.64271868e-01 1.92360310e+02] [-1.30270439e-01 7.67581703e-01 6.27573057e-01 -3.97553874e+01] [-9.87835279e-01 -4.62697578e-02 -1.48460670e-01 -2.14368747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.672320588 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:192.09, Y:-37.32, Z:-214.70 [[-6.37201408e-02 8.86955954e-01 -4.57437295e-01 1.92086980e+02] [-1.39906197e-01 -4.61781461e-01 -8.75890483e-01 -3.73174074e+01] [-9.88112342e-01 8.18644739e-03 1.53515414e-01 -2.14698327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:192.12, Y:-37.31, Z:-214.70 [[-7.72993183e-02 8.70116597e-01 -4.86746262e-01 1.92124275e+02] [-1.34858480e-01 -4.92845271e-01 -8.59602658e-01 -3.73080247e+01] [-9.87845133e-01 -8.04838542e-04 1.55439205e-01 -2.14704792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73232058799994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:192.17, Y:-37.30, Z:-214.73 [[-7.63171983e-02 8.54220254e-01 -5.14279538e-01 1.92165389e+02] [-1.33038717e-01 -5.19895739e-01 -8.43806328e-01 -3.72997488e+01] [-9.88168197e-01 4.02215517e-03 1.53321353e-01 -2.14732128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:192.22, Y:-37.29, Z:-214.74 [[-8.20215936e-02 8.28954869e-01 -5.53268726e-01 1.92220484e+02] [-1.29471734e-01 -5.59297604e-01 -8.18793784e-01 -3.72890461e+01] [-9.88184967e-01 4.47389017e-03 1.53200705e-01 -2.14736808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79232058799994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:192.25, Y:-37.29, Z:-214.76 [[-8.58304431e-02 8.14015371e-01 -5.74466806e-01 1.92250255e+02] [-1.25909620e-01 -5.80833936e-01 -8.04225532e-01 -3.72861585e+01] [-9.88321761e-01 3.30386320e-03 1.52345600e-01 -2.14762080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:191.59, Y:-37.63, Z:-214.66 [[-1.51069304e-01 9.88514724e-01 -4.08722407e-03 1.91592326e+02] [-1.11064053e-01 -2.10815197e-02 -9.93589626e-01 -3.76250743e+01] [-9.82264140e-01 -1.49646950e-01 1.12973222e-01 -2.14657119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85232058799994 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:192.58, Y:-37.29, Z:-214.89 [[-1.54722907e-01 6.28256681e-01 -7.62465976e-01 1.92584039e+02] [-1.08972548e-01 -7.77903049e-01 -6.18863337e-01 -3.72898726e+01] [-9.81929634e-01 -1.26644746e-02 1.88822153e-01 -2.14892669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:193.46, Y:-39.29, Z:-214.85 [[-1.11666224e-01 -9.80273489e-01 -1.63078329e-01 1.93463793e+02] [-1.03532749e-01 -1.51735470e-01 9.82983885e-01 -3.92861705e+01] [-9.88337809e-01 1.26650046e-01 -8.45466821e-02 -2.14847881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91232058799994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:192.46, Y:-37.30, Z:-214.98 [[-1.02175869e-01 6.89024501e-01 -7.17499358e-01 1.92457788e+02] [-8.79497000e-02 -7.24706842e-01 -6.83421424e-01 -3.72963529e+01] [-9.90870800e-01 -6.72532463e-03 1.34647050e-01 -2.14984062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:192.61, Y:-37.31, Z:-215.02 [[-1.10043423e-01 5.95793824e-01 -7.95562797e-01 1.92607368e+02] [-7.81294486e-02 -8.03132398e-01 -5.90655687e-01 -3.73125728e+01] [-9.90851267e-01 -2.84089126e-03 1.34928482e-01 -2.15024505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97232058799995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:192.72, Y:-37.34, Z:-215.04 [[-1.14627338e-01 5.18124199e-01 -8.47589457e-01 1.92720527e+02] [-7.19695197e-02 -8.55302603e-01 -5.13106077e-01 -3.73362698e+01] [-9.90798144e-01 2.18462222e-03 1.35330211e-01 -2.15044718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:191.20, Y:-38.36, Z:-214.80 [[-1.75660166e-01 7.90232434e-01 5.87091310e-01 1.91199817e+02] [-1.28043908e-01 5.72958335e-01 -8.09520540e-01 -3.83552544e+01] [-9.76088246e-01 -2.17373978e-01 5.38493317e-04 -2.14802862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03232058799995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:191.73, Y:-39.58, Z:-214.78 [[-1.74490704e-01 -1.98136764e-01 9.64517919e-01 1.91733005e+02] [-1.68496433e-01 9.71105285e-01 1.69007329e-01 -3.95785006e+01] [-9.70135014e-01 -1.33027621e-01 -2.02834183e-01 -2.14783033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:193.64, Y:-38.75, Z:-215.26 [[-1.15101324e-01 -7.84737324e-01 -6.09047631e-01 1.93638973e+02] [-1.44353767e-01 -5.93400440e-01 7.91857252e-01 -3.87495435e+01] [-9.82809074e-01 1.79062138e-01 -4.49786124e-02 -2.15260169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09232058799995 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:192.26, Y:-37.33, Z:-215.32 [[-1.10216353e-01 7.69957382e-01 -6.28504563e-01 1.92262079e+02] [-1.31452953e-01 -6.38094535e-01 -7.58653733e-01 -3.73310480e+01] [-9.85176368e-01 -9.97267061e-04 1.71541624e-01 -2.15322791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:193.56, Y:-39.01, Z:-215.27 [[-6.15550321e-02 -8.97663956e-01 -4.36360403e-01 1.93563652e+02] [-1.09558231e-01 -4.28470949e-01 8.96888867e-01 -3.90103252e+01] [-9.92072564e-01 1.03014897e-01 -7.19719316e-02 -2.15271847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15232058799995 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:192.03, Y:-37.38, Z:-215.34 [[-5.58290717e-02 8.69441170e-01 -4.90871844e-01 1.92030229e+02] [-9.61345301e-02 -4.94035367e-01 -8.64110646e-01 -3.73829702e+01] [-9.93801422e-01 -1.05276112e-03 1.11164854e-01 -2.15337721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.09, Y:-37.37, Z:-215.36 [[-6.28538194e-02 8.46224292e-01 -5.29106648e-01 1.92085961e+02] [-9.35273046e-02 -5.32816143e-01 -8.41046729e-01 -3.73707922e+01] [-9.93630737e-01 -3.37708065e-03 1.12634607e-01 -2.15357227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.15, Y:-37.36, Z:-215.38 [[-7.00295310e-02 8.19610288e-01 -5.68625396e-01 1.92146412e+02] [-9.10490072e-02 -5.72897200e-01 -8.14554404e-01 -3.73605589e+01] [-9.93381066e-01 -5.27008509e-03 1.14744425e-01 -2.15379717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-37.36, Z:-215.41 [[-9.29132563e-02 7.89609782e-01 -6.06534021e-01 1.92201048e+02] [-7.53674559e-02 -6.12998970e-01 -7.86480775e-01 -3.73576130e+01] [-9.92817644e-01 -2.73615638e-02 1.16466611e-01 -2.15405127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.40, Y:-37.35, Z:-215.46 [[-9.52554737e-02 6.81850383e-01 -7.25263021e-01 1.92400406e+02] [-6.60660161e-02 -7.31299892e-01 -6.78848842e-01 -3.73520703e+01] [-9.93258112e-01 -1.67488296e-02 1.14707456e-01 -2.15461769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-37.37, Z:-215.49 [[-9.92556070e-02 5.98782577e-01 -7.94737535e-01 1.92534874e+02] [-6.10501450e-02 -8.00841296e-01 -5.95756744e-01 -3.73668526e+01] [-9.93187396e-01 -1.06133555e-02 1.16043752e-01 -2.15488324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-39.04, Z:-215.49 [[-2.85703352e-02 -9.03320422e-01 -4.28013962e-01 1.93528061e+02] [-3.98141350e-02 -4.26820599e-01 9.03459468e-01 -3.90444831e+01] [-9.98798564e-01 4.28531455e-02 -2.37705136e-02 -2.15487809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-37.36, Z:-215.52 [[-4.46063222e-02 7.19590632e-01 -6.92964356e-01 1.92323728e+02] [-2.59426315e-02 -6.94255238e-01 -7.19261180e-01 -3.73633423e+01] [-9.98667740e-01 -1.41062770e-02 4.96362474e-02 -2.15523026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.47, Y:-39.15, Z:-215.52 [[ 3.38677474e-02 -9.36077556e-01 -3.50159657e-01 1.93473240e+02] [-1.27478343e-02 -3.50736755e-01 9.36387324e-01 -3.91491405e+01] [-9.99345020e-01 -2.72495521e-02 -2.38116254e-02 -2.15519166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:-39.01, Z:-215.63 [[ 1.63024925e-02 4.51789544e-01 8.91975581e-01 1.91138946e+02] [-2.26179180e-02 8.92032493e-01 -4.51404986e-01 -3.90131335e+01] [-9.99611254e-01 -1.28156041e-02 2.47608919e-02 -2.15633620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:191.10, Y:-38.83, Z:-215.70 [[ 1.33566147e-02 5.77959204e-01 8.15956347e-01 1.91097399e+02] [-2.48075692e-02 8.15969496e-01 -5.77562435e-01 -3.88305837e+01] [-9.99603014e-01 -1.25276146e-02 2.52363531e-02 -2.15695039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.05, Y:-37.46, Z:-215.84 [[-4.49437146e-02 8.80219269e-01 -4.72434229e-01 1.92048956e+02] [ 1.85461649e-02 -4.72095416e-01 -8.81352346e-01 -3.74559492e+01] [-9.98817352e-01 -4.83730914e-02 4.89302991e-03 -2.15844570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-38.10, Z:-215.93 [[-3.53268341e-02 -3.17703384e-01 -9.47531833e-01 1.93535304e+02] [ 2.44585704e-02 -9.48114502e-01 3.16986861e-01 -3.81022231e+01] [-9.99076470e-01 -1.19771318e-02 4.12644543e-02 -2.15928977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-38.32, Z:-215.94 [[-3.37008191e-02 -4.86980643e-01 -8.72762343e-01 1.93618127e+02] [ 2.21834207e-02 -8.73407726e-01 4.86484162e-01 -3.83155538e+01] [-9.99185744e-01 -2.96593947e-03 4.02374523e-02 -2.15940093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.19, Y:-37.43, Z:-215.88 [[-8.81360674e-02 8.15184053e-01 -5.72456979e-01 1.92194986e+02] [ 6.38363572e-02 -5.68889724e-01 -8.19932559e-01 -3.74280437e+01] [-9.94060840e-01 -1.08809200e-01 -1.89867733e-03 -2.15877496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-38.44, Z:-216.11 [[-8.81036206e-02 -5.71737705e-01 -8.15692190e-01 1.93647987e+02] [ 6.72402710e-02 -8.20422291e-01 5.67790464e-01 -3.84378934e+01] [-9.93839272e-01 -4.82296829e-03 1.10725973e-01 -2.16105163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:193.66, Y:-38.52, Z:-216.12 [[-8.66538058e-02 -6.27838840e-01 -7.73504692e-01 1.93660900e+02] [ 7.08346736e-02 -7.78343017e-01 6.23830583e-01 -3.85249066e+01] [-9.93717046e-01 -7.33658213e-04 1.11919144e-01 -2.16123961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:193.66, Y:-38.57, Z:-216.14 [[-8.33372437e-02 -6.58463208e-01 -7.47984698e-01 1.93664555e+02] [ 7.32495603e-02 -7.52612874e-01 6.54376316e-01 -3.85729911e+01] [-9.93825642e-01 -2.55631704e-04 1.10952823e-01 -2.16136765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:191.79, Y:-37.58, Z:-215.92 [[-1.40596497e-01 9.55489536e-01 -2.59369181e-01 1.91787983e+02] [ 9.42952623e-02 -2.47857547e-01 -9.64196577e-01 -3.75773915e+01] [-9.85566349e-01 -1.60019946e-01 -5.52502336e-02 -2.15919444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-38.38, Z:-216.29 [[-1.43703794e-01 -5.45565903e-01 -8.25655537e-01 1.93633027e+02] [ 9.81120792e-02 -8.38058929e-01 5.36685431e-01 -3.83842690e+01] [-9.84745266e-01 -3.88304872e-03 1.73958853e-01 -2.16291546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.64, Y:-38.45, Z:-216.32 [[-1.35687467e-01 -5.89298002e-01 -7.96440064e-01 1.93640176e+02] [ 1.06494285e-01 -8.07892209e-01 5.79628456e-01 -3.84460570e+01] [-9.85011613e-01 -6.16799869e-03 1.72377717e-01 -2.16323292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.65, Y:-38.52, Z:-216.34 [[-1.33447064e-01 -6.35306528e-01 -7.60642818e-01 1.93648585e+02] [ 1.11947628e-01 -7.72258202e-01 6.25367891e-01 -3.85177052e+01] [-9.84712958e-01 -1.69865006e-03 1.74176649e-01 -2.16337464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-38.55, Z:-216.35 [[-1.30508555e-01 -6.55138804e-01 -7.44150969e-01 1.93649683e+02] [ 1.16524052e-01 -7.55504155e-01 6.44698082e-01 -3.85486282e+01] [-9.84575879e-01 -2.57287163e-03 1.74939183e-01 -2.16351470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-37.42, Z:-216.09 [[-1.68255379e-01 5.60128361e-01 -8.11138919e-01 1.92615134e+02] [ 1.72246375e-01 -7.93504157e-01 -5.83679997e-01 -3.74199353e+01] [-9.70577825e-01 -2.37923038e-01 3.70312633e-02 -2.16093421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-39.85, Z:-216.44 [[-1.33091761e-01 -4.84339241e-01 8.64697683e-01 1.92042589e+02] [ 1.12969364e-01 8.59359707e-01 4.98737221e-01 -3.98458206e+01] [-9.84644355e-01 1.64062163e-01 -5.96582003e-02 -2.16438521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.62, Y:-38.51, Z:-216.53 [[-1.21417105e-01 -6.46765689e-01 -7.52962170e-01 1.93621326e+02] [ 1.29572750e-01 -7.62410875e-01 6.33987823e-01 -3.85067454e+01] [-9.84108119e-01 -2.05864131e-02 1.76372930e-01 -2.16531905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.932320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:193.62, Y:-38.64, Z:-216.57 [[-1.16130598e-01 -7.25122025e-01 -6.78757492e-01 1.93622176e+02] [ 1.36341036e-01 -6.88550264e-01 7.12256735e-01 -3.86413581e+01] [-9.83831696e-01 -9.82769903e-03 1.78825642e-01 -2.16572624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.61, Y:-38.71, Z:-216.62 [[-9.64391510e-02 -7.63209604e-01 -6.38913602e-01 1.93612418e+02] [ 1.52732509e-01 -6.45650509e-01 7.48203315e-01 -3.87051560e+01] [-9.83550848e-01 -2.54267852e-02 1.78832905e-01 -2.16615045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:-38.88, Z:-216.65 [[-9.30981343e-02 -8.46436778e-01 -5.24287629e-01 1.93582477e+02] [ 1.55648236e-01 -5.32473093e-01 8.32013241e-01 -3.88765841e+01] [-9.83415662e-01 -4.14556392e-03 1.81318643e-01 -2.16651884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:193.57, Y:-38.90, Z:-216.67 [[-8.93997694e-02 -8.58692175e-01 -5.04633956e-01 1.93573656e+02] [ 1.59392813e-01 -5.12467305e-01 8.43783854e-01 -3.89029882e+01] [-9.83158996e-01 -5.00094399e-03 1.82683820e-01 -2.16669315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:-38.93, Z:-216.70 [[-8.31301183e-02 -8.73039076e-01 -4.80512387e-01 1.93562237e+02] [ 1.63966603e-01 -4.87592563e-01 8.57536265e-01 -3.89347515e+01] [-9.82956935e-01 -7.50089283e-03 1.83682879e-01 -2.16695480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.55, Y:-38.98, Z:-216.71 [[-8.06259552e-02 -8.92812906e-01 -4.43152987e-01 1.93545945e+02] [ 1.63706657e-01 -4.50424171e-01 8.77677729e-01 -3.89843733e+01] [-9.83208821e-01 -1.78348898e-03 1.82475296e-01 -2.16707764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-39.01, Z:-216.72 [[-7.81334279e-02 -9.02392574e-01 -4.23772121e-01 1.93535673e+02] [ 1.63222038e-01 -4.30914855e-01 8.87508284e-01 -3.90073653e+01] [-9.83490586e-01 1.75115162e-04 1.80959210e-01 -2.16719276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:193.52, Y:-39.03, Z:-216.73 [[-7.55580462e-02 -9.11691073e-01 -4.03869248e-01 1.93524733e+02] [ 1.65715908e-01 -4.10875566e-01 8.96504047e-01 -3.90310848e+01] [-9.83274743e-01 8.10535045e-04 1.82126669e-01 -2.16734882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-39.05, Z:-216.75 [[-7.32754129e-02 -9.20594097e-01 -3.83584702e-01 1.93513678e+02] [ 1.67662062e-01 -3.90515613e-01 9.05199972e-01 -3.90547747e+01] [-9.83117565e-01 2.01629973e-03 1.82963897e-01 -2.16750437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-39.07, Z:-216.80 [[-5.08850899e-02 -9.30270000e-01 -3.63329649e-01 1.93497106e+02] [ 1.76654186e-01 -3.66448436e-01 9.13514555e-01 -3.90743540e+01] [-9.82956767e-01 -1.76994331e-02 1.82982851e-01 -2.16800003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-39.22, Z:-216.85 [[-3.96594112e-02 -9.70319190e-01 -2.38553559e-01 1.93419269e+02] [ 1.80851734e-01 -2.41768929e-01 9.53331231e-01 -3.92163435e+01] [-9.82710426e-01 -5.33426940e-03 1.85072321e-01 -2.16845436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:193.38, Y:-39.28, Z:-216.86 [[-3.56700006e-02 -9.83377047e-01 -1.78037169e-01 1.93376637e+02] [ 1.81486143e-01 -1.81562393e-01 9.66487391e-01 -3.92791071e+01] [-9.82746372e-01 2.16332659e-03 1.84945638e-01 -2.16862865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-39.30, Z:-216.88 [[-3.25475535e-02 -9.87201428e-01 -1.56121741e-01 1.93359893e+02] [ 1.83014498e-01 -1.59450091e-01 9.70093481e-01 -3.92982593e+01] [-9.82571295e-01 3.00162740e-03 1.85861884e-01 -2.16883507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.34, Y:-39.32, Z:-216.90 [[-2.78158620e-02 -9.90415248e-01 -1.35291957e-01 1.93343261e+02] [ 1.84664068e-01 -1.38106112e-01 9.73049785e-01 -3.93182695e+01] [-9.82407990e-01 2.08265540e-03 1.86735650e-01 -2.16897617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35232058799994 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:193.32, Y:-39.35, Z:-216.91 [[-1.70396483e-02 -9.94653025e-01 -1.01857791e-01 1.93316910e+02] [ 2.00462064e-01 -1.03202636e-01 9.74250572e-01 -3.93495330e+01] [-9.79553271e-01 -3.81773594e-03 2.01148735e-01 -2.16911869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-37.61, Z:-216.60 [[-2.86928132e-02 1.01671219e-01 -9.94404186e-01 1.93131719e+02] [ 2.42237209e-01 -9.64453259e-01 -1.05598515e-01 -3.76141382e+01] [-9.69792688e-01 -2.43911613e-01 3.04432498e-03 -2.16602100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41232058799994 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:193.31, Y:-39.34, Z:-217.06 [[-2.71596539e-02 -9.95326438e-01 -9.26694961e-02 1.93307742e+02] [ 2.55024642e-01 -9.65352025e-02 9.62103626e-01 -3.93373011e+01] [-9.66553043e-01 2.49739643e-03 2.56454631e-01 -2.17061500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-39.35, Z:-217.08 [[-2.34285775e-02 -9.96606644e-01 -7.89069040e-02 1.93296022e+02] [ 2.54648867e-01 -8.22742046e-02 9.63527327e-01 -3.93465909e+01] [-9.66749738e-01 2.48052094e-03 2.55712320e-01 -2.17076827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:-39.36, Z:-217.10 [[-1.96324306e-02 -9.97801709e-01 -6.32954703e-02 1.93282256e+02] [ 2.55039857e-01 -6.62112721e-02 9.64660945e-01 -3.93572503e+01] [-9.66731214e-01 2.79577137e-03 2.55779093e-01 -2.17096526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:193.27, Y:-39.37, Z:-217.11 [[-1.67130365e-02 -9.98894947e-01 -4.39267403e-02 1.93265581e+02] [ 2.55562661e-01 -4.67412608e-02 9.65661939e-01 -3.93729699e+01] [-9.66648023e-01 4.91310863e-03 2.56061440e-01 -2.17109690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:-39.38, Z:-217.12 [[-1.42745507e-02 -9.99455240e-01 -2.97566770e-02 1.93252722e+02] [ 2.55919311e-01 -3.24203374e-02 9.66154350e-01 -3.93827911e+01] [-9.66592750e-01 6.17611096e-03 2.56242682e-01 -2.17122691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-37.43, Z:-216.63 [[-6.05850361e-02 9.26941167e-01 -3.70283036e-01 1.91845109e+02] [ 2.56391569e-01 -3.44066098e-01 -9.03261802e-01 -3.74295997e+01] [-9.64672388e-01 -1.49661597e-01 -2.16814643e-01 -2.16630079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.43, Y:-39.11, Z:-217.24 [[-7.57687171e-02 -9.62992226e-01 -2.58660151e-01 1.93432295e+02] [ 2.78635832e-01 -2.69519958e-01 9.21803160e-01 -3.91119374e+01] [-9.57403350e-01 -2.22814346e-03 2.88745322e-01 -2.17238941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.41, Y:-39.14, Z:-217.26 [[-7.88599602e-02 -9.70055270e-01 -2.29725663e-01 1.93411184e+02] [ 2.81115289e-01 -2.42730569e-01 9.28469744e-01 -3.91392990e+01] [-9.56428409e-01 8.63969077e-03 2.91839091e-01 -2.17256902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.11, Y:-38.75, Z:-217.02 [[-8.24830439e-02 5.62252142e-01 8.22842072e-01 1.91111027e+02] [ 2.24565431e-01 8.14906948e-01 -5.34319224e-01 -3.87516305e+01] [-9.70961850e-01 1.40709608e-01 -1.93478400e-01 -2.17022017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-38.91, Z:-217.34 [[-9.21064592e-02 -9.13780704e-01 -3.95627634e-01 1.93501909e+02] [ 2.31326012e-01 -4.06082521e-01 8.84073109e-01 -3.89067828e+01] [-9.68506415e-01 -1.00901191e-02 2.48784069e-01 -2.17338619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:-38.99, Z:-217.37 [[-9.31960656e-02 -9.41099049e-01 -3.25033957e-01 1.93461393e+02] [ 2.30522071e-01 -3.37979757e-01 9.12485210e-01 -3.89927470e+01] [-9.68593861e-01 1.01125305e-02 2.48442486e-01 -2.17370646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.24, Y:-39.07, Z:-217.24 [[-7.85778251e-02 2.73735083e-01 9.58589917e-01 1.91235068e+02] [ 1.81853093e-01 9.49365116e-01 -2.56193930e-01 -3.90711516e+01] [-9.80181094e-01 1.54191380e-01 -1.24378618e-01 -2.17240339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:-37.24, Z:-217.08 [[-1.29998596e-01 5.37678990e-01 -8.33067626e-01 1.92591466e+02] [ 2.03504260e-01 -8.07840987e-01 -5.53153645e-01 -3.72362036e+01] [-9.70405267e-01 -2.41442008e-01 -4.40177113e-03 -2.17084382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.53, Y:-38.73, Z:-217.57 [[-1.44931469e-01 -8.61202442e-01 -4.87160367e-01 1.93528439e+02] [ 2.24402244e-01 -5.08138793e-01 8.31527871e-01 -3.87303935e+01] [-9.63658914e-01 1.11946766e-02 2.66901063e-01 -2.17566553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.52, Y:-38.75, Z:-217.60 [[-1.31764778e-01 -8.72167695e-01 -4.71127961e-01 1.93516323e+02] [ 2.31466167e-01 -4.89203894e-01 8.40894145e-01 -3.87460207e+01] [-9.63878341e-01 1.75004663e-03 2.66337156e-01 -2.17599801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:-38.78, Z:-217.61 [[-1.34935850e-01 -8.84152933e-01 -4.47287275e-01 1.93504618e+02] [ 2.27371931e-01 -4.66999443e-01 8.54525321e-01 -3.87784048e+01] [-9.64413978e-01 1.36055291e-02 2.64046527e-01 -2.17609490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89232058799996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:191.22, Y:-39.02, Z:-217.43 [[-1.14529032e-01 2.83420244e-01 9.52132379e-01 1.91218721e+02] [ 1.80827636e-01 9.48374811e-01 -2.60550541e-01 -3.90167446e+01] [-9.76823662e-01 1.42331246e-01 -1.59866661e-01 -2.17430794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-38.51, Z:-217.68 [[-1.50372526e-01 -7.75354743e-01 -6.13362149e-01 1.93544536e+02] [ 1.62782099e-01 -6.31366976e-01 7.58206918e-01 -3.85101003e+01] [-9.75135935e-01 1.41691114e-02 2.21154120e-01 -2.17675490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95232058799996 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:191.34, Y:-39.18, Z:-217.52 [[-1.19460481e-01 9.80119281e-02 9.87989299e-01 1.91341572e+02] [ 1.22181727e-01 9.89002637e-01 -8.33391287e-02 -3.91803152e+01] [-9.85292250e-01 1.10758507e-01 -1.30121998e-01 -2.17519073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:193.50, Y:-38.07, Z:-217.72 [[-1.33930064e-01 -5.24316405e-01 -8.40925113e-01 1.93502121e+02] [ 1.18621999e-01 -8.50950879e-01 5.11675114e-01 -3.80727265e+01] [-9.83865621e-01 -3.12235368e-02 1.76163366e-01 -2.17720846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:-39.36, Z:-217.66 [[-1.01039259e-01 -1.43635836e-01 9.84459148e-01 1.91539068e+02] [ 6.73691161e-02 9.86263999e-01 1.50813551e-01 -3.93556185e+01] [-9.92598847e-01 8.15602320e-02 -8.99747645e-02 -2.17662730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:-37.99, Z:-217.80 [[-1.21184789e-01 -4.72872871e-01 -8.72757409e-01 1.93470372e+02] [ 6.22859667e-02 -8.81127269e-01 4.68759206e-01 -3.79877904e+01] [-9.90673864e-01 2.44594641e-03 1.36232566e-01 -2.17797482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07232058799997 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:191.53, Y:-39.34, Z:-217.70 [[-8.17696439e-02 -1.49936151e-01 9.85308518e-01 1.91532098e+02] [ 3.23870965e-03 9.88573957e-01 1.50701835e-01 -3.93374651e+01] [-9.96645993e-01 1.55139636e-02 -8.03497408e-02 -2.17697769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:-37.35, Z:-217.85 [[-9.82686962e-02 1.29547125e-01 -9.86691849e-01 1.93030018e+02] [-7.01418017e-03 -9.91556282e-01 -1.29487226e-01 -3.73499098e+01] [-9.95135199e-01 -5.80370650e-03 9.83476099e-02 -2.17846410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:-39.56, Z:-217.80 [[-4.22960236e-02 -7.84844267e-01 6.18247946e-01 1.92398171e+02] [-3.72978205e-02 6.19610709e-01 7.84022603e-01 -3.95628191e+01] [-9.98408693e-01 1.01017376e-02 -5.54800498e-02 -2.17798762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-37.09, Z:-217.90 [[-4.37038001e-02 6.91338386e-01 -7.21208163e-01 1.92282651e+02] [-3.90047529e-02 -7.22528264e-01 -6.90240202e-01 -3.70851708e+01] [-9.98282829e-01 -2.03557368e-03 5.85427137e-02 -2.17904977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:-37.09, Z:-217.93 [[-4.57833362e-02 6.20639109e-01 -7.82758572e-01 1.92400314e+02] [-3.79889404e-02 -7.84095152e-01 -6.19476903e-01 -3.70935568e+01] [-9.98228795e-01 1.37444947e-03 5.94759141e-02 -2.17926886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:-38.94, Z:-217.94 [[ 7.54971353e-03 -9.61429430e-01 -2.74948091e-01 1.93324998e+02] [-1.51047832e-02 -2.75034202e-01 9.61315782e-01 -3.89430475e+01] [-9.99857414e-01 -3.10462746e-03 -1.65986125e-02 -2.17938291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-37.17, Z:-218.12 [[-1.40017502e-02 5.93536318e-01 -8.04685398e-01 1.92476378e+02] [ 3.24018916e-02 -8.04072310e-01 -5.93647907e-01 -3.71688217e+01] [-9.99376840e-01 -3.43854387e-02 -7.97327976e-03 -2.18122438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:-38.72, Z:-218.25 [[-2.19675960e-02 -8.64461633e-01 -5.02218588e-01 1.93488005e+02] [ 3.61658676e-02 -5.02698148e-01 8.63705159e-01 -3.87166916e+01] [-9.99104326e-01 8.10355044e-04 4.23070748e-02 -2.18248399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312320588 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:193.34, Y:-39.05, Z:-218.28 [[-2.25578252e-02 -9.73054056e-01 -2.29471018e-01 1.93343090e+02] [ 3.84210248e-02 -2.30203632e-01 9.72383727e-01 -3.90502757e+01] [-9.99006992e-01 1.31183505e-02 4.25786274e-02 -2.18279059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:-39.13, Z:-218.31 [[-2.35125806e-02 -9.88388757e-01 -1.50116037e-01 1.93287215e+02] [ 3.77877313e-02 -1.50928902e-01 9.87822127e-01 -3.91339329e+01] [-9.99009132e-01 1.75537029e-02 4.08976967e-02 -2.18305869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.23, Y:-39.21, Z:-218.32 [[-2.13752503e-02 -9.97015940e-01 -7.41775887e-02 1.93228623e+02] [ 3.86285055e-02 -7.49627457e-02 9.96437868e-01 -3.92063992e+01] [-9.99024993e-01 1.84337395e-02 4.01155832e-02 -2.18323324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:-39.29, Z:-218.39 [[-2.36844125e-02 -9.99368294e-01 2.64964281e-02 1.93141212e+02] [ 3.54804394e-02 2.56468920e-02 9.99041228e-01 -3.92915693e+01] [-9.99089679e-01 2.46018095e-02 3.48505946e-02 -2.18386497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.07, Y:-39.35, Z:-218.45 [[-2.12989765e-02 -9.94507179e-01 1.02478407e-01 1.93068192e+02] [ 3.75095228e-02 1.01634606e-01 9.94114401e-01 -3.93507979e+01] [-9.99069262e-01 2.50175354e-02 3.51387767e-02 -2.18448238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:-39.40, Z:-218.58 [[-7.86944871e-03 -9.84138264e-01 1.77228525e-01 1.92979261e+02] [ 3.52616534e-02 1.76850681e-01 9.83605842e-01 -3.93986679e+01] [-9.99347131e-01 1.39898065e-02 3.33106249e-02 -2.18575711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.492320588 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:193.09, Y:-37.51, Z:-218.63 [[ 3.95708490e-02 7.01937480e-02 -9.96748206e-01 1.93089285e+02] [ 8.33142128e-02 -9.94287750e-01 -6.67129063e-02 -3.75066097e+01] [-9.95737360e-01 -8.04034058e-02 -4.51929472e-02 -2.18634080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:192.99, Y:-39.45, Z:-218.93 [[-1.04715831e-02 -9.84885807e-01 1.72888094e-01 1.92993970e+02] [ 1.01810864e-01 1.70948937e-01 9.80005617e-01 -3.94501350e+01] [-9.94748659e-01 2.78640964e-02 9.84819687e-02 -2.18929458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.552320588 meters Centerline goodness : 0.999860 Centerline is valid? [True, True] Translation: X:192.95, Y:-39.47, Z:-219.00 [[-7.12955424e-03 -9.75952600e-01 2.17866224e-01 1.92946362e+02] [ 1.02619806e-01 2.16007406e-01 9.70984025e-01 -3.94725922e+01] [-9.94695102e-01 2.92800729e-02 9.86120296e-02 -2.18995353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.91, Y:-39.49, Z:-219.06 [[-4.19142531e-03 -9.67893749e-01 2.51324736e-01 1.92908633e+02] [ 1.01266233e-01 2.49624110e-01 9.63033205e-01 -3.94876445e+01] [-9.94850532e-01 2.94871910e-02 9.69686732e-02 -2.19056640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.612320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.87, Y:-39.50, Z:-219.12 [[ 4.12145005e-04 -9.59489058e-01 2.81745590e-01 1.92872417e+02] [ 1.02067488e-01 2.80314553e-01 9.54466332e-01 -3.95008845e+01] [-9.94777391e-01 2.83636860e-02 9.80481678e-02 -2.19119548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:192.81, Y:-39.49, Z:-219.27 [[ 3.15318204e-02 -9.48627226e-01 3.14820790e-01 1.92811608e+02] [ 9.41956381e-02 3.16395913e-01 9.43938985e-01 -3.94933647e+01] [-9.95054233e-01 -1.09369327e-04 9.93330860e-02 -2.19274696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:-39.59, Z:-219.40 [[ 4.14667476e-02 -8.34021010e-01 5.50172212e-01 1.92503458e+02] [ 9.88847538e-02 5.51368131e-01 8.28380945e-01 -3.95853645e+01] [-9.94234537e-01 2.00533802e-02 1.05335405e-01 -2.19397698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.40, Y:-39.59, Z:-219.46 [[ 4.44774138e-02 -7.85907375e-01 6.16742538e-01 1.92402607e+02] [ 9.90163476e-02 6.17781644e-01 7.80090766e-01 -3.95947031e+01] [-9.94091305e-01 2.63711737e-02 1.05295008e-01 -2.19464390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-39.59, Z:-219.53 [[ 4.60445418e-02 -7.65633272e-01 6.41627301e-01 1.92364737e+02] [ 9.59897210e-02 6.42727391e-01 7.60057547e-01 -3.95897987e+01] [-9.94316787e-01 2.65931242e-02 1.03087012e-01 -2.19529759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:-39.58, Z:-219.59 [[ 4.77704878e-02 -7.41967640e-01 6.68731637e-01 1.92325021e+02] [ 9.52209525e-02 6.69829665e-01 7.36383860e-01 -3.95848613e+01] [-9.94309283e-01 2.84998472e-02 1.02648955e-01 -2.19591824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:-39.58, Z:-219.66 [[ 5.11420134e-02 -7.20522487e-01 6.91543087e-01 1.92288971e+02] [ 9.33679040e-02 6.92865973e-01 7.14995929e-01 -3.95782486e+01] [-9.94317318e-01 2.80015971e-02 1.02708235e-01 -2.19657474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:-39.57, Z:-219.72 [[ 5.49358197e-02 -6.95507149e-01 7.16415983e-01 1.92247409e+02] [ 9.26190021e-02 7.17955571e-01 6.89899644e-01 -3.95720783e+01] [-9.94184981e-01 2.84535310e-02 1.03858656e-01 -2.19719432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:-39.56, Z:-219.80 [[ 5.84292565e-02 -6.72613986e-01 7.37683163e-01 1.92209402e+02] [ 9.00452648e-02 7.39484402e-01 6.67124178e-01 -3.95615114e+01] [-9.94222245e-01 2.74453060e-02 1.03773228e-01 -2.19795335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:-39.55, Z:-219.86 [[ 6.21798218e-02 -6.35415899e-01 7.69662462e-01 1.92150603e+02] [ 8.93497591e-02 7.71602216e-01 6.29798890e-01 -3.95500883e+01] [-9.94057488e-01 2.96083728e-02 1.04752346e-01 -2.19862465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.11, Y:-39.54, Z:-219.93 [[ 6.56180599e-02 -6.07362443e-01 7.91710258e-01 1.92112572e+02] [ 8.65939110e-02 7.93893018e-01 6.01859927e-01 -3.95373901e+01] [-9.94080361e-01 2.90644070e-02 1.04687609e-01 -2.19927335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-39.51, Z:-220.04 [[ 7.31997353e-02 -5.80071076e-01 8.11270205e-01 1.92076466e+02] [ 7.79334672e-02 8.14292003e-01 5.75199886e-01 -3.95143168e+01] [-9.94267657e-01 2.11206205e-02 1.04812909e-01 -2.20037776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-39.48, Z:-220.13 [[ 7.92760965e-02 -4.94812403e-01 8.65376211e-01 1.91958576e+02] [ 7.66744342e-02 8.68563386e-01 4.89610739e-01 -3.94769369e+01] [-9.93899558e-01 2.75378032e-02 1.06795776e-01 -2.20127679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:-39.45, Z:-220.19 [[ 8.26752753e-02 -4.44235610e-01 8.92087172e-01 1.91893962e+02] [ 7.55523564e-02 8.95369496e-01 4.38868212e-01 -3.94501383e+01] [-9.93708529e-01 3.11157377e-02 1.07587967e-01 -2.20191776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:-39.43, Z:-220.26 [[ 8.56063750e-02 -4.16283886e-01 9.05195711e-01 1.91863381e+02] [ 7.21019275e-02 9.08737186e-01 4.11093710e-01 -3.94312361e+01] [-9.93716690e-01 3.00741132e-02 1.07808567e-01 -2.20255403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:-39.41, Z:-220.34 [[ 8.83472047e-02 -3.86208340e-01 9.18170948e-01 1.91832715e+02] [ 6.60427218e-02 9.22018189e-01 3.81471909e-01 -3.94055571e+01] [-9.93897948e-01 2.69365316e-02 1.06963980e-01 -2.20341944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:-39.37, Z:-220.41 [[ 9.08577506e-02 -3.25406342e-01 9.41199013e-01 1.91764002e+02] [ 6.38792658e-02 9.45066107e-01 3.20576812e-01 -3.93665502e+01] [-9.93813015e-01 3.09962139e-02 1.06653299e-01 -2.20411235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:-37.44, Z:-220.53 [[ 8.41467721e-02 9.90858334e-01 1.05447066e-01 1.91433550e+02] [ 4.83217045e-02 1.01640202e-01 -9.93646961e-01 -3.74442703e+01] [-9.95281032e-01 8.87075663e-02 -3.93272687e-02 -2.20531700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:-37.60, Z:-220.69 [[ 1.47820344e-02 9.61314241e-01 2.75057124e-01 1.91395247e+02] [ 3.59550222e-02 2.74398233e-01 -9.60943727e-01 -3.76011687e+01] [-9.99244078e-01 2.40943882e-02 -3.05079108e-02 -2.20688451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-37.96, Z:-220.75 [[-1.83339680e-02 -5.58081576e-01 -8.29583522e-01 1.93716841e+02] [-2.46344264e-02 -8.29218959e-01 5.58380751e-01 -3.79570262e+01] [-9.99528394e-01 3.06736490e-02 1.45485435e-03 -2.20747080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21232058799995 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:193.74, Y:-38.29, Z:-220.78 [[-2.53195820e-02 -7.55844329e-01 -6.54261621e-01 1.93738582e+02] [-1.75762207e-02 -6.54033692e-01 7.56261202e-01 -3.82892152e+01] [-9.99524885e-01 3.06476642e-02 3.27497289e-03 -2.20776683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:-38.66, Z:-220.80 [[-3.19715677e-02 -9.17316220e-01 -3.96873747e-01 1.93654721e+02] [-8.80584352e-03 -3.96802808e-01 9.17861639e-01 -3.86602117e+01] [-9.99449987e-01 3.28402836e-02 4.60866474e-03 -2.20801069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.23, Y:-39.41, Z:-220.83 [[-1.34181020e-03 -5.45447511e-01 8.38143909e-01 1.92229702e+02] [-1.69493109e-02 8.38036669e-01 5.45350586e-01 -3.94139538e+01] [-9.99855450e-01 -1.34742047e-02 -1.03694456e-02 -2.20831486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:-37.01, Z:-221.07 [[ 1.65224684e-02 8.01367203e-01 -5.97944491e-01 1.92363566e+02] [-5.70810318e-03 -5.97940781e-01 -8.01519956e-01 -3.70062559e+01] [-9.99847201e-01 1.66562170e-02 -5.30517096e-03 -2.21069659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.87, Y:-39.44, Z:-221.11 [[-1.40689960e-03 -8.68818272e-01 4.95129105e-01 1.92874457e+02] [-2.74160613e-02 4.94976992e-01 8.68473452e-01 -3.94399195e+01] [-9.99623119e-01 -1.23526350e-02 -2.45159580e-02 -2.21113607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:-37.07, Z:-221.34 [[ 2.97570520e-02 5.84330977e-01 -8.10969683e-01 1.92786377e+02] [ 3.55158118e-03 -8.11385659e-01 -5.84500384e-01 -3.70695923e+01] [-9.99550851e-01 1.45127836e-02 -2.62197441e-02 -2.21341271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-39.10, Z:-221.45 [[-3.55778593e-03 -9.95900239e-01 -9.03883638e-02 1.93549887e+02] [ 1.06848800e-02 -9.04216351e-02 9.95846254e-01 -3.91021504e+01] [-9.99936586e-01 2.57721897e-03 1.09627754e-02 -2.21450263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-39.54, Z:-221.59 [[ 1.61135675e-03 -6.74819951e-01 7.37980649e-01 1.92533209e+02] [ 3.50767482e-02 7.37565609e-01 6.74363844e-01 -3.95444517e+01] [-9.99383322e-01 2.47993207e-02 2.48589708e-02 -2.21586066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.39, Y:-38.22, Z:-221.75 [[ 2.46070254e-03 7.22401908e-01 6.91469036e-01 1.91394838e+02] [ 7.34520505e-03 6.91439419e-01 -7.22397105e-01 -3.82173447e+01] [-9.99969996e-01 6.85658625e-03 -3.60476340e-03 -2.21750840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-38.90, Z:-221.76 [[-3.43860638e-02 2.15561516e-01 9.75884641e-01 1.91598462e+02] [-5.63794264e-02 9.74488714e-01 -2.17239745e-01 -3.89019195e+01] [-9.97817097e-01 -6.24898360e-02 -2.13555964e-02 -2.21757214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-37.14, Z:-221.98 [[-1.62274383e-02 9.59725232e-01 -2.80471300e-01 1.92042489e+02] [-8.16648324e-02 -2.80843222e-01 -9.56272942e-01 -3.71412961e+01] [-9.96527734e-01 7.38678152e-03 8.29331662e-02 -2.21977950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:-37.02, Z:-222.01 [[-2.16184744e-02 8.43752657e-01 -5.36296649e-01 1.92370735e+02] [-9.02764582e-02 -5.35878110e-01 -8.39455068e-01 -3.70179708e+01] [-9.95682079e-01 3.02672241e-02 8.77558687e-02 -2.22014159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:-39.02, Z:-221.94 [[-2.24470198e-02 -9.93852802e-01 -1.08410047e-01 1.93610732e+02] [-9.27297917e-02 -1.05900156e-01 9.90043606e-01 -3.90198511e+01] [-9.95438254e-01 3.22763695e-02 -8.97826204e-02 -2.21939445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.65, Y:-37.48, Z:-222.13 [[ 3.59466674e-02 9.92100925e-01 1.20181492e-01 1.91646431e+02] [-5.78566715e-02 1.22123503e-01 -9.90827157e-01 -3.74819691e+01] [-9.97677524e-01 2.86636331e-02 6.17895903e-02 -2.22133078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:-37.44, Z:-222.21 [[ 2.91098534e-02 9.97107353e-01 7.02107005e-02 1.91692125e+02] [-6.02895199e-02 7.18640131e-02 -9.95590648e-01 -3.74392496e+01] [-9.97756378e-01 2.47485284e-02 6.22070745e-02 -2.22212731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:-39.45, Z:-222.08 [[ 2.37078916e-02 -8.73629177e-01 4.86014400e-01 1.92978126e+02] [-1.06372769e-01 4.81186802e-01 8.70140274e-01 -3.94468243e+01] [-9.94043646e-01 -7.23278887e-02 -8.15224300e-02 -2.22083325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-37.91, Z:-222.40 [[ 7.48065349e-02 8.81309517e-01 4.66580666e-01 1.91439999e+02] [-8.40761331e-02 4.71799820e-01 -8.77687948e-01 -3.79053248e+01] [-9.93647415e-01 2.64284960e-02 1.09390806e-01 -2.22401781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:-37.87, Z:-222.47 [[ 7.25393044e-02 8.95393499e-01 4.39327363e-01 1.91457731e+02] [-8.64813475e-02 4.44475539e-01 -8.91606680e-01 -3.78742574e+01] [-9.93609091e-01 2.66829061e-02 1.09676783e-01 -2.22465242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.48, Y:-37.84, Z:-222.53 [[ 6.93540521e-02 9.09348650e-01 4.10213419e-01 1.91478057e+02] [-8.92525781e-02 4.15210600e-01 -9.05336476e-01 -3.78397634e+01] [-9.93591462e-01 2.61761479e-02 1.09958249e-01 -2.22529648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:-37.81, Z:-222.60 [[ 6.56856186e-02 9.22351011e-01 3.80728266e-01 1.91498537e+02] [-9.16456198e-02 3.85516041e-01 -9.18138586e-01 -3.78078094e+01] [-9.93622906e-01 2.54164231e-02 1.09852290e-01 -2.22596514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.52, Y:-37.77, Z:-222.66 [[ 6.00746697e-02 9.36037696e-01 3.46734000e-01 1.91522146e+02] [-9.36203572e-02 3.51113756e-01 -9.31640681e-01 -3.77731970e+01] [-9.93793873e-01 2.35066453e-02 1.08725226e-01 -2.22660576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:-37.74, Z:-222.73 [[ 5.69087288e-02 9.46891703e-01 3.16476697e-01 1.91545624e+02] [-9.59688587e-02 3.20710750e-01 -9.42302814e-01 -3.77437021e+01] [-9.93756195e-01 2.32533478e-02 1.09123357e-01 -2.22727240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:-37.71, Z:-222.80 [[ 5.20235155e-02 9.58135992e-01 2.81547465e-01 1.91572589e+02] [-9.88834751e-02 2.85486030e-01 -9.53267950e-01 -3.77096096e+01] [-9.93738201e-01 2.17519583e-02 1.09595803e-01 -2.22795094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:-37.68, Z:-222.86 [[ 4.84952861e-02 9.67952107e-01 2.46408047e-01 1.91600741e+02] [-1.02631878e-01 2.50221528e-01 -9.62733548e-01 -3.76760488e+01] [-9.93536564e-01 2.13987181e-02 1.11477307e-01 -2.22861976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.63, Y:-37.64, Z:-222.94 [[ 4.38441647e-02 9.76405144e-01 2.11449011e-01 1.91631050e+02] [-1.04919512e-01 2.14982334e-01 -9.70965752e-01 -3.76447433e+01] [-9.93513757e-01 2.03860553e-02 1.11869672e-01 -2.22935260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-37.60, Z:-223.00 [[ 3.85025534e-02 9.85099523e-01 1.67620057e-01 1.91666793e+02] [-1.06277287e-01 1.70829969e-01 -9.79552071e-01 -3.76042499e+01] [-9.93590807e-01 1.99010509e-02 1.11271095e-01 -2.23000305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-37.58, Z:-223.07 [[ 3.32221583e-02 9.90202810e-01 1.35627002e-01 1.91695688e+02] [-1.08345132e-01 1.38470327e-01 -9.84422318e-01 -3.75796994e+01] [-9.93558061e-01 1.80101087e-02 1.11883937e-01 -2.23066569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-37.55, Z:-223.13 [[ 2.91876296e-02 9.94641141e-01 9.91820652e-02 1.91728476e+02] [-1.07597053e-01 1.01774145e-01 -9.88971636e-01 -3.75520719e+01] [-9.93766047e-01 1.81940398e-02 1.09991002e-01 -2.23134219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.052320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:191.76, Y:-37.53, Z:-223.21 [[ 2.15564813e-02 9.97804496e-01 6.26219246e-02 1.91764941e+02] [-1.09204208e-01 6.46116790e-02 -9.91917220e-01 -3.75286120e+01] [-9.93785570e-01 1.45436673e-02 1.10357250e-01 -2.23214217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:-37.49, Z:-223.28 [[ 1.82827589e-02 9.99791986e-01 9.04026486e-03 1.91814334e+02] [-1.10589448e-01 1.10084324e-02 -9.93805207e-01 -3.74862949e+01] [-9.93698000e-01 1.71697431e-02 1.10767708e-01 -2.23278947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.84, Y:-37.46, Z:-223.29 [[ 1.47503416e-02 9.99647262e-01 -2.20857014e-02 1.91842457e+02] [-1.11115523e-01 -2.03125236e-02 -9.93599890e-01 -3.74590848e+01] [-9.93698027e-01 1.71100021e-02 1.10776712e-01 -2.23285761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:-37.43, Z:-223.31 [[ 1.17157462e-02 9.98445498e-01 -5.44915407e-02 1.91871231e+02] [-1.11195634e-01 -5.28563905e-02 -9.92391925e-01 -3.74336062e+01] [-9.93729476e-01 1.76858333e-02 1.10403528e-01 -2.23313722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:-37.40, Z:-223.33 [[ 7.86275492e-03 9.95564545e-01 -9.37518696e-02 1.91907268e+02] [-1.11915302e-01 -9.22896265e-02 -9.89422857e-01 -3.74030601e+01] [-9.93686642e-01 1.82718582e-02 1.10693256e-01 -2.23325284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:-37.38, Z:-223.37 [[-2.96894797e-02 9.90853293e-01 -1.31636949e-01 1.91948404e+02] [-1.06655068e-01 -1.34083500e-01 -9.85213840e-01 -3.73807914e+01] [-9.93852721e-01 -1.52107386e-02 1.09660395e-01 -2.23368932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-37.20, Z:-223.42 [[-3.15708517e-02 9.06672632e-01 -4.20651898e-01 1.92277656e+02] [-1.13208538e-01 -4.21397131e-01 -8.99782354e-01 -3.72016001e+01] [-9.93069538e-01 1.92144912e-02 1.15946949e-01 -2.23422202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-37.19, Z:-223.48 [[-5.26087090e-02 8.89126630e-01 -4.54627496e-01 1.92321972e+02] [-1.02561998e-01 -4.57661239e-01 -8.83191501e-01 -3.71932342e+01] [-9.93334465e-01 1.63939836e-04 1.15267571e-01 -2.23477145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-37.15, Z:-223.52 [[-5.90403688e-02 7.96971185e-01 -6.01124917e-01 1.92532967e+02] [-1.04568209e-01 -6.03799987e-01 -7.90247471e-01 -3.71470696e+01] [-9.92763680e-01 1.62020540e-02 1.18986424e-01 -2.23515101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.26, Y:-39.50, Z:-223.35 [[-4.69719025e-02 -9.48948147e-01 3.11915141e-01 1.93260294e+02] [-1.31352144e-01 3.15416136e-01 9.39818746e-01 -3.94975693e+01] [-9.90222326e-01 3.17435193e-03 -1.39462069e-01 -2.23350779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-37.37, Z:-223.60 [[-2.15975874e-03 9.86088048e-01 -1.66209801e-01 1.91962295e+02] [-1.10631958e-01 -1.65425508e-01 -9.79997434e-01 -3.73749374e+01] [-9.93859097e-01 1.62715577e-02 1.09450131e-01 -2.23596241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-37.35, Z:-223.63 [[-4.25743132e-03 9.77222119e-01 -2.12176351e-01 1.92009077e+02] [-1.11140455e-01 -2.11326147e-01 -9.71076237e-01 -3.73462267e+01] [-9.93795589e-01 1.94470857e-02 1.09508617e-01 -2.23628502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.04, Y:-37.33, Z:-223.64 [[-9.17948285e-03 9.69893966e-01 -2.43354541e-01 1.92042826e+02] [-1.11895301e-01 -2.42832637e-01 -9.63593147e-01 -3.73269143e+01] [-9.93677603e-01 1.83849428e-02 1.10755655e-01 -2.23642352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:-37.30, Z:-223.65 [[-1.35809053e-02 9.60183327e-01 -2.79040388e-01 1.92083729e+02] [-1.12439571e-01 -2.78762618e-01 -9.53755076e-01 -3.73041387e+01] [-9.93565751e-01 1.84223242e-02 1.11748450e-01 -2.23651003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:-37.28, Z:-223.67 [[-1.68189190e-02 9.49014517e-01 -3.14783371e-01 1.92124872e+02] [-1.10143431e-01 -3.14670393e-01 -9.42788931e-01 -3.72839631e+01] [-9.93773389e-01 1.88146298e-02 1.09820131e-01 -2.23671167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:-37.26, Z:-223.70 [[-2.11778808e-02 9.33256237e-01 -3.58586521e-01 1.92176571e+02] [-1.10409087e-01 -3.58656314e-01 -9.26917193e-01 -3.72626422e+01] [-9.93660571e-01 1.99610684e-02 1.10635549e-01 -2.23704127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:-37.25, Z:-223.73 [[-2.60609650e-02 9.19216462e-01 -3.92889199e-01 1.92220258e+02] [-1.09224149e-01 -3.93288003e-01 -9.12904503e-01 -3.72462182e+01] [-9.93675456e-01 1.91218161e-02 1.10650101e-01 -2.23727571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:-37.22, Z:-223.76 [[-2.89435445e-02 8.90302591e-01 -4.54448642e-01 1.92298939e+02] [-1.09307213e-01 -4.54731678e-01 -8.83895375e-01 -3.72207539e+01] [-9.93586536e-01 2.40914494e-02 1.10478042e-01 -2.23763698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:192.34, Y:-37.21, Z:-223.78 [[-3.33662783e-02 8.72420040e-01 -4.87616617e-01 1.92342906e+02] [-1.07491793e-01 -4.88190789e-01 -8.66091951e-01 -3.72093532e+01] [-9.93645916e-01 2.35165194e-02 1.10067104e-01 -2.23776488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-37.20, Z:-223.80 [[-3.90212903e-02 8.43630550e-01 -5.35504280e-01 1.92407850e+02] [-1.06738772e-01 -5.36365296e-01 -8.37209116e-01 -3.71961107e+01] [-9.93521099e-01 2.44900894e-02 1.10977755e-01 -2.23800551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-37.19, Z:-223.82 [[-4.50914760e-02 8.17851906e-01 -5.73659323e-01 1.92463435e+02] [-1.05070032e-01 -5.74941059e-01 -8.11420401e-01 -3.71872634e+01] [-9.93442020e-01 2.36862601e-02 1.11856667e-01 -2.23824287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.53, Y:-37.18, Z:-223.85 [[-4.93269824e-02 7.86647226e-01 -6.15429110e-01 1.92529649e+02] [-1.05384268e-01 -6.16838848e-01 -7.80002559e-01 -3.71794676e+01] [-9.93207433e-01 2.63813739e-02 1.13327041e-01 -2.23853365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:-37.18, Z:-223.87 [[-5.37956792e-02 7.67322874e-01 -6.39000495e-01 1.92567115e+02] [-1.03933448e-01 -6.40754048e-01 -7.60678703e-01 -3.71771310e+01] [-9.93128322e-01 2.54922972e-02 1.14220311e-01 -2.23870267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-37.17, Z:-223.88 [[-5.59877376e-02 7.42468735e-01 -6.67536928e-01 1.92613936e+02] [-1.03352494e-01 -6.69303714e-01 -7.35765452e-01 -3.71749521e+01] [-9.93067790e-01 2.77977636e-02 1.14208797e-01 -2.23879717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:-39.25, Z:-223.82 [[-5.27023002e-02 -9.95949230e-01 -7.28532727e-02 1.93608606e+02] [-1.03737672e-01 -6.70997145e-02 9.92338714e-01 -3.92481468e+01] [-9.93207412e-01 5.98561617e-02 -9.97811453e-02 -2.23818125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:-37.37, Z:-223.97 [[ 5.93079033e-03 9.71489504e-01 -2.37008376e-01 1.92005649e+02] [-7.68977702e-02 -2.35867644e-01 -9.68737935e-01 -3.73674988e+01] [-9.97021343e-01 2.39707972e-02 7.33064950e-02 -2.23969554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:-37.30, Z:-224.00 [[ 2.26140522e-03 9.34096671e-01 -3.57013018e-01 1.92145215e+02] [-7.96180065e-02 -3.55712382e-01 -9.31197978e-01 -3.72957219e+01] [-9.96822883e-01 3.05304808e-02 7.35665050e-02 -2.23997686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.20, Y:-37.27, Z:-224.02 [[-3.72453308e-03 9.15160759e-01 -4.03071847e-01 1.92202626e+02] [-7.99666557e-02 -4.02056367e-01 -9.12116227e-01 -3.72735124e+01] [-9.96790581e-01 2.88351005e-02 7.46798176e-02 -2.24016338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.28, Y:-37.25, Z:-224.03 [[-9.37695218e-03 8.87125577e-01 -4.61432859e-01 1.92278591e+02] [-8.03039863e-02 -4.60630786e-01 -8.83951667e-01 -3.72481504e+01] [-9.96726313e-01 2.87661255e-02 7.55590330e-02 -2.24033461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.34, Y:-37.23, Z:-224.06 [[-1.72268130e-02 8.61116782e-01 -5.08115267e-01 1.92343079e+02] [-7.80683251e-02 -5.07797657e-01 -8.57931743e-01 -3.72316379e+01] [-9.96799164e-01 2.48882781e-02 7.59736802e-02 -2.24056362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-37.21, Z:-224.08 [[-2.22842977e-02 8.06429692e-01 -5.90909944e-01 1.92464457e+02] [-7.85584439e-02 -5.90641608e-01 -8.03100904e-01 -3.72085293e+01] [-9.96660414e-01 2.85244260e-02 7.65138951e-02 -2.24084776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-37.20, Z:-224.10 [[-2.66610550e-02 7.80607165e-01 -6.24453074e-01 1.92515503e+02] [-7.89676701e-02 -6.24367617e-01 -7.77128809e-01 -3.72016404e+01] [-9.96520594e-01 2.85925304e-02 7.82890284e-02 -2.24104754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.57, Y:-37.20, Z:-224.13 [[-3.12345683e-02 7.53490659e-01 -6.56716246e-01 1.92565996e+02] [-7.52627994e-02 -6.56944509e-01 -7.50172929e-01 -3.71983620e+01] [-9.96674427e-01 2.59949755e-02 7.72291945e-02 -2.24127355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-37.20, Z:-224.17 [[-4.57652229e-02 7.00654396e-01 -7.12031574e-01 1.92660570e+02] [-6.26130222e-02 -7.13388850e-01 -6.97965585e-01 -3.72003889e+01] [-9.96988041e-01 1.26398981e-02 7.65184889e-02 -2.24172756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:-37.23, Z:-224.20 [[-5.57198259e-02 5.37213460e-01 -8.41603826e-01 1.92920327e+02] [-6.20684127e-02 -8.43146757e-01 -5.34088999e-01 -3.72323790e+01] [-9.96515335e-01 2.24776675e-02 8.03239772e-02 -2.24204879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:-37.70, Z:-224.10 [[-1.22808711e-01 9.82437243e-01 1.40481616e-01 1.91662292e+02] [-3.42525598e-02 1.37272870e-01 -9.89940868e-01 -3.76986150e+01] [-9.91839091e-01 -1.26385217e-01 1.67926862e-02 -2.24101172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-39.06, Z:-224.37 [[-1.11675630e-01 -9.50618463e-01 -2.89573984e-01 1.93734185e+02] [-5.32044673e-02 -2.85259249e-01 9.56972542e-01 -3.90586768e+01] [-9.92319424e-01 1.22277141e-01 -1.87206424e-02 -2.24367779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:-39.04, Z:-224.39 [[-4.67636416e-02 -9.48944445e-01 -3.11957693e-01 1.93732834e+02] [-3.41813298e-02 -3.10596303e-01 9.49927141e-01 -3.90352795e+01] [-9.98320990e-01 5.50851811e-02 -1.79115689e-02 -2.24391789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-39.05, Z:-224.42 [[ 1.88913231e-02 -9.52091654e-01 -3.05228768e-01 1.93716244e+02] [-1.32077297e-02 -3.05494253e-01 9.52102315e-01 -3.90473839e+01] [-9.99734302e-01 -1.39550933e-02 -1.83461598e-02 -2.24416634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.56, Y:-39.20, Z:-224.57 [[ 8.25882245e-02 -9.80391275e-01 -1.78919350e-01 1.93562755e+02] [ 4.76600362e-03 -1.79142076e-01 9.83811670e-01 -3.92008149e+01] [-9.96572361e-01 -8.21039893e-02 -1.01224776e-02 -2.24573544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:-39.40, Z:-224.75 [[ 1.49384427e-01 -9.87983183e-01 3.96676581e-02 1.93320780e+02] [ 7.07321626e-03 4.11845447e-02 9.99126520e-01 -3.94037725e+01] [-9.88753894e-01 -1.48973365e-01 1.31405483e-02 -2.24754629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.13, Y:-39.50, Z:-224.94 [[ 2.13363927e-01 -9.59410526e-01 1.84410623e-01 1.93128825e+02] [-2.33059212e-03 1.88256801e-01 9.82117073e-01 -3.94995572e+01] [-9.76970011e-01 -2.09978142e-01 3.79312158e-02 -2.24941319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:-39.54, Z:-225.13 [[ 2.76383416e-01 -9.20543595e-01 2.76064662e-01 1.92992450e+02] [-1.91822847e-02 2.81912657e-01 9.59248296e-01 -3.95382119e+01] [-9.60855997e-01 -2.70415871e-01 6.02578538e-02 -2.25127383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-39.57, Z:-225.32 [[ 3.36112282e-01 -8.65589191e-01 3.71192519e-01 1.92855308e+02] [-4.40179327e-02 3.79253705e-01 9.24245124e-01 -3.95668973e+01] [-9.40792727e-01 -3.26989265e-01 8.93703815e-02 -2.25324200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:-39.14, Z:-226.00 [[ 3.43660334e-01 1.18961495e-01 9.31528710e-01 1.91565627e+02] [-8.06294425e-02 9.92018862e-01 -9.69405505e-02 -3.91370892e+01] [-9.35626244e-01 -4.17940185e-02 3.50509333e-01 -2.26000925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:-39.29, Z:-225.51 [[ 3.99596833e-01 -9.10945197e-01 1.02475459e-01 1.93218046e+02] [-1.22957035e-01 5.75157499e-02 9.90743915e-01 -3.92871355e+01] [-9.08407364e-01 -4.08498209e-01 -8.90240090e-02 -2.25505716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:-37.48, Z:-226.50 [[ 3.74563457e-01 9.25373724e-01 -5.81866585e-02 1.91886027e+02] [-9.20584634e-02 -2.53293235e-02 -9.95431396e-01 -3.74764815e+01] [-9.22619887e-01 3.78208799e-01 7.57010441e-02 -2.26502165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.35, Y:-39.34, Z:-225.88 [[ 4.01301707e-01 -9.07831704e-01 1.21649242e-01 1.93354257e+02] [-1.25902822e-01 7.68790987e-02 9.89059191e-01 -3.93439955e+01] [-9.07251575e-01 -4.12227124e-01 -8.34468600e-02 -2.25878089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-39.28, Z:-226.01 [[ 4.76863019e-01 -8.78344571e-01 3.33537855e-02 1.93421048e+02] [-1.04462749e-01 -1.89551430e-02 9.94348147e-01 -3.92826879e+01] [-8.72748071e-01 -4.77652087e-01 -1.00793295e-01 -2.26011712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.78, Y:-39.15, Z:-227.01 [[ 4.66432734e-01 1.88095416e-01 8.64326686e-01 1.91776056e+02] [-1.02242050e-01 9.82044853e-01 -1.58538547e-01 -3.91507099e+01] [-8.78627946e-01 -1.44229643e-02 4.77289126e-01 -2.27005106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:-37.51, Z:-227.18 [[ 4.31308578e-01 8.96669152e-01 -9.97864879e-02 1.92168048e+02] [-1.04395627e-01 -6.02587684e-02 -9.92708635e-01 -3.75138639e+01] [-8.96144220e-01 4.38581022e-01 6.76182146e-02 -2.27182579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.33, Y:-37.51, Z:-227.27 [[ 3.70727366e-01 9.19521982e-01 -1.30539439e-01 1.92329203e+02] [-9.82911252e-02 -1.00920254e-01 -9.90027251e-01 -3.75109730e+01] [-9.23525893e-01 3.79861063e-01 5.29669501e-02 -2.27268934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:-37.52, Z:-227.37 [[ 3.08725905e-01 9.38645988e-01 -1.53727113e-01 1.92476263e+02] [-9.01380859e-02 -1.32022307e-01 -9.87139927e-01 -3.75188737e+01] [-9.46870340e-01 3.18612336e-01 4.38490463e-02 -2.27369110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.62, Y:-37.53, Z:-227.48 [[ 2.46036619e-01 9.52578820e-01 -1.79051873e-01 1.92618147e+02] [-7.85415822e-02 -1.64529067e-01 -9.83240259e-01 -3.75274863e+01] [-9.66073083e-01 2.55976126e-01 3.43368725e-02 -2.27477610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-39.61, Z:-227.14 [[ 2.66901660e-01 -9.30303192e-01 2.51593870e-01 1.93878938e+02] [-1.16941824e-01 2.27871467e-01 9.66643266e-01 -3.96074467e+01] [-9.56602380e-01 -2.87420538e-01 -4.79720793e-02 -2.27142455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.89, Y:-39.58, Z:-227.29 [[ 3.31657142e-01 -9.19451106e-01 2.11218379e-01 1.93892000e+02] [-1.30687016e-01 1.76954580e-01 9.75503962e-01 -3.95783014e+01] [-9.34304257e-01 -3.51136356e-01 -6.14720712e-02 -2.27294794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-39.55, Z:-227.45 [[ 3.94028993e-01 -9.03106493e-01 1.70703880e-01 1.93913312e+02] [-1.40294787e-01 1.24453601e-01 9.82256929e-01 -3.95525117e+01] [-9.08327323e-01 -4.10986573e-01 -7.76628063e-02 -2.27445423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:-39.53, Z:-227.60 [[ 4.55526222e-01 -8.79838197e-01 1.35575104e-01 1.93939330e+02] [-1.46440985e-01 7.61591814e-02 9.86283335e-01 -3.95330841e+01] [-8.78095040e-01 -4.69131673e-01 -9.41518677e-02 -2.27596600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-37.69, Z:-228.69 [[ 4.30902820e-01 8.96896131e-01 -9.94991942e-02 1.92738448e+02] [-1.14528713e-01 -5.50142344e-02 -9.91895462e-01 -3.76880518e+01] [-8.95101075e-01 4.38806066e-01 7.90145706e-02 -2.28692038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:-37.69, Z:-228.78 [[ 3.71401136e-01 9.19356371e-01 -1.29788520e-01 1.92898472e+02] [-1.09463896e-01 -9.54551791e-02 -9.89396768e-01 -3.76875819e+01] [-9.21997208e-01 3.81670241e-01 6.51841683e-02 -2.28779075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.05, Y:-37.69, Z:-228.88 [[ 3.08355324e-01 9.37872607e-01 -1.59097353e-01 1.93052698e+02] [-1.01956419e-01 -1.33699951e-01 -9.85763264e-01 -3.76913555e+01] [-9.45791670e-01 3.20186347e-01 5.43950412e-02 -2.28877647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-39.20, Z:-228.91 [[ 2.78622849e-01 3.63319706e-01 8.89026490e-01 1.92657307e+02] [-9.60749275e-02 9.31583694e-01 -3.50601526e-01 -3.92020608e+01] [-9.55583024e-01 1.22724403e-02 2.94466417e-01 -2.28907431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-37.57, Z:-229.01 [[ 2.49742397e-01 8.65775419e-01 -4.33660764e-01 1.93514729e+02] [-8.82907574e-02 -4.25626410e-01 -9.00581424e-01 -3.75702634e+01] [-9.64278734e-01 2.63201601e-01 -2.98569922e-02 -2.29014396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-37.62, Z:-229.14 [[ 1.91055260e-01 8.89579677e-01 -4.14904670e-01 1.93591371e+02] [-6.02549283e-02 -4.11264962e-01 -9.09522114e-01 -3.76243012e+01] [-9.79728142e-01 1.98769035e-01 -2.49727745e-02 -2.29143629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.67, Y:-37.67, Z:-229.28 [[ 1.30158215e-01 9.06594888e-01 -4.01428136e-01 1.93669628e+02] [-3.39230741e-02 -4.00563314e-01 -9.15640899e-01 -3.76704043e+01] [-9.90912743e-01 1.32795862e-01 -2.13821204e-02 -2.29278187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-39.97, Z:-229.25 [[ 1.38367981e-01 -9.19715556e-01 3.67392975e-01 1.94547826e+02] [-6.62679121e-02 3.61532125e-01 9.30001659e-01 -3.99710215e+01] [-9.88161356e-01 -1.53028818e-01 -1.09231592e-02 -2.29248450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.71, Y:-37.70, Z:-229.68 [[ 1.32838531e-01 9.10883966e-01 -3.90697230e-01 1.93709488e+02] [-3.16247394e-02 -3.90094610e-01 -9.20231531e-01 -3.77001735e+01] [-9.90633030e-01 1.34597903e-01 -2.30131271e-02 -2.29683328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.76, Y:-37.75, Z:-229.83 [[ 6.97549365e-02 9.31300307e-01 -3.57510820e-01 1.93755008e+02] [-4.12028695e-03 -3.58111756e-01 -9.33669638e-01 -3.77527754e+01] [-9.97555649e-01 6.66011135e-02 -2.11428383e-02 -2.29825510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:-37.82, Z:-229.97 [[ 4.93580931e-03 9.57437632e-01 -2.88598023e-01 1.93753148e+02] [ 1.84227530e-02 -2.88639621e-01 -9.57260556e-01 -3.78177709e+01] [-9.99818103e-01 -5.91914513e-04 -1.90633071e-02 -2.29973445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:193.76, Y:-37.83, Z:-230.01 [[-6.04521215e-02 9.57778246e-01 -2.81080724e-01 1.93756423e+02] [ 3.54008521e-02 -2.79361363e-01 -9.59533224e-01 -3.78261682e+01] [-9.97543142e-01 -6.79563162e-02 -1.70181790e-02 -2.30008071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.46, Y:-38.34, Z:-230.18 [[-8.01854535e-02 -2.92782386e-01 -9.52810982e-01 1.95459617e+02] [ 2.22770817e-03 -9.55939232e-01 2.93556166e-01 -3.83432643e+01] [-9.96777473e-01 2.14163495e-02 7.73046545e-02 -2.30179119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-39.97, Z:-230.22 [[-4.96154341e-02 -9.78243930e-01 2.01437636e-01 1.95018362e+02] [ 7.51071981e-03 2.01314891e-01 9.79497781e-01 -3.99710183e+01] [-9.98740155e-01 5.01111493e-02 -2.64100965e-03 -2.30219948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.86, Y:-37.77, Z:-230.18 [[-5.26362472e-02 9.25528602e-01 -3.75001643e-01 1.93857361e+02] [ 5.14771563e-02 -3.72508201e-01 -9.26600098e-01 -3.77730328e+01] [-9.97286081e-01 -6.80767700e-02 -2.80361468e-02 -2.30179777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:-37.77, Z:-230.20 [[-1.15544336e-01 9.16370938e-01 -3.83293375e-01 1.93878439e+02] [ 7.60093839e-02 -3.76589544e-01 -9.23256676e-01 -3.77741473e+01] [-9.90389863e-01 -1.35810973e-01 -2.61400017e-02 -2.30203462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.46, Y:-38.07, Z:-230.18 [[-1.86146609e-01 9.82211885e-01 2.46830535e-02 1.93459845e+02] [ 8.41460712e-02 4.09669488e-02 -9.95610942e-01 -3.80716836e+01] [-9.78912089e-01 -1.83252619e-01 -9.02751298e-02 -2.30182556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:-39.72, Z:-230.72 [[-1.75800740e-01 -9.81380702e-01 -7.73693568e-02 1.95253568e+02] [ 5.43291172e-02 -8.81457996e-02 9.94624887e-01 -3.97223689e+01] [-9.82925453e-01 1.70652382e-01 6.88136440e-02 -2.30717832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-38.51, Z:-230.69 [[-1.43536447e-01 -4.40780694e-01 -8.86064144e-01 1.95491572e+02] [ 4.16846727e-02 -8.97233513e-01 4.39584362e-01 -3.85130013e+01] [-9.88766745e-01 2.61610835e-02 1.47159509e-01 -2.30686394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-38.54, Z:-230.71 [[-1.40009730e-01 -4.61528887e-01 -8.76007056e-01 1.95494337e+02] [ 4.47802312e-02 -8.86767688e-01 4.60041084e-01 -3.85377326e+01] [-9.89137001e-01 2.51824294e-02 1.44823474e-01 -2.30713505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-38.59, Z:-230.74 [[-1.36609034e-01 -4.99365455e-01 -8.55553689e-01 1.95504778e+02] [ 5.29813086e-02 -8.66097301e-01 4.97059802e-01 -3.85874870e+01] [-9.89207234e-01 2.25745056e-02 1.44773751e-01 -2.30741358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-39.71, Z:-230.84 [[-1.01426701e-01 -9.92089258e-01 -7.39697819e-02 1.95219754e+02] [ 7.67562449e-02 -8.19354140e-02 9.93677547e-01 -3.97139370e+01] [-9.91877565e-01 9.51077928e-02 8.44594848e-02 -2.30840600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-39.12, Z:-230.80 [[-8.42908703e-02 -8.15326164e-01 -5.72833568e-01 1.95506668e+02] [ 6.58979417e-02 -5.78182139e-01 8.13242200e-01 -3.91160673e+01] [-9.94259780e-01 3.08003397e-02 1.02463792e-01 -2.30803522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-39.16, Z:-230.82 [[-8.22122597e-02 -8.36447920e-01 -5.41845016e-01 1.95496313e+02] [ 6.90129371e-02 -5.47158428e-01 8.34179159e-01 -3.91608224e+01] [-9.94222490e-01 3.11854377e-02 1.02708858e-01 -2.30823725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-39.20, Z:-230.84 [[-7.75532074e-02 -8.53879979e-01 -5.14659579e-01 1.95484971e+02] [ 6.98324692e-02 -5.19598821e-01 8.51551814e-01 -3.91986496e+01] [-9.94539555e-01 3.01006253e-02 9.99251024e-02 -2.30842469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.47, Y:-39.24, Z:-230.88 [[-7.23593203e-02 -8.74421217e-01 -4.79741246e-01 1.95469772e+02] [ 7.47675438e-02 -4.84404337e-01 8.71643421e-01 -3.92434044e+01] [-9.94572241e-01 2.72024509e-02 1.00429495e-01 -2.30880480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-39.32, Z:-230.91 [[-6.54047879e-02 -9.06003250e-01 -4.18186949e-01 1.95441209e+02] [ 8.23600845e-02 -4.22555752e-01 9.02587089e-01 -3.93231537e+01] [-9.94454137e-01 2.45916046e-02 1.02255674e-01 -2.30908562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.91, Y:-37.71, Z:-230.69 [[-6.02619121e-02 8.85350500e-01 -4.61002163e-01 1.93907553e+02] [ 1.42244168e-01 -4.49511319e-01 -8.81876505e-01 -3.77067721e+01] [-9.87995495e-01 -1.18718434e-01 -9.88475337e-02 -2.30693024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-39.10, Z:-231.07 [[-1.16635386e-01 -8.17872375e-01 -5.63454492e-01 1.95499396e+02] [ 1.10513871e-01 -5.74491047e-01 8.11015858e-01 -3.91018870e+01] [-9.87007027e-01 3.23236108e-02 1.57392227e-01 -2.31073317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-39.96, Z:-231.16 [[-7.19573875e-02 -9.55641730e-01 2.85606404e-01 1.94842843e+02] [ 1.19758148e-01 2.75999024e-01 9.53667932e-01 -3.99624154e+01] [-9.90191961e-01 1.02827147e-01 9.45857154e-02 -2.31159462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-39.51, Z:-231.14 [[-5.80668064e-02 -9.70134498e-01 -2.35514972e-01 1.95318167e+02] [ 1.02022406e-01 -2.40444515e-01 9.65286415e-01 -3.95136757e+01] [-9.93085935e-01 3.20232952e-02 1.12937301e-01 -2.31136198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-39.54, Z:-231.15 [[-5.31031232e-02 -9.76561586e-01 -2.08584579e-01 1.95299551e+02] [ 1.05014969e-01 -2.13182373e-01 9.71352218e-01 -3.95415700e+01] [-9.93051819e-01 2.96773334e-02 1.13874234e-01 -2.31153602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-39.59, Z:-231.20 [[-3.41929672e-02 -9.87120812e-01 -1.56279695e-01 1.95259139e+02] [ 1.10734285e-01 -1.59150272e-01 9.81024520e-01 -3.95908786e+01] [-9.93261677e-01 1.62386190e-02 1.14749937e-01 -2.31200041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.14, Y:-39.73, Z:-231.24 [[-3.40575491e-02 -9.99385664e-01 -8.26911114e-03 1.95137912e+02] [ 1.16246868e-01 -1.21789974e-02 9.93145678e-01 -3.97284705e+01] [-9.92636262e-01 3.28628494e-02 1.16590240e-01 -2.31242893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-39.74, Z:-231.31 [[-3.14155313e-02 -9.99329297e-01 1.88154398e-02 1.95110142e+02] [ 1.15935972e-01 1.50543215e-02 9.93142597e-01 -3.97439142e+01] [-9.92759747e-01 3.33814886e-02 1.15385274e-01 -2.31307110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-39.76, Z:-231.37 [[-2.79995290e-02 -9.98420783e-01 4.87028325e-02 1.95081052e+02] [ 1.16316732e-01 4.51367364e-02 9.92186017e-01 -3.97597363e+01] [-9.92817427e-01 3.34456955e-02 1.14869235e-01 -2.31367905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-39.77, Z:-231.43 [[-2.42336663e-02 -9.96935465e-01 7.43801592e-02 1.95054573e+02] [ 1.16215865e-01 7.10882071e-02 9.90676708e-01 -3.97720058e+01] [-9.92928297e-01 3.26518833e-02 1.14136989e-01 -2.31432449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-39.79, Z:-231.50 [[-1.81661192e-02 -9.94405839e-01 1.04052965e-01 1.95021716e+02] [ 1.17943304e-01 1.01212233e-01 9.87848906e-01 -3.97874649e+01] [-9.92854153e-01 3.02177315e-02 1.15444877e-01 -2.31501575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.59, Y:-37.80, Z:-231.41 [[-1.04586366e-02 9.87700338e-01 -1.56008521e-01 1.93586122e+02] [ 1.56489158e-01 -1.52477952e-01 -9.75838930e-01 -3.77965352e+01] [-9.87624301e-01 -3.46195869e-02 -1.52969683e-01 -2.31414052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-39.35, Z:-231.74 [[-7.06013162e-02 -9.45837637e-01 -3.16870035e-01 1.95434070e+02] [ 1.15920875e-01 -3.23290094e-01 9.39172969e-01 -3.93527508e+01] [-9.90746085e-01 2.95749962e-02 1.32467032e-01 -2.31743089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-39.39, Z:-231.75 [[-6.80872134e-02 -9.56845227e-01 -2.82509012e-01 1.95412352e+02] [ 1.18148539e-01 -2.88906651e-01 9.50038878e-01 -3.93918083e+01] [-9.90658899e-01 3.13074727e-02 1.32720715e-01 -2.31748849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-39.42, Z:-231.77 [[-6.35939972e-02 -9.63972422e-01 -2.58288548e-01 1.95395213e+02] [ 1.20778230e-01 -2.64344184e-01 9.56835812e-01 -3.94176252e+01] [-9.90640410e-01 2.96533803e-02 1.33237586e-01 -2.31774641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-39.45, Z:-231.79 [[-6.07629378e-02 -9.71348384e-01 -2.29761141e-01 1.95375556e+02] [ 1.23490991e-01 -2.35733694e-01 9.63939625e-01 -3.94473529e+01] [-9.90483640e-01 3.01983726e-02 1.34276646e-01 -2.31793211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-39.47, Z:-231.80 [[-5.78450442e-02 -9.76647093e-01 -2.06916426e-01 1.95359790e+02] [ 1.26363042e-01 -2.12759207e-01 9.68899325e-01 -3.94713976e+01] [-9.90296083e-01 2.98994352e-02 1.35719163e-01 -2.31800210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-39.50, Z:-231.83 [[-5.38943982e-02 -9.82836811e-01 -1.76429013e-01 1.95335507e+02] [ 1.26859589e-01 -1.81993376e-01 9.75082076e-01 -3.95018868e+01] [-9.90455470e-01 3.01697496e-02 1.34490698e-01 -2.31826008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-39.53, Z:-231.83 [[-5.12946366e-02 -9.86951302e-01 -1.52630232e-01 1.95316314e+02] [ 1.26217432e-01 -1.58012586e-01 9.79337114e-01 -3.95260398e+01] [-9.90675537e-01 3.09701455e-02 1.32675657e-01 -2.31834555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-39.55, Z:-231.85 [[-4.84055146e-02 -9.90490829e-01 -1.28782078e-01 1.95297851e+02] [ 1.26472216e-01 -1.33973441e-01 9.82881425e-01 -3.95473996e+01] [-9.90788416e-01 3.12895264e-02 1.31754623e-01 -2.31851011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-39.57, Z:-231.87 [[-4.55446851e-02 -9.93550115e-01 -1.03845321e-01 1.95278920e+02] [ 1.26766927e-01 -1.08861048e-01 9.85940880e-01 -3.95683145e+01] [-9.90886385e-01 3.17402147e-02 1.30907337e-01 -2.31867816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-39.59, Z:-231.89 [[-3.86723271e-02 -9.96140218e-01 -7.87979520e-02 1.95258292e+02] [ 1.28283011e-01 -8.31536698e-02 9.88245383e-01 -3.95887467e+01] [-9.90983310e-01 2.81093102e-02 1.31003612e-01 -2.31892766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-39.63, Z:-231.93 [[-3.81083167e-02 -9.98877424e-01 -2.81362438e-02 1.95214285e+02] [ 1.31094774e-01 -3.29107952e-02 9.90823415e-01 -3.96323996e+01] [-9.90637127e-01 3.40700980e-02 1.32201785e-01 -2.31926494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-39.65, Z:-231.94 [[-3.53540115e-02 -9.99368751e-01 -3.49180900e-03 1.95192000e+02] [ 1.31343347e-01 -8.11007707e-03 9.91303764e-01 -3.96527946e+01] [-9.90706323e-01 3.45879388e-02 1.31547160e-01 -2.31944335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-39.65, Z:-232.07 [[-2.16094247e-02 -9.99563730e-01 2.01341346e-02 1.95159204e+02] [ 1.33963143e-01 1.70622715e-02 9.90839420e-01 -3.96547837e+01] [-9.90750680e-01 2.41087018e-02 1.33535993e-01 -2.32065204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.15, Y:-37.54, Z:-231.91 [[ 3.61612553e-03 8.23532664e-01 -5.67257327e-01 1.94146576e+02] [ 1.82586109e-01 -5.58268924e-01 -8.09319542e-01 -3.75431026e+01] [-9.83183216e-01 -1.00646707e-01 -1.52384395e-01 -2.31913605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-39.45, Z:-232.34 [[-6.67793201e-02 -9.78668249e-01 -1.94290968e-01 1.95401248e+02] [ 1.64190769e-01 -2.02849744e-01 9.65346245e-01 -3.94473993e+01] [-9.84165593e-01 3.25643825e-02 1.74234460e-01 -2.32335057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-39.46, Z:-232.35 [[-6.30674555e-02 -9.82233798e-01 -1.76746321e-01 1.95387953e+02] [ 1.65951807e-01 -1.84954592e-01 9.68633985e-01 -3.94641141e+01] [-9.84115082e-01 3.17579094e-02 1.74668089e-01 -2.32347395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-39.48, Z:-232.34 [[-5.95515245e-02 -9.85447572e-01 -1.59206463e-01 1.95376331e+02] [ 1.67904934e-01 -1.67105715e-01 9.71536728e-01 -3.94824668e+01] [-9.84002820e-01 3.11249425e-02 1.75412909e-01 -2.32343466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-39.50, Z:-232.36 [[-5.62711069e-02 -9.88360534e-01 -1.41340078e-01 1.95362246e+02] [ 1.69030104e-01 -1.48951544e-01 9.74290645e-01 -3.94981032e+01] [-9.84003245e-01 3.09336849e-02 1.75444352e-01 -2.32358246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-39.51, Z:-232.38 [[-4.69612393e-02 -9.91372000e-01 -1.22377282e-01 1.95346210e+02] [ 1.69850786e-01 -1.28653414e-01 9.77035828e-01 -3.95136356e+01] [-9.84350218e-01 2.50969358e-02 1.74427037e-01 -2.32378956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-39.55, Z:-232.40 [[-4.36469426e-02 -9.95875975e-01 -7.95360774e-02 1.95311695e+02] [ 1.72532763e-01 -8.59295574e-02 9.81248469e-01 -3.95515240e+01] [-9.84036275e-01 2.91059164e-02 1.75571796e-01 -2.32400212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-39.57, Z:-232.42 [[-3.85276557e-02 -9.97395937e-01 -6.09669093e-02 1.95296465e+02] [ 1.72473503e-01 -6.67340683e-02 9.82750963e-01 -3.95657202e+01] [-9.84260387e-01 2.73479143e-02 1.74595479e-01 -2.32420285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-39.58, Z:-232.43 [[-3.51638902e-02 -9.98529557e-01 -4.12580166e-02 1.95279338e+02] [ 1.74629386e-01 -4.67876135e-02 9.83521986e-01 -3.95838918e+01] [-9.84006137e-01 2.73795971e-02 1.76017838e-01 -2.32425228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-39.60, Z:-232.45 [[-2.81544426e-02 -9.99346886e-01 -2.26523256e-02 1.95262699e+02] [ 1.75955286e-01 -2.72620830e-02 9.84020587e-01 -3.95977616e+01] [-9.83995460e-01 2.37187547e-02 1.76607916e-01 -2.32448022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:-37.55, Z:-232.20 [[-2.49153425e-02 8.77370227e-01 -4.79166684e-01 1.94080435e+02] [ 2.26997791e-01 -4.61829955e-01 -8.57429353e-01 -3.75535336e+01] [-9.73576514e-01 -1.30132925e-01 -1.87654452e-01 -2.32196747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-39.35, Z:-232.70 [[-7.33785538e-02 -9.66553000e-01 -2.45745570e-01 1.95502644e+02] [ 2.01585331e-01 -2.55698310e-01 9.45506070e-01 -3.93515741e+01] [-9.76718456e-01 1.98411659e-02 2.13605679e-01 -2.32700393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-39.38, Z:-232.71 [[-7.08411034e-02 -9.72702615e-01 -2.20977740e-01 1.95484971e+02] [ 2.03509595e-01 -2.30968658e-01 9.51439606e-01 -3.93780075e+01] [-9.76506725e-01 2.24299412e-02 2.14316389e-01 -2.32712292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-39.39, Z:-232.75 [[-5.67308080e-02 -9.76887024e-01 -2.06090655e-01 1.95471697e+02] [ 2.08229453e-01 -2.13460781e-01 9.54502483e-01 -3.93887097e+01] [-9.76433362e-01 1.12355526e-02 2.15526453e-01 -2.32745030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-39.45, Z:-232.77 [[-5.22280441e-02 -9.87485237e-01 -1.48812423e-01 1.95428303e+02] [ 2.10866254e-01 -1.56560951e-01 9.64895897e-01 -3.94461347e+01] [-9.76118668e-01 1.90151073e-02 2.16404185e-01 -2.32769680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:-39.46, Z:-232.79 [[-4.87933670e-02 -9.90025240e-01 -1.32171221e-01 1.95415012e+02] [ 2.10069491e-01 -1.39540960e-01 9.67677182e-01 -3.94582386e+01] [-9.76468134e-01 1.94510867e-02 2.14782772e-01 -2.32787012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-39.47, Z:-232.80 [[-4.47433279e-02 -9.92088499e-01 -1.17296401e-01 1.95402570e+02] [ 2.09912195e-01 -1.24129282e-01 9.69808637e-01 -3.94696653e+01] [-9.76695912e-01 1.87705209e-02 2.13805432e-01 -2.32796733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-39.48, Z:-232.80 [[-4.14657021e-02 -9.93881772e-01 -1.02370010e-01 1.95390462e+02] [ 2.11348772e-01 -1.08864752e-01 9.71329070e-01 -3.94836142e+01] [-9.76530743e-01 1.86410659e-02 2.14569846e-01 -2.32802784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-39.48, Z:-232.77 [[-4.17380692e-02 8.65223267e-02 9.95375216e-01 1.93446214e+02] [ 1.90470164e-01 9.78662029e-01 -7.70827499e-02 -3.94759530e+01] [-9.80805307e-01 1.86371995e-01 -5.73273853e-02 -2.32772994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-39.41, Z:-232.84 [[-3.93011687e-02 -9.86767265e-01 -1.57307925e-01 1.95434015e+02] [ 1.47153956e-01 -1.61428668e-01 9.75851678e-01 -3.94069078e+01] [-9.88332500e-01 1.52036280e-02 1.51551042e-01 -2.32843626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-39.46, Z:-232.87 [[-3.63738035e-02 -9.93650754e-01 -1.06466551e-01 1.95393219e+02] [ 1.48010338e-01 -1.10718673e-01 9.82768699e-01 -3.94555857e+01] [-9.88316693e-01 1.99888853e-02 1.51097844e-01 -2.32869332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-39.48, Z:-232.89 [[-3.38942955e-02 -9.95988155e-01 -8.28177073e-02 1.95371660e+02] [ 1.48669230e-01 -8.69679661e-02 9.85055345e-01 -3.94765508e+01] [-9.88305943e-01 2.10753121e-02 1.51020510e-01 -2.32892631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-39.50, Z:-232.91 [[-3.20908524e-02 -9.97667366e-01 -6.02495113e-02 1.95352945e+02] [ 1.47716610e-01 -6.43527487e-02 9.86933902e-01 -3.94950552e+01] [-9.88508968e-01 2.27716966e-02 1.49437176e-01 -2.32908178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-39.51, Z:-232.93 [[-3.00101046e-02 -9.98810706e-01 -3.84261152e-02 1.95335978e+02] [ 1.49032075e-01 -4.24848947e-02 9.87919265e-01 -3.95107499e+01] [-9.88376869e-01 2.39208368e-02 1.50129808e-01 -2.32927215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-39.53, Z:-232.94 [[-2.53020339e-02 -9.99540527e-01 -1.66896066e-02 1.95316273e+02] [ 1.49904101e-01 -2.02997505e-02 9.88492125e-01 -3.95294491e+01] [-9.88376734e-01 2.25090207e-02 1.50348850e-01 -2.32937049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-39.55, Z:-233.00 [[-2.12802360e-02 -9.99614355e-01 1.78407717e-02 1.95280196e+02] [ 1.51971078e-01 1.44032518e-02 9.88279990e-01 -3.95526046e+01] [-9.88155829e-01 2.37421128e-02 1.51605967e-01 -2.33001751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-39.56, Z:-233.06 [[-1.76340684e-02 -9.99002283e-01 4.10302013e-02 1.95255832e+02] [ 1.52638500e-01 3.78657800e-02 9.87556414e-01 -3.95621518e+01] [-9.88124753e-01 2.36774258e-02 1.51818482e-01 -2.33064868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-39.57, Z:-233.13 [[-1.47489945e-02 -9.97804583e-01 6.45637792e-02 1.95231990e+02] [ 1.51873410e-01 6.15860657e-02 9.86479409e-01 -3.95699467e+01] [-9.88289904e-01 2.43551007e-02 1.50631652e-01 -2.33128617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-39.58, Z:-233.19 [[-1.14561759e-02 -9.96046082e-01 8.80962996e-02 1.95206676e+02] [ 1.51266875e-01 8.53618387e-02 9.84800330e-01 -3.95790926e+01] [-9.88426572e-01 2.46080978e-02 1.49690858e-01 -2.33189186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:-39.59, Z:-233.25 [[-9.13894646e-03 -9.94038998e-01 1.08641380e-01 1.95183455e+02] [ 1.51112695e-01 1.06025288e-01 9.82814119e-01 -3.95852955e+01] [-9.88474296e-01 2.53989772e-02 1.49242952e-01 -2.33249824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-39.59, Z:-233.32 [[-5.00377590e-03 -9.91388697e-01 1.30856461e-01 1.95158342e+02] [ 1.52949017e-01 1.28559644e-01 9.79836219e-01 -3.95927588e+01] [-9.88221413e-01 2.49172479e-02 1.50988643e-01 -2.33315117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-39.60, Z:-233.38 [[-1.25357401e-03 -9.87722694e-01 1.56212380e-01 1.95129366e+02] [ 1.51647019e-01 1.54218090e-01 9.76329843e-01 -3.96016628e+01] [-9.88433918e-01 2.49130435e-02 1.49591879e-01 -2.33376457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:-39.61, Z:-233.44 [[ 3.38049571e-03 -9.83972981e-01 1.78285569e-01 1.95103902e+02] [ 1.51726281e-01 1.76727155e-01 9.72495063e-01 -3.96080724e+01] [-9.88416768e-01 2.37630910e-02 1.49891987e-01 -2.33436689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-39.61, Z:-233.50 [[ 7.42271453e-03 -9.79799940e-01 1.99842391e-01 1.95079576e+02] [ 1.52527441e-01 1.98618753e-01 9.68135306e-01 -3.96127895e+01] [-9.88271361e-01 2.32952566e-02 1.50920668e-01 -2.33496691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:-37.34, Z:-233.29 [[ 2.21197400e-02 7.03805593e-01 -7.10048170e-01 1.94481930e+02] [ 2.05036577e-01 -6.98318892e-01 -6.85792044e-01 -3.73418822e+01] [-9.78504328e-01 -1.30416304e-01 -1.59752522e-01 -2.33290392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-39.42, Z:-233.76 [[-3.37238624e-02 -9.98292278e-01 -4.76993579e-02 1.95380423e+02] [ 1.93074732e-01 -5.33349609e-02 9.79733397e-01 -3.94170810e+01] [-9.80604329e-01 2.38308536e-02 1.94543675e-01 -2.33763004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-39.43, Z:-233.79 [[-3.12965310e-02 -9.99082405e-01 -2.92382646e-02 1.95362629e+02] [ 1.92243453e-01 -3.47233390e-02 9.80732759e-01 -3.94283658e+01] [-9.80848093e-01 2.50726682e-02 1.93153771e-01 -2.33789770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-39.44, Z:-233.81 [[-2.77891489e-02 -9.99530460e-01 -1.29082515e-02 1.95347150e+02] [ 1.92810784e-01 -1.80304156e-02 9.81070286e-01 -3.94401651e+01] [-9.80842375e-01 2.47742581e-02 1.93221301e-01 -2.33806067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-39.44, Z:-233.89 [[-2.24101377e-02 -9.99740602e-01 4.06378218e-03 1.95326618e+02] [ 1.91868422e-01 -3.11598995e-04 9.81420609e-01 -3.94381265e+01] [-9.81164764e-01 2.27734825e-02 1.91825634e-01 -2.33885124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-39.45, Z:-233.95 [[-2.18593457e-02 -9.99143921e-01 3.51225464e-02 1.95296168e+02] [ 1.93494714e-01 3.02386245e-02 9.80635213e-01 -3.94524657e+01] [-9.80857770e-01 2.82320712e-02 1.92668071e-01 -2.33947143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:-37.35, Z:-233.66 [[-9.90745060e-03 8.77311649e-01 -4.79818833e-01 1.94183448e+02] [ 2.45181241e-01 -4.63063514e-01 -8.51738423e-01 -3.73490201e+01] [-9.69426636e-01 -1.26081133e-01 -2.10512580e-01 -2.33656081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-39.21, Z:-234.22 [[-7.68279513e-02 -9.78732655e-01 -1.90210031e-01 1.95551439e+02] [ 2.17585130e-01 -2.02633976e-01 9.54775462e-01 -3.92124865e+01] [-9.73012938e-01 3.19665685e-02 2.28525625e-01 -2.34215674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.612320588 meters Centerline goodness : 0.999907 Centerline is valid? [True, True] Translation: X:193.82, Y:-37.51, Z:-233.74 [[-7.23415425e-02 9.82483797e-01 -1.71733191e-01 1.93819438e+02] [ 2.67968381e-01 -1.46707506e-01 -9.52192131e-01 -3.75109363e+01] [-9.60707889e-01 -1.14902113e-01 -2.52661545e-01 -2.33736709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:195.09, Y:-37.40, Z:-233.88 [[-1.02361532e-01 3.23509149e-01 -9.40672072e-01 1.95091035e+02] [ 2.88240925e-01 -8.95423726e-01 -3.39313306e-01 -3.73992472e+01] [-9.52071051e-01 -3.05872818e-01 -1.59163242e-03 -2.33881834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-38.93, Z:-234.49 [[-1.60858247e-01 -9.14962665e-01 -3.70091807e-01 1.95663090e+02] [ 2.81915061e-01 -4.01947116e-01 8.71184489e-01 -3.89281467e+01] [-9.45858617e-01 3.58027559e-02 3.22598264e-01 -2.34486968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-38.93, Z:-234.50 [[-1.59937877e-01 -9.18523275e-01 -3.61572772e-01 1.95657047e+02] [ 2.82665075e-01 -3.93565045e-01 8.74761116e-01 -3.89345695e+01] [-9.45790849e-01 3.77034414e-02 3.22580409e-01 -2.34501028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73232058799994 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:195.65, Y:-38.94, Z:-234.52 [[-1.56581601e-01 -9.22345193e-01 -3.53216006e-01 1.95649601e+02] [ 2.85512632e-01 -3.84629356e-01 8.77805671e-01 -3.89387121e+01] [-9.45497086e-01 3.66005856e-02 3.23567084e-01 -2.34522337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-38.95, Z:-234.53 [[-1.52416364e-01 -9.27378987e-01 -3.41668649e-01 1.95640742e+02] [ 2.87232257e-01 -3.72350918e-01 8.82526161e-01 -3.89500372e+01] [-9.45656853e-01 3.63731713e-02 3.23125532e-01 -2.34534635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79232058799994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:195.62, Y:-38.95, Z:-234.59 [[-1.29029346e-01 -9.35934405e-01 -3.27686156e-01 1.95622661e+02] [ 2.97502298e-01 -3.51762211e-01 8.87556043e-01 -3.89480917e+01] [-9.45961844e-01 1.70333915e-02 3.23830284e-01 -2.34593840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:195.58, Y:-39.02, Z:-234.64 [[-1.23635997e-01 -9.57587206e-01 -2.60270789e-01 1.95577058e+02] [ 3.02056295e-01 -2.86153236e-01 9.09328500e-01 -3.90164036e+01] [-9.45238666e-01 3.38093052e-02 3.24624084e-01 -2.34638624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85232058799994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:195.56, Y:-39.04, Z:-234.66 [[-1.24502800e-01 -9.63701091e-01 -2.36176332e-01 1.95558875e+02] [ 3.04199801e-01 -2.63639313e-01 9.15399800e-01 -3.90390622e+01] [-9.44437152e-01 4.21250452e-02 3.25981513e-01 -2.34657003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:195.55, Y:-39.04, Z:-234.68 [[-1.20185494e-01 -9.65896602e-01 -2.29345158e-01 1.95553151e+02] [ 3.05741862e-01 -2.55803703e-01 9.17107616e-01 -3.90396021e+01] [-9.44498471e-01 4.01026163e-02 3.26058920e-01 -2.34676619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91232058799994 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:195.55, Y:-39.05, Z:-234.68 [[-1.16775833e-01 -9.67861580e-01 -2.22727115e-01 1.95549192e+02] [ 3.04360526e-01 -2.48346250e-01 9.19613403e-01 -3.90460522e+01] [-9.45371924e-01 3.95992790e-02 3.23579699e-01 -2.34676304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:195.54, Y:-39.05, Z:-234.69 [[-1.13084093e-01 -9.70820593e-01 -2.11469535e-01 1.95539453e+02] [ 3.04846623e-01 -2.36470521e-01 9.22578034e-01 -3.90537575e+01] [-9.45664065e-01 3.98631266e-02 3.22692434e-01 -2.34693228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-39.06, Z:-234.70 [[-1.10408672e-01 -9.72614768e-01 -2.04524910e-01 1.95534168e+02] [ 3.06084802e-01 -2.29055873e-01 9.24037608e-01 -3.90596770e+01] [-9.45580255e-01 3.94197989e-02 3.22992354e-01 -2.34699488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-39.06, Z:-234.72 [[-1.06541969e-01 -9.74816073e-01 -1.95914352e-01 1.95526388e+02] [ 3.08987126e-01 -2.19740040e-01 9.25333059e-01 -3.90638074e+01] [-9.45079766e-01 3.80517933e-02 3.24617154e-01 -2.34720749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.52, Y:-39.07, Z:-234.72 [[-1.02369631e-01 -9.76626869e-01 -1.88998457e-01 1.95521446e+02] [ 3.09988917e-01 -2.11855661e-01 9.26835503e-01 -3.90722151e+01] [-9.45212849e-01 3.62923810e-02 3.24431091e-01 -2.34717560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-39.08, Z:-234.73 [[-9.86605443e-02 -9.78708959e-01 -1.79985753e-01 1.95514205e+02] [ 3.13311819e-01 -2.02220366e-01 9.27869941e-01 -3.90765679e+01] [-9.44511409e-01 3.51524900e-02 3.26592255e-01 -2.34733038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.51, Y:-39.08, Z:-234.74 [[-9.51922135e-02 -9.80323556e-01 -1.72928217e-01 1.95507956e+02] [ 3.14559256e-01 -1.94438850e-01 9.29110332e-01 -3.90811011e+01] [-9.44452708e-01 3.40478978e-02 3.26878913e-01 -2.34743309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-39.08, Z:-234.76 [[-9.17943780e-02 -9.81851924e-01 -1.65953582e-01 1.95502148e+02] [ 3.14263449e-01 -1.86704758e-01 9.30795261e-01 -3.90844990e+01] [-9.44887441e-01 3.32886268e-02 3.25698620e-01 -2.34755641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.52, Y:-39.05, Z:-234.76 [[-9.36588127e-02 -9.76483708e-01 -1.94184435e-01 1.95521119e+02] [ 3.11531741e-01 -2.13991177e-01 9.25827063e-01 -3.90525438e+01] [-9.45608799e-01 2.62172484e-02 3.24247829e-01 -2.34763697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:-38.78, Z:-234.54 [[-8.28523629e-02 4.25180470e-01 9.01308523e-01 1.93291753e+02] [ 3.17118437e-01 8.68654291e-01 -3.80625301e-01 -3.87774727e+01] [-9.44759960e-01 2.54285845e-01 -2.06802627e-01 -2.34537575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21232058799995 meters Centerline goodness : 0.999859 Centerline is valid? [True, True] Translation: X:195.58, Y:-38.94, Z:-234.80 [[-1.10832216e-01 -9.54869262e-01 -2.75573787e-01 1.95579070e+02] [ 2.54767789e-01 -2.95314108e-01 9.20805599e-01 -3.89383200e+01] [-9.60629790e-01 3.18476006e-02 2.76000248e-01 -2.34795294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-38.95, Z:-234.80 [[-1.08232466e-01 -9.57300006e-01 -2.68071692e-01 1.95574241e+02] [ 2.54739886e-01 -2.87359129e-01 9.23326768e-01 -3.89469182e+01] [-9.60933569e-01 3.16453810e-02 2.74964082e-01 -2.34796174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-38.95, Z:-234.81 [[-1.02877138e-01 -9.60851603e-01 -2.57255693e-01 1.95565852e+02] [ 2.55234551e-01 -2.75468496e-01 9.26807656e-01 -3.89544629e+01] [-9.61390461e-01 2.96867781e-02 2.73581938e-01 -2.34810240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-38.96, Z:-234.83 [[-9.87377785e-02 -9.64519141e-01 -2.44854403e-01 1.95555784e+02] [ 2.57253289e-01 -2.62433096e-01 9.30026674e-01 -3.89631058e+01] [-9.61286428e-01 2.88391673e-02 2.74037782e-01 -2.34827467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-38.96, Z:-234.85 [[-9.87509056e-02 -9.64854803e-01 -2.43523032e-01 1.95553004e+02] [ 2.64911682e-01 -2.61377729e-01 9.28172120e-01 -3.89592460e+01] [-9.59202825e-01 2.71457414e-02 2.81412596e-01 -2.34845550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:-38.43, Z:-234.55 [[-9.49349088e-02 6.34773276e-01 7.66844346e-01 1.93227299e+02] [ 2.64406518e-01 7.58733372e-01 -5.95325847e-01 -3.84339031e+01] [-9.59727334e-01 1.46241439e-01 -2.39868475e-01 -2.34551129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-38.66, Z:-234.89 [[-1.23214967e-01 -8.75111451e-01 -4.67972244e-01 1.95680431e+02] [ 2.07993990e-01 -4.83864761e-01 8.50066699e-01 -3.86551450e+01] [-9.70338380e-01 7.40552581e-03 2.41637303e-01 -2.34892570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-38.76, Z:-234.92 [[-1.21174329e-01 -9.14220336e-01 -3.86675522e-01 1.95639502e+02] [ 2.10769558e-01 -4.04360224e-01 8.89982585e-01 -3.87595467e+01] [-9.69996379e-01 2.63436136e-02 2.41687895e-01 -2.34918345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-38.77, Z:-234.94 [[-1.16509090e-01 -9.20109716e-01 -3.73930131e-01 1.95630992e+02] [ 2.12333623e-01 -3.90865195e-01 8.95622036e-01 -3.87697939e+01] [-9.70226811e-01 2.49501690e-02 2.40909578e-01 -2.34938666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-38.78, Z:-234.95 [[-1.09683762e-01 -9.25891228e-01 -3.61517505e-01 1.95623104e+02] [ 2.16512328e-01 -3.77234020e-01 9.00453722e-01 -3.87836264e+01] [-9.70098904e-01 2.04921548e-02 2.41843311e-01 -2.34945813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.61, Y:-38.79, Z:-234.98 [[-1.04121211e-01 -9.31314922e-01 -3.49014741e-01 1.95612297e+02] [ 2.19463449e-01 -3.63786495e-01 9.05259731e-01 -3.87910410e+01] [-9.70048745e-01 1.76607600e-02 2.42267476e-01 -2.34980641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.29, Y:-38.72, Z:-234.76 [[-1.16146691e-01 3.98429525e-01 9.09815289e-01 1.93291523e+02] [ 2.11652421e-01 9.04903805e-01 -3.69259200e-01 -3.87188628e+01] [-9.70419084e-01 1.49676374e-01 -1.89430156e-01 -2.34757945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.69, Y:-38.56, Z:-235.01 [[-1.19125823e-01 -8.52266217e-01 -5.09363655e-01 1.95686880e+02] [ 1.55932212e-01 -5.22709727e-01 8.38128681e-01 -3.85613351e+01] [-9.80558098e-01 2.04165670e-02 1.95163983e-01 -2.35010668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-38.58, Z:-235.03 [[-1.14753891e-01 -8.61729154e-01 -4.94221013e-01 1.95678590e+02] [ 1.60304897e-01 -5.07050718e-01 8.46877742e-01 -3.85812048e+01] [-9.80374359e-01 1.79564672e-02 1.96325446e-01 -2.35032975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:-38.60, Z:-235.03 [[-1.11190208e-01 -8.70729044e-01 -4.79027838e-01 1.95672209e+02] [ 1.63827416e-01 -4.91481900e-01 8.55339769e-01 -3.86029720e+01] [-9.80202691e-01 1.66275137e-02 1.97297264e-01 -2.35032614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-37.23, Z:-234.75 [[-9.31413030e-02 1.82982500e-01 -9.78694080e-01 1.95196922e+02] [ 2.35548965e-01 -9.51013656e-01 -2.00224154e-01 -3.72265585e+01] [-9.67388951e-01 -2.49179517e-01 4.54773124e-02 -2.34754735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-38.69, Z:-235.20 [[-1.21994412e-01 -9.11929516e-01 -3.91793213e-01 1.95618374e+02] [ 2.32796019e-01 -4.10020022e-01 8.81867107e-01 -3.86889707e+01] [-9.64843706e-01 1.63749591e-02 2.62313712e-01 -2.35202947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.61, Y:-38.71, Z:-235.22 [[-1.17427314e-01 -9.19308368e-01 -3.75610104e-01 1.95606782e+02] [ 2.34573103e-01 -3.93200745e-01 8.89026790e-01 -3.87051104e+01] [-9.64979940e-01 1.62880005e-02 2.61817524e-01 -2.35222996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-38.72, Z:-235.24 [[-1.15084957e-01 -9.26104136e-01 -3.59286212e-01 1.95595685e+02] [ 2.36076498e-01 -3.76825726e-01 8.95695405e-01 -3.87220765e+01] [-9.64895507e-01 1.82620363e-02 2.61998394e-01 -2.35239279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-38.73, Z:-235.27 [[-1.09304686e-01 -9.31403795e-01 -3.47187925e-01 1.95584653e+02] [ 2.37549688e-01 -3.63636597e-01 9.00743344e-01 -3.87321249e+01] [-9.65206005e-01 1.59810849e-02 2.61001865e-01 -2.35267718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-38.76, Z:-235.29 [[-1.07604006e-01 -9.40995050e-01 -3.20857746e-01 1.95566582e+02] [ 2.39242484e-01 -3.37756187e-01 9.10320708e-01 -3.87607452e+01] [-9.64978970e-01 2.11913503e-02 2.61469912e-01 -2.35285744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-38.77, Z:-235.30 [[-1.05101653e-01 -9.45175986e-01 -3.09186025e-01 1.95557570e+02] [ 2.40026779e-01 -3.25826412e-01 9.14453003e-01 -3.87705964e+01] [-9.65059992e-01 2.18975964e-02 2.61112442e-01 -2.35300200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.55, Y:-38.78, Z:-235.31 [[-1.03407723e-01 -9.49099976e-01 -2.97516519e-01 1.95549969e+02] [ 2.40168467e-01 -3.14095068e-01 9.18511511e-01 -3.87823678e+01] [-9.65207724e-01 2.35270980e-02 2.60423742e-01 -2.35306313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-38.79, Z:-235.32 [[-1.01834342e-01 -9.53078100e-01 -2.85082273e-01 1.95540524e+02] [ 2.41226019e-01 -3.01677029e-01 9.22388735e-01 -3.87925743e+01] [-9.65111276e-01 2.51615881e-02 2.60628317e-01 -2.35323521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-38.80, Z:-235.36 [[-1.00163846e-01 -9.56741281e-01 -2.73154399e-01 1.95529175e+02] [ 2.42078996e-01 -2.89719141e-01 9.25991673e-01 -3.87972676e+01] [-9.65072517e-01 2.66259445e-02 2.60626352e-01 -2.35359040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-38.81, Z:-235.36 [[-9.82771155e-02 -9.60545854e-01 -2.60179306e-01 1.95520112e+02] [ 2.41330999e-01 -2.76644598e-01 9.30175852e-01 -3.88114087e+01] [-9.65453757e-01 2.86256678e-02 2.58997324e-01 -2.35362784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:-38.82, Z:-235.39 [[-9.68860960e-02 -9.63787136e-01 -2.48450076e-01 1.95510886e+02] [ 2.43437580e-01 -2.64989618e-01 9.33015888e-01 -3.88151158e+01] [-9.65065401e-01 2.99141817e-02 2.60295818e-01 -2.35394529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-38.82, Z:-235.41 [[-9.59228696e-02 -9.66921391e-01 -2.36351065e-01 1.95502410e+02] [ 2.45128996e-01 -2.53080096e-01 9.35875120e-01 -3.88242164e+01] [-9.64733424e-01 3.18353278e-02 2.61296639e-01 -2.35409808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.49, Y:-38.83, Z:-235.45 [[-8.32773261e-02 -9.70854482e-01 -2.24736425e-01 1.95490675e+02] [ 2.49134368e-01 -2.38641656e-01 9.38606535e-01 -3.88267034e+01] [-9.64881834e-01 2.21750752e-02 2.61746657e-01 -2.35450977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-38.87, Z:-235.48 [[-8.37309608e-02 -9.80699876e-01 -1.76682991e-01 1.95453725e+02] [ 2.52171748e-01 -1.92387674e-01 9.48365116e-01 -3.88729628e+01] [-9.64053181e-01 3.48530637e-02 2.63413607e-01 -2.35480535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-38.88, Z:-235.50 [[-8.18466423e-02 -9.82829554e-01 -1.65369871e-01 1.95444153e+02] [ 2.51777078e-01 -1.80934495e-01 9.50721311e-01 -3.88803181e+01] [-9.64318117e-01 3.61770042e-02 2.62262834e-01 -2.35497924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-38.88, Z:-235.52 [[-8.03362878e-02 -9.84770216e-01 -1.54187232e-01 1.95436063e+02] [ 2.50038969e-01 -1.69651020e-01 9.53257072e-01 -3.88848006e+01] [-9.64897194e-01 3.80283179e-02 2.59860063e-01 -2.35515041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-38.89, Z:-235.54 [[-7.07867925e-02 -9.87211448e-01 -1.42838325e-01 1.95426437e+02] [ 2.51379538e-01 -1.56230977e-01 9.55196425e-01 -3.88898686e+01] [-9.65296616e-01 3.17086588e-02 2.59223848e-01 -2.35538031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-38.92, Z:-235.58 [[-6.52136923e-02 -9.92308128e-01 -1.05222399e-01 1.95395562e+02] [ 2.55017170e-01 -1.18518449e-01 9.59645570e-01 -3.89169570e+01] [-9.64734895e-01 3.57485126e-02 2.60784636e-01 -2.35579713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:-38.94, Z:-235.59 [[-6.27995604e-02 -9.94836958e-01 -7.97222863e-02 1.95374187e+02] [ 2.57215756e-01 -9.33147518e-02 9.61838038e-01 -3.89396545e+01] [-9.64311293e-01 3.98971779e-02 2.61747865e-01 -2.35593707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-38.95, Z:-235.60 [[-5.91611617e-02 -9.95892358e-01 -6.85446391e-02 1.95364891e+02] [ 2.56410888e-01 -8.15214094e-02 9.63123936e-01 -3.89499219e+01] [-9.64755624e-01 3.94039392e-02 2.60180545e-01 -2.35596334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-38.96, Z:-235.61 [[-5.55988125e-02 -9.96813117e-01 -5.72047377e-02 1.95355646e+02] [ 2.56557682e-01 -6.96325732e-02 9.64017355e-01 -3.89561647e+01] [-9.64928457e-01 3.89219053e-02 2.59611551e-01 -2.35610257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-38.96, Z:-235.62 [[-5.18559547e-02 -9.97646165e-01 -4.48674554e-02 1.95345013e+02] [ 2.56857318e-01 -5.67404648e-02 9.64782275e-01 -3.89647723e+01] [-9.65057137e-01 3.85051717e-02 2.59195049e-01 -2.35619503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-38.97, Z:-235.64 [[-4.79877406e-02 -9.98290826e-01 -3.33557047e-02 1.95334641e+02] [ 2.60126223e-01 -4.47321665e-02 9.64537911e-01 -3.89737401e+01] [-9.64381421e-01 3.76093016e-02 2.61828218e-01 -2.35636170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-38.98, Z:-235.65 [[-4.04989472e-02 -9.98941801e-01 -2.17971046e-02 1.95324463e+02] [ 2.60749849e-01 -3.16253307e-02 9.64888260e-01 -3.89805971e+01] [-9.64556557e-01 3.33933670e-02 2.61754717e-01 -2.35651321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-38.98, Z:-235.71 [[-3.53236486e-02 -9.99374675e-01 1.58075479e-03 1.95302516e+02] [ 2.61270100e-01 -7.70803347e-03 9.65234956e-01 -3.89824236e+01] [-9.64619186e-01 3.45086244e-02 2.61378998e-01 -2.35711591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-38.96, Z:-235.81 [[-2.31914360e-02 -9.99638515e-01 1.36013757e-02 1.95281502e+02] [ 2.60877228e-01 7.08247635e-03 9.65346006e-01 -3.89647045e+01] [-9.65093379e-01 2.59360493e-02 2.60618672e-01 -2.35810201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-38.98, Z:-235.87 [[-2.00522063e-02 -9.98467004e-01 5.15902283e-02 1.95243224e+02] [ 2.61757503e-01 4.45578660e-02 9.64104562e-01 -3.89794564e+01] [-9.64925344e-01 3.28365529e-02 2.60462746e-01 -2.35874511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-38.97, Z:-235.93 [[-1.59421001e-02 -9.97864429e-01 6.33437460e-02 1.95230894e+02] [ 2.62958336e-01 5.69374730e-02 9.63125660e-01 -3.89736167e+01] [-9.64675470e-01 3.20110117e-02 2.61489067e-01 -2.35932268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-38.97, Z:-236.00 [[-1.02255201e-02 -9.97118240e-01 7.51708398e-02 1.95217948e+02] [ 2.62328976e-01 6.98667570e-02 9.62445918e-01 -3.89656236e+01] [-9.64924322e-01 2.95609995e-02 2.60858583e-01 -2.35995529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-38.95, Z:-236.08 [[ 8.90077993e-04 -9.95907607e-01 9.03728145e-02 1.95197385e+02] [ 2.62401654e-01 8.74386716e-02 9.60988996e-01 -3.89513803e+01] [-9.64958331e-01 2.28586209e-02 2.61405631e-01 -2.36082082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-38.96, Z:-236.14 [[ 6.75181685e-03 -9.92766307e-01 1.19872737e-01 1.95165762e+02] [ 2.62622245e-01 1.17427923e-01 9.57726599e-01 -3.89571288e+01] [-9.64875106e-01 2.50148526e-02 2.61515368e-01 -2.36144909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-38.95, Z:-236.21 [[ 1.18521334e-02 -9.91177478e-01 1.32010353e-01 1.95150950e+02] [ 2.60371762e-01 1.30524577e-01 9.56645117e-01 -3.89486957e+01] [-9.65435690e-01 2.30334828e-02 2.59621621e-01 -2.36208323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-38.94, Z:-236.28 [[ 2.00654474e-02 -9.88928949e-01 1.47026906e-01 1.95132819e+02] [ 2.61681291e-01 1.47124843e-01 9.53874825e-01 -3.89411363e+01] [-9.64945739e-01 1.93342655e-02 2.61736330e-01 -2.36275884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-38.94, Z:-236.34 [[ 2.47191850e-02 -9.86162957e-01 1.63925542e-01 1.95115255e+02] [ 2.63133088e-01 1.64611829e-01 9.50612394e-01 -3.89370688e+01] [-9.64442813e-01 1.96358705e-02 2.63561174e-01 -2.36335238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:-38.93, Z:-236.39 [[ 2.99477345e-02 -9.83903996e-01 1.76170543e-01 1.95102035e+02] [ 2.61747143e-01 1.77818786e-01 9.48614206e-01 -3.89285383e+01] [-9.64671740e-01 1.77032900e-02 2.62859330e-01 -2.36390955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-38.92, Z:-236.46 [[ 3.52052603e-02 -9.81548928e-01 1.87942253e-01 1.95087468e+02] [ 2.59816142e-01 1.90581643e-01 9.46664782e-01 -3.89169860e+01] [-9.65016146e-01 1.55028511e-02 2.61731732e-01 -2.36456682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:-38.89, Z:-236.52 [[ 5.47573974e-02 -9.82946833e-01 1.75548142e-01 1.95098455e+02] [ 2.67087714e-01 1.83824346e-01 9.45977147e-01 -3.88876167e+01] [-9.62115264e-01 -4.91249478e-03 2.72598765e-01 -2.36522040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-37.61, Z:-236.44 [[ 1.22137300e-02 7.68909152e-01 6.39241379e-01 1.93207735e+02] [ 2.52613233e-01 6.16179365e-01 -7.45995673e-01 -3.76100175e+01] [-9.67490248e-01 1.70592221e-01 -1.86710778e-01 -2.36436400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-38.67, Z:-236.75 [[ 1.12385549e-03 -9.99041475e-01 4.37592040e-02 1.95297802e+02] [ 2.11867482e-01 4.30037065e-02 9.76351807e-01 -3.86695574e+01] [-9.77297758e-01 8.17387402e-03 2.11712732e-01 -2.36749845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-38.69, Z:-236.81 [[ 5.23075992e-03 -9.96729519e-01 8.06405949e-02 1.95257838e+02] [ 2.13136238e-01 7.98999501e-02 9.73749938e-01 -3.86863972e+01] [-9.77008487e-01 1.20939809e-02 2.12857117e-01 -2.36813009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-38.68, Z:-236.87 [[ 1.08589050e-02 -9.95345546e-01 9.57566120e-02 1.95239300e+02] [ 2.13373188e-01 9.58631506e-02 9.72256211e-01 -3.86843895e+01] [-9.76910419e-01 9.87425570e-03 2.13421021e-01 -2.36871236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-38.68, Z:-236.95 [[ 1.93240605e-02 -9.93643030e-01 1.10905863e-01 1.95219589e+02] [ 2.12591173e-01 1.12473507e-01 9.70646539e-01 -3.86759544e+01] [-9.76950139e-01 4.82077507e-03 2.13413182e-01 -2.36952981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.18, Y:-38.69, Z:-237.02 [[ 2.34118798e-02 -9.89306886e-01 1.43957523e-01 1.95184559e+02] [ 2.12931679e-01 1.45627419e-01 9.66153588e-01 -3.86860394e+01] [-9.76786560e-01 8.03364549e-03 2.14064188e-01 -2.37016025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-38.68, Z:-237.08 [[ 2.86146250e-02 -9.86828354e-01 1.59219981e-01 1.95166192e+02] [ 2.11699880e-01 1.61654791e-01 9.63872860e-01 -3.86824779e+01] [-9.76915741e-01 6.12599049e-03 2.13537135e-01 -2.37078042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-38.68, Z:-237.14 [[ 3.28122567e-02 -9.83720950e-01 1.76681771e-01 1.95145746e+02] [ 2.10372148e-01 1.79614355e-01 9.60979835e-01 -3.86801602e+01] [-9.77070578e-01 5.63700660e-03 2.12841042e-01 -2.37142563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-38.68, Z:-237.20 [[ 3.72538067e-02 -9.79942392e-01 1.95767878e-01 1.95123991e+02] [ 2.09552310e-01 1.99208856e-01 9.57289748e-01 -3.86799025e+01] [-9.77087500e-01 5.36092390e-03 2.12770481e-01 -2.37201886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-38.68, Z:-237.26 [[ 3.99605237e-02 -9.76737482e-01 2.10682339e-01 1.95107184e+02] [ 2.08843195e-01 2.14358177e-01 9.54167224e-01 -3.86758683e+01] [-9.77132374e-01 5.87055074e-03 2.12550841e-01 -2.37260360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-38.67, Z:-237.32 [[ 4.37726166e-02 -9.73248256e-01 2.25547756e-01 1.95089869e+02] [ 2.07922041e-01 2.29695405e-01 9.50793587e-01 -3.86714962e+01] [-9.77165484e-01 5.27762662e-03 2.12414133e-01 -2.37319339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:-38.67, Z:-237.38 [[ 4.82903980e-02 -9.69502001e-01 2.40278812e-01 1.95073245e+02] [ 2.07728400e-01 2.45047712e-01 9.46995528e-01 -3.86677535e+01] [-9.76993833e-01 4.18194228e-03 2.13226551e-01 -2.37377629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:-38.66, Z:-237.44 [[ 5.32876782e-02 -9.65490428e-01 2.54928731e-01 1.95056975e+02] [ 2.08106578e-01 2.60423353e-01 9.42799729e-01 -3.86624841e+01] [-9.76653508e-01 2.81273719e-03 2.14802265e-01 -2.37436387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.04, Y:-38.66, Z:-237.50 [[ 5.74386153e-02 -9.61213924e-01 2.69756553e-01 1.95039459e+02] [ 2.06305808e-01 2.75798488e-01 9.38814735e-01 -3.86581809e+01] [-9.76800245e-01 1.72812520e-03 2.14145499e-01 -2.37495410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-38.65, Z:-237.55 [[ 6.06604510e-02 -9.56763321e-01 2.84471893e-01 1.95021550e+02] [ 2.04568125e-01 2.90863720e-01 9.34639063e-01 -3.86531423e+01] [-9.76970927e-01 1.49825475e-03 2.13367203e-01 -2.37554431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-38.65, Z:-237.61 [[ 6.49176012e-02 -9.51623773e-01 3.00329650e-01 1.95003217e+02] [ 2.02815313e-01 3.07265174e-01 9.29760217e-01 -3.86478679e+01] [-9.77062769e-01 5.53649077e-04 2.12950791e-01 -2.37613551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-38.64, Z:-237.67 [[ 6.80428055e-02 -9.46284168e-01 3.16095633e-01 1.94985699e+02] [ 2.01822685e-01 3.23334939e-01 9.24511829e-01 -3.86430663e+01] [-9.77055669e-01 8.88890908e-04 2.12982228e-01 -2.37672009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:-38.64, Z:-237.73 [[ 7.28178295e-02 -9.41059298e-01 3.30310401e-01 1.94970732e+02] [ 2.01317293e-01 3.38241336e-01 9.19273706e-01 -3.86356883e+01] [-9.76815700e-01 -4.42320239e-04 2.14081511e-01 -2.37730230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-38.61, Z:-237.81 [[ 9.63218660e-02 -9.45167444e-01 3.12058649e-01 1.94991496e+02] [ 2.08007188e-01 3.25708407e-01 9.22305287e-01 -3.86050902e+01] [-9.73373057e-01 -2.39277241e-02 2.27974464e-01 -2.37808559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.31, Y:-37.12, Z:-237.78 [[ 2.39551601e-02 8.27045564e-01 5.61624239e-01 1.93311273e+02] [ 1.86344639e-01 5.48245784e-01 -8.15292731e-01 -3.71171280e+01] [-9.82192357e-01 1.24186134e-01 -1.40982191e-01 -2.37784095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.07, Y:-36.27, Z:-237.76 [[-2.77724918e-02 9.54646253e-01 -2.96444297e-01 1.94068000e+02] [ 2.04119475e-01 -2.84894088e-01 -9.36573862e-01 -3.62725838e+01] [-9.78551955e-01 -8.65210440e-02 -1.86949673e-01 -2.37760308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-38.10, Z:-238.21 [[-1.36405432e-02 -9.83275702e-01 -1.81611754e-01 1.95632248e+02] [ 1.80876455e-01 -1.81058717e-01 9.66696151e-01 -3.81016639e+01] [-9.83411228e-01 -1.96630297e-02 1.80321163e-01 -2.38205084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-38.21, Z:-238.24 [[-1.05956649e-02 -9.97608329e-01 -6.83033954e-02 1.95538553e+02] [ 1.80355876e-01 -6.90935956e-02 9.81171663e-01 -3.82090046e+01] [-9.83544351e-01 -1.92275253e-03 1.80656617e-01 -2.38236541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.52, Y:-38.22, Z:-238.25 [[-6.93199012e-03 -9.98788326e-01 -4.87219457e-02 1.95520238e+02] [ 1.80184313e-01 -4.91732023e-02 9.82402977e-01 -3.82246698e+01] [-9.83608439e-01 -1.96892260e-03 1.80306857e-01 -2.38246499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-38.24, Z:-238.27 [[-6.62815975e-04 -9.99577048e-01 -2.90737843e-02 1.95501490e+02] [ 1.80990627e-01 -2.87135444e-02 9.83065575e-01 -3.82382921e+01] [-9.83484598e-01 -4.61049087e-03 1.80933108e-01 -2.38265944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-38.26, Z:-238.33 [[ 1.83443309e-03 -9.99980470e-01 5.97452600e-03 1.95465694e+02] [ 1.81564089e-01 6.20829542e-03 9.83359516e-01 -3.82564066e+01] [-9.83377403e-01 -7.19147868e-04 1.81571932e-01 -2.38331083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-38.26, Z:-238.39 [[ 6.23342282e-03 -9.99622938e-01 2.67418306e-02 1.95441641e+02] [ 1.82813965e-01 2.74308290e-02 9.82764775e-01 -3.82630303e+01] [-9.83127763e-01 -1.23720830e-03 1.82916021e-01 -2.38391697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-38.25, Z:-238.54 [[ 3.60655035e-02 -9.98257951e-01 4.66941367e-02 1.95393148e+02] [ 1.83016083e-01 5.25319669e-02 9.81705407e-01 -3.82480562e+01] [-9.82448163e-01 -2.68599218e-02 1.84591852e-01 -2.38541999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-38.34, Z:-238.62 [[ 3.79522562e-02 -9.79994213e-01 1.95373918e-01 1.95239750e+02] [ 1.83246309e-01 1.99024624e-01 9.62709712e-01 -3.83437932e+01] [-9.82334167e-01 -7.35456232e-04 1.87133756e-01 -2.38624824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.672320588 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.22, Y:-38.34, Z:-238.69 [[ 4.21189054e-02 -9.76160067e-01 2.12926095e-01 1.95217099e+02] [ 1.82687325e-01 2.17046782e-01 9.58913988e-01 -3.83401991e+01] [-9.82268466e-01 -1.48950872e-03 1.87473845e-01 -2.38693705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters Centerline goodness : 0.999906 Centerline is valid? [True, True] Translation: X:195.19, Y:-38.35, Z:-238.75 [[ 4.38256439e-02 -9.69820780e-01 2.39847801e-01 1.95185993e+02] [ 1.80944150e-01 2.43813367e-01 9.52792872e-01 -3.83451253e+01] [-9.82516426e-01 1.64229548e-03 1.86168675e-01 -2.38754862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-38.34, Z:-238.81 [[ 4.59260888e-02 -9.65324629e-01 2.56980846e-01 1.95167451e+02] [ 1.80964369e-01 2.61035668e-01 9.48215312e-01 -3.83425610e+01] [-9.82416761e-01 2.95655617e-03 1.86677710e-01 -2.38814028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:-36.05, Z:-238.54 [[ 2.01572351e-02 7.13318223e-01 -7.00550354e-01 1.94676915e+02] [ 2.40089798e-01 -6.83643019e-01 -6.89194538e-01 -3.60475289e+01] [-9.70541382e-01 -1.54302737e-01 -1.85040781e-01 -2.38542237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-38.17, Z:-239.11 [[ 2.25512973e-03 -9.99590721e-01 2.85184944e-02 1.95469516e+02] [ 2.26559273e-01 2.82877197e-02 9.73586514e-01 -3.81666914e+01] [-9.73994769e-01 4.26556548e-03 2.26530340e-01 -2.39113060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-38.14, Z:-239.18 [[ 1.92733032e-02 -9.99710821e-01 1.43810117e-02 1.95475152e+02] [ 2.39510606e-01 1.85814109e-02 9.70715922e-01 -3.81386112e+01] [-9.70702431e-01 -1.52644974e-02 2.39799470e-01 -2.39182293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:-37.67, Z:-239.24 [[ 1.48029827e-02 2.80800122e-01 9.59652105e-01 1.93546945e+02] [ 1.58787532e-01 9.46917752e-01 -2.79523327e-01 -3.76747829e+01] [-9.87201799e-01 1.56518568e-01 -3.05703511e-02 -2.39239434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:-35.91, Z:-238.99 [[-6.88764282e-04 6.28638073e-01 -7.77697692e-01 1.94854587e+02] [ 1.88606749e-01 -7.63658624e-01 -6.17456881e-01 -3.59088701e+01] [-9.82052453e-01 -1.47104316e-01 -1.18039402e-01 -2.38985765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-37.94, Z:-239.43 [[ 3.54461241e-03 -9.95936280e-01 -8.99908996e-02 1.95601800e+02] [ 1.76971806e-01 -8.79462595e-02 9.80278754e-01 -3.79359319e+01] [-9.84209538e-01 -1.94005603e-02 1.75940907e-01 -2.39430198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.46, Y:-38.06, Z:-239.51 [[ 3.84056323e-03 -9.97718519e-01 6.74018255e-02 1.95455494e+02] [ 1.78344678e-01 6.70051090e-02 9.81684008e-01 -3.80571104e+01] [-9.83960581e-01 8.25053738e-03 1.78195126e-01 -2.39514634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-38.06, Z:-239.57 [[ 7.59591772e-03 -9.96267079e-01 8.59895939e-02 1.95434491e+02] [ 1.78441501e-01 8.59623118e-02 9.80188304e-01 -3.80601245e+01] [-9.83921203e-01 7.89868248e-03 1.78428355e-01 -2.39573836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-38.06, Z:-239.63 [[ 1.11625003e-02 -9.94331332e-01 1.05738356e-01 1.95412183e+02] [ 1.78375469e-01 1.06028923e-01 9.78233132e-01 -3.80634126e+01] [-9.83899177e-01 7.94160128e-03 1.78547865e-01 -2.39634237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-38.07, Z:-239.69 [[ 1.48854521e-02 -9.92124950e-01 1.24364409e-01 1.95388823e+02] [ 1.76889044e-01 1.25029324e-01 9.76257105e-01 -3.80655513e+01] [-9.84118229e-01 7.46667319e-03 1.77357152e-01 -2.39693943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-37.98, Z:-239.75 [[ 4.44745443e-02 -9.98533344e-01 3.08735593e-02 1.95475044e+02] [ 2.12798281e-01 3.96638509e-02 9.76290771e-01 -3.79814389e+01] [-9.76083453e-01 -3.68502468e-02 2.14250211e-01 -2.39748005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:-37.13, Z:-239.79 [[-1.48894384e-02 5.66130887e-01 8.24180880e-01 1.93476050e+02] [ 1.40554349e-01 8.17272898e-01 -5.58846567e-01 -3.71275051e+01] [-9.89960999e-01 1.07521296e-01 -9.17408928e-02 -2.39789886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-37.78, Z:-239.91 [[-8.11436954e-03 -9.96261620e-01 -8.60054763e-02 1.95629686e+02] [ 1.17470854e-01 -8.63624765e-02 9.89313965e-01 -3.77817250e+01] [-9.93043179e-01 -2.07547768e-03 1.17732481e-01 -2.39905515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15232058799995 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.59, Y:-37.82, Z:-239.93 [[-1.32834214e-02 -9.98918485e-01 -4.45579544e-02 1.95591661e+02] [ 1.12109799e-01 -4.57687640e-02 9.92641231e-01 -3.78175965e+01] [-9.93607037e-01 8.19028852e-03 1.12596516e-01 -2.39928866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-36.32, Z:-239.76 [[ 2.24454582e-02 -1.97480941e-01 -9.80049733e-01 1.95769884e+02] [ 1.69799172e-01 -9.65301254e-01 1.98397911e-01 -3.63200468e+01] [-9.85223042e-01 -1.70864765e-01 1.18654713e-02 -2.39757426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-37.89, Z:-240.13 [[ 2.13814609e-02 -9.97664580e-01 6.48707912e-02 1.95479401e+02] [ 1.54473060e-01 6.74030975e-02 9.85695134e-01 -3.78896793e+01] [-9.87765613e-01 -1.10548124e-02 1.55553477e-01 -2.40125431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-37.98, Z:-240.20 [[ 2.19086575e-02 -9.78438654e-01 2.05372371e-01 1.95332773e+02] [ 1.55482797e-01 2.06256828e-01 9.66065847e-01 -3.79787698e+01] [-9.87595621e-01 1.07666650e-02 1.56649189e-01 -2.40204049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.84, Y:-35.73, Z:-239.99 [[ 1.38373667e-02 6.95550572e-01 -7.18343879e-01 1.94836844e+02] [ 2.13252115e-01 -7.03936815e-01 -6.77492801e-01 -3.57288995e+01] [-9.76899208e-01 -1.43813635e-01 -1.58068263e-01 -2.39994553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-37.82, Z:-240.50 [[-2.13921510e-03 -9.99991129e-01 3.62842225e-03 1.95598499e+02] [ 2.36294218e-01 3.02019657e-03 9.71676860e-01 -3.78249636e+01] [-9.71679199e-01 2.93600101e-03 2.36285661e-01 -2.40498672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-37.61, Z:-240.56 [[ 1.70102065e-02 -9.78269169e-01 -2.06639992e-01 1.95758399e+02] [ 2.54066224e-01 -1.95657375e-01 9.47189815e-01 -3.76128120e+01] [-9.67037231e-01 -6.86121369e-02 2.45216981e-01 -2.40563321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.48, Y:-37.86, Z:-240.70 [[ 1.45667509e-02 -9.94129683e-01 1.07209995e-01 1.95482528e+02] [ 2.59640696e-01 1.07304168e-01 9.59725234e-01 -3.78615577e+01] [-9.65595422e-01 1.38559993e-02 2.59679596e-01 -2.40702675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-37.86, Z:-240.76 [[ 1.78961384e-02 -9.92538853e-01 1.20608269e-01 1.95467454e+02] [ 2.60049658e-01 1.21096712e-01 9.57971691e-01 -3.78561881e+01] [-9.65429388e-01 1.42201451e-02 2.60276553e-01 -2.40760346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-37.85, Z:-240.82 [[ 2.10204783e-02 -9.90926839e-01 1.32748407e-01 1.95453873e+02] [ 2.58328816e-01 1.33652154e-01 9.56767121e-01 -3.78482791e+01] [-9.65828330e-01 1.41810363e-02 2.58794389e-01 -2.40817685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-37.82, Z:-240.93 [[ 3.52721962e-02 -9.88792633e-01 1.45068952e-01 1.95432389e+02] [ 2.54697917e-01 1.49260093e-01 9.55432047e-01 -3.78220418e+01] [-9.66377174e-01 3.24857316e-03 2.57108155e-01 -2.40930144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-37.84, Z:-241.00 [[ 3.93180192e-02 -9.80089832e-01 1.94622750e-01 1.95376895e+02] [ 2.56436626e-01 1.98147218e-01 9.46032736e-01 -3.78385030e+01] [-9.65761021e-01 1.27122682e-02 2.59121686e-01 -2.40996732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-37.83, Z:-241.06 [[ 4.58852344e-02 -9.77404120e-01 2.06338874e-01 1.95361510e+02] [ 2.58111238e-01 2.11142591e-01 9.42760518e-01 -3.78294621e+01] [-9.65024940e-01 9.99959489e-03 2.61967314e-01 -2.41059566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:195.37, Y:-37.80, Z:-241.13 [[ 6.90565356e-02 -9.78706318e-01 1.93300643e-01 1.95373046e+02] [ 2.70571844e-01 2.04875002e-01 9.40647177e-01 -3.78018598e+01] [-9.60219804e-01 -1.26561237e-02 2.78958331e-01 -2.41125120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:-36.43, Z:-241.02 [[ 1.36585731e-02 8.02034203e-01 5.97121914e-01 1.93602546e+02] [ 2.43307500e-01 5.76562714e-01 -7.79985191e-01 -3.64333431e+01] [-9.69853032e-01 1.55937725e-01 -1.87265913e-01 -2.41021671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-37.58, Z:-241.39 [[ 1.44361905e-02 -9.98632849e-01 5.02397280e-02 1.95579378e+02] [ 2.08076932e-01 5.21453504e-02 9.76721482e-01 -3.75753259e+01] [-9.78005924e-01 -3.64640888e-03 2.08545239e-01 -2.41387501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-37.61, Z:-241.48 [[ 2.21238146e-02 -9.92397748e-01 1.21067118e-01 1.95501666e+02] [ 2.08797614e-01 1.23012854e-01 9.70191422e-01 -3.76066660e+01] [-9.77708593e-01 3.81419012e-03 2.09931795e-01 -2.41479319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-37.62, Z:-241.54 [[ 2.46333340e-02 -9.87731445e-01 1.54206973e-01 1.95465174e+02] [ 2.09014541e-01 1.55933259e-01 9.65400301e-01 -3.76162363e+01] [-9.77602230e-01 8.45047167e-03 2.10291391e-01 -2.41541283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-37.61, Z:-241.60 [[ 2.75179740e-02 -9.85179388e-01 1.69305447e-01 1.95447239e+02] [ 2.09300236e-01 1.71293875e-01 9.62731437e-01 -3.76129048e+01] [-9.77464154e-01 8.94325144e-03 2.10911939e-01 -2.41601105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.43, Y:-37.61, Z:-241.66 [[ 3.22885197e-02 -9.82242274e-01 1.84817657e-01 1.95427504e+02] [ 2.06443729e-01 1.87480766e-01 9.60329084e-01 -3.76089056e+01] [-9.77925579e-01 7.14684176e-03 2.08831234e-01 -2.41659410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.41, Y:-37.60, Z:-241.72 [[ 3.54066304e-02 -9.79154159e-01 2.00008760e-01 1.95410401e+02] [ 2.05943565e-01 2.02987425e-01 9.57279141e-01 -3.76027307e+01] [-9.77923115e-01 7.29648833e-03 2.08837599e-01 -2.41717358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-37.59, Z:-241.79 [[ 4.19694248e-02 -9.75707852e-01 2.15018032e-01 1.95391242e+02] [ 2.05404433e-01 2.19036765e-01 9.53851097e-01 -3.75932534e+01] [-9.77776859e-01 4.13307496e-03 2.09607565e-01 -2.41794300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-37.60, Z:-241.86 [[ 4.47824520e-02 -9.68833346e-01 2.43631851e-01 1.95358234e+02] [ 2.07212083e-01 2.47580999e-01 9.46449577e-01 -3.75970343e+01] [-9.77270528e-01 8.09913062e-03 2.11841260e-01 -2.41856358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:-37.59, Z:-241.94 [[ 5.09341237e-02 -9.64350056e-01 2.59681892e-01 1.95336259e+02] [ 2.06466716e-01 2.64569861e-01 9.42005458e-01 -3.75876042e+01] [-9.77127018e-01 5.63544492e-03 2.12581824e-01 -2.41938667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-37.59, Z:-242.00 [[ 5.28205555e-02 -9.54962906e-01 2.91986022e-01 1.95300338e+02] [ 2.05552792e-01 2.96530196e-01 9.32640280e-01 -3.75910521e+01] [-9.77219545e-01 1.07559643e-02 2.11958181e-01 -2.42000824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-37.58, Z:-242.07 [[ 5.62208531e-02 -9.50168643e-01 3.06624796e-01 1.95284913e+02] [ 2.03489214e-01 3.11569044e-01 9.28179331e-01 -3.75819095e+01] [-9.77461690e-01 1.02118051e-02 2.10865748e-01 -2.42067804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-37.58, Z:-242.13 [[ 5.92865707e-02 -9.43052505e-01 3.27318004e-01 1.95261395e+02] [ 2.03833266e-01 3.32422866e-01 9.20840398e-01 -3.75788625e+01] [-9.77208833e-01 1.21248283e-02 2.11933683e-01 -2.42129412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-37.57, Z:-242.19 [[ 6.30089989e-02 -9.37215309e-01 3.43012143e-01 1.95243764e+02] [ 2.04081733e-01 3.48532154e-01 9.14809261e-01 -3.75734644e+01] [-9.76924005e-01 1.23612968e-02 2.13229186e-01 -2.42188279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.23, Y:-37.56, Z:-242.26 [[ 6.79527514e-02 -9.31506304e-01 3.57321184e-01 1.95227369e+02] [ 2.01766743e-01 3.63579428e-01 9.09450483e-01 -3.75625467e+01] [-9.77073490e-01 1.02958691e-02 2.12653216e-01 -2.42261517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-37.56, Z:-242.32 [[ 6.95019318e-02 -9.21586918e-01 3.81899245e-01 1.95200342e+02] [ 1.99718771e-01 3.87928982e-01 8.99790819e-01 -3.75587128e+01] [-9.77385233e-01 1.37352480e-02 2.11020021e-01 -2.42321468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-37.55, Z:-242.38 [[ 7.29121099e-02 -9.15422713e-01 3.95834664e-01 1.95185229e+02] [ 1.98091460e-01 4.02275962e-01 8.93830982e-01 -3.75517448e+01] [-9.77467952e-01 1.32403637e-02 2.10668211e-01 -2.42380168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.17, Y:-37.54, Z:-242.44 [[ 7.71636816e-02 -9.09012582e-01 4.09563049e-01 1.95171263e+02] [ 1.97652391e-01 4.16581781e-01 8.87351764e-01 -3.75423944e+01] [-9.77230422e-01 1.24797870e-02 2.11813494e-01 -2.42439804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-37.53, Z:-242.50 [[ 8.10717707e-02 -9.01590180e-01 4.24926483e-01 1.95153775e+02] [ 1.95441666e-01 4.32433315e-01 8.80229506e-01 -3.75339575e+01] [-9.77358646e-01 1.16865750e-02 2.11266421e-01 -2.42503617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-37.53, Z:-242.56 [[ 8.51259513e-02 -8.92802558e-01 4.42331510e-01 1.95134206e+02] [ 1.93568191e-01 4.50303375e-01 8.71641111e-01 -3.75265862e+01] [-9.77386785e-01 1.14220315e-02 2.11150680e-01 -2.42563373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-37.52, Z:-242.62 [[ 8.81753285e-02 -8.85681893e-01 4.55842841e-01 1.95119821e+02] [ 1.92224672e-01 4.64152983e-01 8.64645409e-01 -3.75179493e+01] [-9.77381597e-01 1.13838478e-02 2.11176754e-01 -2.42622358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.11, Y:-37.51, Z:-242.68 [[ 9.19262435e-02 -8.78220623e-01 4.69337941e-01 1.95105477e+02] [ 1.90989176e-01 4.78133021e-01 8.57270056e-01 -3.75085383e+01] [-9.77278210e-01 1.08328504e-02 2.11683605e-01 -2.42681039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-37.50, Z:-242.74 [[ 9.51644147e-02 -8.70644025e-01 4.82620675e-01 1.95091463e+02] [ 1.89390054e-01 4.91800938e-01 8.49860721e-01 -3.74996269e+01] [-9.77279459e-01 1.05270578e-02 2.11693268e-01 -2.42739393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-37.48, Z:-242.85 [[ 1.06414888e-01 -8.61750940e-01 4.96045551e-01 1.95075784e+02] [ 1.82513600e-01 5.07330745e-01 8.42202055e-01 -3.74754484e+01] [-9.77427571e-01 9.12222071e-04 2.11268811e-01 -2.42845285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.01, Y:-37.47, Z:-242.92 [[ 1.08813436e-01 -8.32937202e-01 5.42563595e-01 1.95013603e+02] [ 1.80347310e-01 5.53288371e-01 8.13232332e-01 -3.74719704e+01] [-9.77565591e-01 9.35928044e-03 2.10423193e-01 -2.42918623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters Centerline goodness : 0.999953 Centerline is valid? [True, True] Translation: X:194.99, Y:-37.46, Z:-242.98 [[ 1.12770305e-01 -8.20788596e-01 5.59990125e-01 1.94993320e+02] [ 1.79873076e-01 5.71137230e-01 8.00904452e-01 -3.74638893e+01] [-9.77204449e-01 1.04089068e-02 2.12045089e-01 -2.42978880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.98, Y:-37.45, Z:-243.04 [[ 1.16791941e-01 -8.11751026e-01 5.72206182e-01 1.94980702e+02] [ 1.78729075e-01 5.83921705e-01 7.91891003e-01 -3.74531347e+01] [-9.76941943e-01 9.78339411e-03 2.13280859e-01 -2.43038149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-35.14, Z:-242.72 [[ 1.17455680e-01 5.38584400e-01 -8.34344657e-01 1.95239247e+02] [ 2.34730622e-01 -8.31410027e-01 -5.03645612e-01 -3.51448221e+01] [-9.64938184e-01 -1.36690202e-01 -2.24076082e-01 -2.42724200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.00, Y:-35.11, Z:-242.89 [[ 6.73595299e-02 7.39021560e-01 -6.70305772e-01 1.95003166e+02] [ 2.87055365e-01 -6.57780015e-01 -6.96365328e-01 -3.51127601e+01] [-9.55542731e-01 -1.45508027e-01 -2.56447856e-01 -2.42893815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-37.27, Z:-243.56 [[ 3.89108139e-02 -9.85696862e-01 1.63974525e-01 1.95640421e+02] [ 2.68796557e-01 1.68375262e-01 9.48366059e-01 -3.72695699e+01] [-9.62410702e-01 7.17409265e-03 2.71503541e-01 -2.43558123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.63, Y:-37.26, Z:-243.62 [[ 4.42314256e-02 -9.83508545e-01 1.75369677e-01 1.95629960e+02] [ 2.69246208e-01 1.80781725e-01 9.45951610e-01 -3.72594307e+01] [-9.62055124e-01 5.37683215e-03 2.72802179e-01 -2.43615874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-37.25, Z:-243.67 [[ 4.84975793e-02 -9.81141919e-01 1.87105639e-01 1.95617254e+02] [ 2.68074137e-01 1.93238984e-01 9.43819343e-01 -3.72500750e+01] [-9.62176825e-01 4.38522915e-03 2.72390396e-01 -2.43672716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-37.24, Z:-243.73 [[ 5.38626302e-02 -9.78597222e-01 1.98610912e-01 1.95602981e+02] [ 2.66035407e-01 2.05774182e-01 9.41744205e-01 -3.72398601e+01] [-9.62457261e-01 2.11271496e-03 2.71425049e-01 -2.43730275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.58, Y:-37.21, Z:-243.84 [[ 6.87945972e-02 -9.75164281e-01 2.10527738e-01 1.95584009e+02] [ 2.61794758e-01 2.21278456e-01 9.39414365e-01 -3.72114476e+01] [-9.62668587e-01 -9.51157466e-03 2.70515659e-01 -2.43841267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.86, Y:-35.02, Z:-243.41 [[ 3.22615627e-02 8.48166301e-01 -5.28746742e-01 1.94861013e+02] [ 3.25067529e-01 -5.09164706e-01 -7.96920576e-01 -3.50182526e+01] [-9.45140356e-01 -1.46168494e-01 -2.92137773e-01 -2.43412781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-37.06, Z:-244.14 [[ 2.31381204e-02 -9.97990326e-01 5.89909859e-02 1.95813994e+02] [ 2.98023177e-01 6.32094884e-02 9.52463515e-01 -3.70561082e+01] [-9.54278164e-01 -4.45753449e-03 2.98886796e-01 -2.44138296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-37.05, Z:-244.21 [[ 3.01894087e-02 -9.96564838e-01 7.71175926e-02 1.95791282e+02] [ 2.97905635e-01 8.26172679e-02 9.51013470e-01 -3.70453906e+01] [-9.54117829e-01 -5.73676895e-03 2.99376447e-01 -2.44214492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-37.04, Z:-244.27 [[ 3.42491936e-02 -9.94615109e-01 9.78150145e-02 1.95768598e+02] [ 2.96199396e-01 1.03577052e-01 9.49493398e-01 -3.70404592e+01] [-9.54511870e-01 -3.54663497e-03 2.98151825e-01 -2.44272665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-37.03, Z:-244.33 [[ 3.92523106e-02 -9.93323620e-01 1.08477845e-01 1.95755940e+02] [ 2.96912197e-01 1.15252716e-01 9.47924026e-01 -3.70273305e+01] [-9.54097691e-01 -4.99981303e-03 2.99453834e-01 -2.44334206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-37.02, Z:-244.39 [[ 4.32006752e-02 -9.91574795e-01 1.22119318e-01 1.95740786e+02] [ 2.97056940e-01 1.29453958e-01 9.46043787e-01 -3.70186696e+01] [-9.53882003e-01 -4.59333952e-03 3.00146672e-01 -2.44390819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:-37.01, Z:-244.45 [[ 4.76675340e-02 -9.90014835e-01 1.32659086e-01 1.95727523e+02] [ 2.95930373e-01 1.40844786e-01 9.44768734e-01 -3.70080839e+01] [-9.54019403e-01 -5.77694294e-03 2.99689183e-01 -2.44446873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-36.99, Z:-244.52 [[ 5.40730944e-02 -9.88218300e-01 1.43180627e-01 1.95714122e+02] [ 2.94552377e-01 1.52795717e-01 9.43341066e-01 -3.69894759e+01] [-9.54104291e-01 -8.83517660e-03 2.99344186e-01 -2.44519400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.73, Y:-36.95, Z:-244.57 [[ 7.58666395e-02 -9.89944643e-01 1.19389516e-01 1.95733429e+02] [ 3.08795482e-01 1.37174193e-01 9.41184674e-01 -3.69537006e+01] [-9.48097887e-01 -3.45375754e-02 3.16097378e-01 -2.44574103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:-35.67, Z:-244.41 [[-1.01898333e-02 7.85241989e-01 6.19105149e-01 1.93929057e+02] [ 2.77350743e-01 5.97064629e-01 -7.52721990e-01 -3.56706706e+01] [-9.60714699e-01 1.64039162e-01 -2.23871438e-01 -2.44413248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-36.75, Z:-244.78 [[ 9.31842915e-03 -9.99936507e-01 6.33629893e-03 1.95906441e+02] [ 2.52034749e-01 8.48062265e-03 9.67681024e-01 -3.67527147e+01] [-9.67673319e-01 -7.42029955e-03 2.52097772e-01 -2.44781158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:-36.75, Z:-244.84 [[ 1.20747388e-02 -9.99519238e-01 2.85568339e-02 1.95882301e+02] [ 2.51856210e-01 3.06782524e-02 9.67278292e-01 -3.67540417e+01] [-9.67689336e-01 -4.48741680e-03 2.52105559e-01 -2.44840427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-36.75, Z:-244.90 [[ 1.72564607e-02 -9.98989392e-01 4.15019288e-02 1.95863915e+02] [ 2.51714511e-01 4.45118116e-02 9.66777381e-01 -3.67488425e+01] [-9.67647673e-01 -6.23651812e-03 2.52228243e-01 -2.44897595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:-36.73, Z:-244.98 [[ 2.55760797e-02 -9.98178419e-01 5.46416342e-02 1.95843763e+02] [ 2.49096359e-01 5.92988955e-02 9.66661598e-01 -3.67347997e+01] [-9.68140934e-01 -1.11123820e-02 2.50159243e-01 -2.44982528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-36.74, Z:-245.04 [[ 2.76410456e-02 -9.95924608e-01 8.58495656e-02 1.95813279e+02] [ 2.49362449e-01 9.00370644e-02 9.64215586e-01 -3.67395758e+01] [-9.68015672e-01 -5.24426905e-03 2.50834917e-01 -2.45043477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.80, Y:-36.73, Z:-245.10 [[ 3.08401718e-02 -9.94620062e-01 9.88929525e-02 1.95798702e+02] [ 2.49713107e-01 1.03469605e-01 9.62775885e-01 -3.67323245e+01] [-9.67828625e-01 -4.99730729e-03 2.51560686e-01 -2.45101236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.77, Y:-36.71, Z:-245.21 [[ 4.33895126e-02 -9.92760063e-01 1.12003601e-01 1.95773729e+02] [ 2.49806827e-01 1.19328843e-01 9.60914760e-01 -3.67130683e+01] [-9.67323059e-01 -1.37143590e-02 2.53175861e-01 -2.45205066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-36.81, Z:-245.40 [[ 9.71788146e-02 -8.73343704e-01 4.77312322e-01 1.95286846e+02] [ 2.18377543e-01 4.86605968e-01 8.45887629e-01 -3.68093439e+01] [-9.71013659e-01 2.20319349e-02 2.38006443e-01 -2.45404664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-36.77, Z:-245.45 [[ 1.01287573e-01 -9.12219241e-01 3.96984740e-01 1.95393309e+02] [ 2.13940711e-01 4.09673220e-01 8.86790406e-01 -3.67669087e+01] [-9.71581288e-01 -4.88965033e-03 2.36655639e-01 -2.45448573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-36.76, Z:-245.51 [[ 1.04753814e-01 -9.04499432e-01 4.13409501e-01 1.95376001e+02] [ 2.12559814e-01 4.26453916e-01 8.79178812e-01 -3.67576175e+01] [-9.71516837e-01 -4.22308729e-03 2.36932905e-01 -2.45506181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-36.75, Z:-245.56 [[ 1.08474968e-01 -8.98432829e-01 4.25501625e-01 1.95363690e+02] [ 2.12571741e-01 4.39090490e-01 8.72933443e-01 -3.67468031e+01] [-9.71105780e-01 -4.24180590e-03 2.38611758e-01 -2.45563782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.35, Y:-36.73, Z:-245.63 [[ 1.12440389e-01 -8.92040644e-01 4.37744959e-01 1.95350656e+02] [ 2.10354280e-01 4.51923007e-01 8.66900613e-01 -3.67348139e+01] [-9.71137599e-01 -5.39311648e-03 2.38458967e-01 -2.45625037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-36.72, Z:-245.69 [[ 1.15305976e-01 -8.84562008e-01 4.51945335e-01 1.95334277e+02] [ 2.08830937e-01 4.66398594e-01 8.59570818e-01 -3.67235564e+01] [-9.71130358e-01 -4.73348426e-03 2.38502458e-01 -2.45686269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-36.71, Z:-245.74 [[ 1.18434949e-01 -8.76799218e-01 4.66043233e-01 1.95316539e+02] [ 2.06305929e-01 4.80832883e-01 8.52195753e-01 -3.67121885e+01] [-9.71293481e-01 -4.78227830e-03 2.37836296e-01 -2.45744548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-36.70, Z:-245.82 [[ 1.23319215e-01 -8.69552881e-01 4.78194686e-01 1.95303872e+02] [ 2.02362844e-01 4.93782524e-01 8.45711593e-01 -3.66963928e+01] [-9.71515131e-01 -7.52365351e-03 2.36858067e-01 -2.45816162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.28, Y:-36.69, Z:-245.87 [[ 1.26680556e-01 -8.57505011e-01 4.98635331e-01 1.95281700e+02] [ 2.01273655e-01 5.14448985e-01 8.33565329e-01 -3.66856765e+01] [-9.71308886e-01 -5.23436370e-03 2.37763851e-01 -2.45874769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-36.65, Z:-245.92 [[ 1.68390966e-01 -8.91219804e-01 4.21155249e-01 1.95380423e+02] [ 2.21210778e-01 4.50525228e-01 8.64923587e-01 -3.66492202e+01] [-9.60578094e-01 -5.24812378e-02 2.73011804e-01 -2.45923853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:-35.02, Z:-245.90 [[ 6.24885072e-02 8.65455485e-01 4.97073424e-01 1.94044616e+02] [ 1.86908704e-01 4.79087275e-01 -8.57636589e-01 -3.50213344e+01] [-9.80387843e-01 1.46499780e-01 -1.31823715e-01 -2.45897887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.432320588 meters Centerline goodness : 0.999905 Centerline is valid? [True, True] Translation: X:195.54, Y:-36.53, Z:-246.17 [[ 7.89811555e-02 -9.25979983e-01 3.69219513e-01 1.95540006e+02] [ 1.58309754e-01 3.77327044e-01 9.12448532e-01 -3.65329835e+01] [-9.84225583e-01 -1.36151890e-02 1.76393389e-01 -2.46166486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-36.54, Z:-246.23 [[ 8.21678368e-02 -9.00024297e-01 4.28024195e-01 1.95467616e+02] [ 1.57209251e-01 4.35804662e-01 8.86205139e-01 -3.65407329e+01] [-9.84141097e-01 -5.52819616e-03 1.77301272e-01 -2.46232343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:-36.53, Z:-246.29 [[ 8.47926220e-02 -8.91559551e-01 4.44895245e-01 1.95446964e+02] [ 1.54274489e-01 4.52866052e-01 8.78129672e-01 -3.65337716e+01] [-9.84382849e-01 -5.82293093e-03 1.75944594e-01 -2.46292244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:-36.53, Z:-246.36 [[ 9.05764173e-02 -8.81792213e-01 4.62858947e-01 1.95422829e+02] [ 1.52209650e-01 4.71566412e-01 8.68595039e-01 -3.65254300e+01] [-9.84189075e-01 -8.22262853e-03 1.76930080e-01 -2.46356880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:-36.52, Z:-246.42 [[ 9.38028156e-02 -8.70102860e-01 4.83861596e-01 1.95396905e+02] [ 1.50097921e-01 4.92808909e-01 8.57093923e-01 -3.65195816e+01] [-9.84211179e-01 -7.77120337e-03 1.76827494e-01 -2.46417606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-36.51, Z:-246.49 [[ 9.89848598e-02 -8.59538598e-01 5.01393454e-01 1.95375317e+02] [ 1.47123529e-01 5.10971719e-01 8.46913555e-01 -3.65083454e+01] [-9.84152765e-01 -1.00648452e-02 1.77036816e-01 -2.46491266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.612320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.34, Y:-36.50, Z:-246.55 [[ 1.02074118e-01 -8.42403899e-01 5.29090300e-01 1.95338196e+02] [ 1.44526420e-01 5.38783462e-01 8.29954514e-01 -3.65009266e+01] [-9.84222022e-01 -8.24934827e-03 1.76745467e-01 -2.46553291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:-36.49, Z:-246.62 [[ 1.05147155e-01 -8.30730754e-01 5.46653904e-01 1.95316676e+02] [ 1.41383037e-01 5.56604990e-01 8.18658489e-01 -3.64905050e+01] [-9.84355074e-01 -8.79202182e-03 1.75976669e-01 -2.46616304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.672320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:-36.47, Z:-246.69 [[ 1.11534194e-01 -8.17648494e-01 5.64810644e-01 1.95293534e+02] [ 1.37081981e-01 5.75582253e-01 8.06172190e-01 -3.64745355e+01] [-9.84260461e-01 -1.24904037e-02 1.76281978e-01 -2.46694094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.26, Y:-36.47, Z:-246.76 [[ 1.13437453e-01 -7.96662580e-01 5.93683988e-01 1.95255215e+02] [ 1.34848060e-01 6.04357049e-01 7.85218796e-01 -3.64654727e+01] [-9.84351535e-01 -9.01608638e-03 1.75985128e-01 -2.46755709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-36.45, Z:-246.82 [[ 1.16982138e-01 -7.85044689e-01 6.08292706e-01 1.95235913e+02] [ 1.33510829e-01 6.19369445e-01 7.73664235e-01 -3.64544681e+01] [-9.84118915e-01 -9.29123261e-03 1.77267129e-01 -2.46817395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-36.44, Z:-246.88 [[ 1.19454604e-01 -7.71646412e-01 6.24733873e-01 1.95215282e+02] [ 1.31468119e-01 6.35992203e-01 7.60414394e-01 -3.64435714e+01] [-9.84096912e-01 -8.70241315e-03 1.77419099e-01 -2.46876245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.20, Y:-36.43, Z:-246.94 [[ 1.21831630e-01 -7.59338957e-01 6.39188081e-01 1.95197764e+02] [ 1.27545219e-01 6.50623284e-01 7.48613090e-01 -3.64305044e+01] [-9.84321731e-01 -9.67936904e-03 1.76116549e-01 -2.46940677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.17, Y:-36.42, Z:-247.00 [[ 1.24389677e-01 -7.43499215e-01 6.57066303e-01 1.95172043e+02] [ 1.25790144e-01 6.68682734e-01 7.32830295e-01 -3.64172210e+01] [-9.84227640e-01 -8.50405879e-03 1.76702103e-01 -2.47000495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.63, Y:-34.28, Z:-246.92 [[ 6.00697333e-02 9.96122481e-01 -6.42777534e-02 1.94627811e+02] [ 1.58505385e-01 -7.30958123e-02 -9.84648691e-01 -3.42778083e+01] [-9.85529132e-01 4.89592142e-02 -1.62281624e-01 -2.46922092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:-36.34, Z:-247.23 [[ 6.60631875e-02 -9.17672497e-01 3.91807152e-01 1.95642897e+02] [ 1.29981624e-01 3.97233671e-01 9.08465843e-01 -3.63396009e+01] [-9.89313112e-01 -9.08841940e-03 1.45523084e-01 -2.47233241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-36.34, Z:-247.30 [[ 6.88101235e-02 -9.01549083e-01 4.27170244e-01 1.95600303e+02] [ 1.26700603e-01 4.32615268e-01 8.92631496e-01 -3.63403131e+01] [-9.89551476e-01 -7.29935577e-03 1.43995123e-01 -2.47296486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.57, Y:-36.34, Z:-247.36 [[ 6.95799576e-02 -8.90096352e-01 4.50429920e-01 1.95571183e+02] [ 1.22409493e-01 4.55730108e-01 8.81660924e-01 -3.63350683e+01] [-9.90037649e-01 -6.20903144e-03 1.40665925e-01 -2.47358307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.54, Y:-36.33, Z:-247.42 [[ 7.37708061e-02 -8.77947835e-01 4.73038547e-01 1.95540496e+02] [ 1.20061381e-01 4.78699619e-01 8.69730958e-01 -3.63301085e+01] [-9.90021784e-01 -7.36709252e-03 1.40721686e-01 -2.47418644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-34.15, Z:-247.25 [[ 5.81963182e-02 4.97783091e-01 -8.65346857e-01 1.95788216e+02] [ 2.07242648e-01 -8.53956406e-01 -4.77293350e-01 -3.41542815e+01] [-9.76557051e-01 -1.51560058e-01 -1.52859005e-01 -2.47249726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-36.25, Z:-247.72 [[ 5.10959064e-02 -9.73821739e-01 2.21495888e-01 1.95891516e+02] [ 1.77661168e-01 2.27111315e-01 9.57526480e-01 -3.62478161e+01] [-9.82764325e-01 -9.57446521e-03 1.84614766e-01 -2.47721471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:-36.24, Z:-247.78 [[ 5.60649529e-02 -9.69103415e-01 2.40198445e-01 1.95868703e+02] [ 1.74332498e-01 2.46382973e-01 9.53364364e-01 -3.62446502e+01] [-9.83089468e-01 -1.15759334e-02 1.82759669e-01 -2.47781080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:-36.24, Z:-247.84 [[ 5.92166066e-02 -9.64435674e-01 2.57598960e-01 1.95849798e+02] [ 1.73318923e-01 2.64065713e-01 9.48804432e-01 -3.62410695e+01] [-9.83083895e-01 -1.15382044e-02 1.82792028e-01 -2.47840472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:-36.24, Z:-247.90 [[ 6.34425492e-02 -9.59435464e-01 2.74697350e-01 1.95829479e+02] [ 1.72537946e-01 2.81651709e-01 9.43876566e-01 -3.62362973e+01] [-9.82957629e-01 -1.24862191e-02 1.83407726e-01 -2.47899168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.90, Y:-36.19, Z:-247.96 [[ 9.81334930e-02 -9.74128712e-01 2.03575710e-01 1.95899576e+02] [ 1.98888918e-01 2.19633775e-01 9.55093819e-01 -3.61871371e+01] [-9.75096414e-01 -5.32377398e-02 2.15296835e-01 -2.47955627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:-34.90, Z:-247.96 [[-1.34645264e-02 7.33170160e-01 6.79911923e-01 1.94283184e+02] [ 1.43217782e-01 6.74376645e-01 -7.24365107e-01 -3.49044034e+01] [-9.89599603e-01 8.76222447e-02 -1.14083166e-01 -2.47958638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:-36.00, Z:-248.20 [[ 3.64120693e-02 -9.97237717e-01 6.47386763e-02 1.96091896e+02] [ 1.20452270e-01 6.86889476e-02 9.90339881e-01 -3.60030376e+01] [-9.92051114e-01 -2.82624039e-02 1.22620653e-01 -2.48204691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-36.05, Z:-248.27 [[ 3.93778967e-02 -9.87164502e-01 1.54776052e-01 1.95999357e+02] [ 1.18667506e-01 1.58420058e-01 9.80214828e-01 -3.60495852e+01] [-9.92152914e-01 -2.02319101e-02 1.23382598e-01 -2.48271633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-36.05, Z:-248.34 [[ 4.31715389e-02 -9.82331331e-01 1.82102650e-01 1.95967783e+02] [ 1.17484061e-01 1.85999598e-01 9.75500715e-01 -3.60543379e+01] [-9.92135935e-01 -2.07197083e-02 1.23438163e-01 -2.48336862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:-36.06, Z:-248.40 [[ 4.64275639e-02 -9.75728551e-01 2.14005318e-01 1.95928865e+02] [ 1.16910639e-01 2.18071589e-01 9.68904889e-01 -3.60613886e+01] [-9.92056643e-01 -1.99643951e-02 1.24197581e-01 -2.48400629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:-36.07, Z:-248.46 [[ 4.90389623e-02 -9.68817448e-01 2.42874313e-01 1.95894761e+02] [ 1.15965458e-01 2.47045097e-01 9.62039881e-01 -3.60672347e+01] [-9.92041931e-01 -1.90124065e-02 1.24464194e-01 -2.48460712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.86, Y:-36.07, Z:-248.54 [[ 5.53312762e-02 -9.61943049e-01 2.67589276e-01 1.95860857e+02] [ 1.12597813e-01 2.72301765e-01 9.55601110e-01 -3.60652084e+01] [-9.92098877e-01 -2.27446617e-02 1.23379488e-01 -2.48544210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:-36.06, Z:-248.70 [[ 8.40417702e-02 -9.43035591e-01 3.21901934e-01 1.95775671e+02] [ 1.01961413e-01 3.29487559e-01 9.38638279e-01 -3.60560147e+01] [-9.91231987e-01 -4.60632466e-02 1.23843959e-01 -2.48703212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.53, Y:-36.10, Z:-248.80 [[ 8.53306700e-02 -8.49739424e-01 5.20251466e-01 1.95527282e+02] [ 9.77328155e-02 5.26776300e-01 8.44366642e-01 -3.60961749e+01] [-9.91547767e-01 -2.12047308e-02 1.27997601e-01 -2.48803295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45232058799996 meters Centerline goodness : 0.999857 Centerline is valid? [True, True] Translation: X:195.47, Y:-36.08, Z:-248.93 [[ 9.95846473e-02 -8.22790660e-01 5.59551989e-01 1.95469635e+02] [ 8.75255105e-02 5.67411013e-01 8.18769826e-01 -3.60761025e+01] [-9.91172126e-01 -3.25618309e-02 1.28520598e-01 -2.48933224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:195.34, Y:-36.07, Z:-249.01 [[ 1.00370215e-01 -7.51043601e-01 6.52578983e-01 1.95336847e+02] [ 8.57490384e-02 6.59980450e-01 7.46373170e-01 -3.60664310e+01] [-9.91248164e-01 -1.89556149e-02 1.30643646e-01 -2.49006498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:-36.05, Z:-249.07 [[ 1.03731747e-01 -7.31825240e-01 6.73551440e-01 1.95305252e+02] [ 8.38730485e-02 6.81228936e-01 7.27249922e-01 -3.60528914e+01] [-9.91062579e-01 -1.89460922e-02 1.32045481e-01 -2.49069003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.28, Y:-36.04, Z:-249.13 [[ 1.03931036e-01 -7.12300985e-01 6.94136619e-01 1.95275224e+02] [ 8.09081762e-02 7.01658128e-01 7.07905176e-01 -3.60398894e+01] [-9.91288155e-01 -1.74119907e-02 1.30555030e-01 -2.49129770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57232058799997 meters Centerline goodness : 0.999904 Centerline is valid? [True, True] Translation: X:195.25, Y:-36.03, Z:-249.19 [[ 1.05184231e-01 -6.93371689e-01 7.12861823e-01 1.95248112e+02] [ 7.96073025e-02 7.20408636e-01 6.88965946e-01 -3.60257720e+01] [-9.91261295e-01 -1.57193462e-02 1.30973078e-01 -2.49191097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-36.01, Z:-249.26 [[ 1.06720585e-01 -6.73408140e-01 7.31527302e-01 1.95221691e+02] [ 7.70528157e-02 7.39117775e-01 6.69154525e-01 -3.60108930e+01] [-9.91298936e-01 -1.50463239e-02 1.30767075e-01 -2.49257624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-35.99, Z:-249.32 [[ 1.09032252e-01 -6.49117099e-01 7.52833952e-01 1.95188909e+02] [ 7.60740510e-02 7.60576890e-01 6.44775568e-01 -3.59931642e+01] [-9.91122952e-01 -1.30302037e-02 1.32308378e-01 -2.49324486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.15, Y:-35.95, Z:-249.47 [[ 1.23073299e-01 -6.21394804e-01 7.73770935e-01 1.95154216e+02] [ 5.75017202e-02 7.82853787e-01 6.19542978e-01 -3.59517071e+01] [-9.90730294e-01 -3.17560384e-02 1.32079668e-01 -2.49472632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.692320588 meters Centerline goodness : 0.999856 Centerline is valid? [True, True] Translation: X:194.98, Y:-35.88, Z:-249.55 [[ 1.21359529e-01 -4.87491875e-01 8.64652264e-01 1.94984586e+02] [ 5.69683193e-02 8.73075731e-01 4.84245163e-01 -3.58831317e+01] [-9.90972490e-01 -9.50997872e-03 1.33727652e-01 -2.49548919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:-35.86, Z:-249.61 [[ 1.23381044e-01 -4.65657876e-01 8.76321779e-01 1.94964078e+02] [ 5.50637312e-02 8.84921001e-01 4.62474656e-01 -3.58641919e+01] [-9.90830512e-01 -8.80705920e-03 1.34823338e-01 -2.49609179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:-35.84, Z:-249.67 [[ 1.25036510e-01 -4.41897614e-01 8.88308713e-01 1.94943283e+02] [ 5.16109279e-02 8.97019939e-01 4.38966447e-01 -3.58428618e+01] [-9.90808853e-01 -9.04039563e-03 1.34966988e-01 -2.49672253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.92, Y:-35.82, Z:-249.74 [[ 1.26125366e-01 -4.16250010e-01 9.00460061e-01 1.94920237e+02] [ 4.77420026e-02 9.09203896e-01 4.13604856e-01 -3.58177425e+01] [-9.90864821e-01 -9.17629743e-03 1.34546284e-01 -2.49738096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:-35.77, Z:-249.87 [[ 1.30443623e-01 -3.85198119e-01 9.13568208e-01 1.94899189e+02] [ 3.07195754e-02 9.22569116e-01 3.84606987e-01 -3.57746739e+01] [-9.90979702e-01 -2.21051012e-02 1.32176380e-01 -2.49868827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:-35.69, Z:-249.94 [[ 1.29849322e-01 -2.70400336e-01 9.53951158e-01 1.94791427e+02] [ 2.90971392e-02 9.62721328e-01 2.68925642e-01 -3.56906992e+01] [-9.91106710e-01 -7.16256262e-03 1.32876588e-01 -2.49939976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:-35.67, Z:-250.01 [[ 1.32320243e-01 -2.45130972e-01 9.60417701e-01 1.94776054e+02] [ 2.47853889e-02 9.69452843e-01 2.44022272e-01 -3.56650482e+01] [-9.90897087e-01 -8.48476009e-03 1.34353902e-01 -2.50005191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-35.69, Z:-249.96 [[ 2.16564154e-01 -9.76267976e-01 8.98210210e-04 1.96100925e+02] [ 1.80037162e-02 4.91362360e-03 9.99825846e-01 -3.56870603e+01] [-9.76102368e-01 -2.16510268e-01 1.86405664e-02 -2.49963359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.932320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:195.98, Y:-35.73, Z:-250.15 [[ 2.80910646e-01 -9.56387761e-01 8.00728366e-02 1.95983945e+02] [ 1.21748236e-02 8.69767178e-02 9.96135947e-01 -3.57260207e+01] [-9.59656701e-01 -2.78850319e-01 3.60765382e-02 -2.50148023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-35.76, Z:-250.35 [[ 3.42522128e-01 -9.22431434e-01 1.78322298e-01 1.95855446e+02] [-1.76769012e-03 1.89170484e-01 9.81942668e-01 -3.57620409e+01] [-9.39508099e-01 -3.36652311e-01 6.31645036e-02 -2.50346916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.13, Y:-33.70, Z:-250.75 [[ 2.80601600e-01 9.27723627e-01 -2.46153639e-01 1.95126042e+02] [ 4.55230171e-02 -2.69031777e-01 -9.62054862e-01 -3.37042455e+01] [-9.58744177e-01 2.58748477e-01 -1.17723526e-01 -2.50745268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-35.75, Z:-250.72 [[ 3.42657357e-01 -9.27131070e-01 1.51703379e-01 1.96000178e+02] [ 4.88617547e-03 1.63235864e-01 9.86574973e-01 -3.57478647e+01] [-9.39447742e-01 -3.37315924e-01 6.04640947e-02 -2.50716096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.21, Y:-33.72, Z:-251.12 [[ 2.82878015e-01 9.36088450e-01 -2.09089556e-01 1.95212119e+02] [ 5.16575437e-02 -2.32545558e-01 -9.71212676e-01 -3.37159340e+01] [-9.57763816e-01 2.63933661e-01 -1.14138056e-01 -2.51122417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-35.73, Z:-251.09 [[ 3.42570451e-01 -9.30678134e-01 1.28388851e-01 1.96141221e+02] [ 1.35582873e-02 1.41540911e-01 9.89839554e-01 -3.57323327e+01] [-9.39394304e-01 -3.37349049e-01 6.11061353e-02 -2.51087318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.07, Y:-35.74, Z:-251.27 [[ 4.03390213e-01 -8.97568473e-01 1.77896523e-01 1.96073482e+02] [ 6.60934588e-04 1.94702231e-01 9.80862174e-01 -3.57401991e+01] [-9.15027813e-01 -3.95552623e-01 7.91342086e-02 -2.51273355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:-33.68, Z:-251.72 [[ 3.50271798e-01 9.09063297e-01 -2.25640398e-01 1.95375775e+02] [ 4.40484536e-02 -2.56622830e-01 -9.65507357e-01 -3.36844264e+01] [-9.35611779e-01 3.28250887e-01 -1.29930572e-01 -2.51716058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.172320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:-35.73, Z:-251.64 [[ 4.02872271e-01 -8.99749978e-01 1.67761471e-01 1.96222853e+02] [ 5.59931600e-03 1.85714033e-01 9.82587882e-01 -3.57318244e+01] [-9.15239084e-01 -3.94918062e-01 7.98570188e-02 -2.51635843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-35.73, Z:-251.83 [[ 4.61112538e-01 -8.61018918e-01 2.14526574e-01 1.96168272e+02] [-9.32900102e-03 2.37045792e-01 9.71453685e-01 -3.57343656e+01] [-8.87292622e-01 -4.49950793e-01 1.01272340e-01 -2.51828355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:-33.65, Z:-252.30 [[ 4.14807249e-01 8.74886772e-01 -2.50016167e-01 1.95589639e+02] [ 3.40469995e-02 -2.89501851e-01 -9.56571733e-01 -3.36504331e+01] [-9.09272098e-01 3.88280588e-01 -1.49874736e-01 -2.52299407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-33.68, Z:-252.43 [[ 3.53294064e-01 9.11190247e-01 -2.11933097e-01 1.95678569e+02] [ 5.02810868e-02 -2.44709694e-01 -9.68291784e-01 -3.36835158e+01] [-9.34160113e-01 3.31435513e-01 -1.32270118e-01 -2.52427923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:-35.72, Z:-252.36 [[ 4.03991683e-01 -9.01352253e-01 1.56060357e-01 1.96545382e+02] [ 1.41294385e-02 1.76730250e-01 9.84157903e-01 -3.57211100e+01] [-9.14653529e-01 -3.95386563e-01 8.41331526e-02 -2.52355681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-33.68, Z:-252.79 [[ 3.51324773e-01 9.16588155e-01 -1.90884936e-01 1.95806266e+02] [ 5.36336948e-02 -2.23249900e-01 -9.73284598e-01 -3.36840321e+01] [-9.34716176e-01 3.31701126e-01 -1.27593230e-01 -2.52793510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-35.70, Z:-252.71 [[ 4.07594786e-01 -9.02605682e-01 1.38453864e-01 1.96708024e+02] [ 1.87497944e-02 1.59860457e-01 9.86961539e-01 -3.57029514e+01] [-9.12970391e-01 -3.99684396e-01 8.20819600e-02 -2.52711798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:196.66, Y:-35.70, Z:-252.90 [[ 4.66942152e-01 -8.65768597e-01 1.80027115e-01 1.96660027e+02] [ 4.65841859e-03 2.05989794e-01 9.78543052e-01 -3.57042604e+01] [-8.84275594e-01 -4.56084357e-01 1.00218430e-01 -2.52897906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:-33.65, Z:-253.37 [[ 4.12527373e-01 8.86880739e-01 -2.07999333e-01 1.96015481e+02] [ 4.63128869e-02 -2.48457285e-01 -9.67535061e-01 -3.36478273e+01] [-9.09767159e-01 3.89501647e-01 -1.43569438e-01 -2.53372721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-33.68, Z:-253.50 [[ 3.49289445e-01 9.20800110e-01 -1.73562785e-01 1.96109399e+02] [ 6.01612958e-02 -2.06885450e-01 -9.76513712e-01 -3.36760713e+01] [-9.35081549e-01 3.30644170e-01 -1.27659432e-01 -2.53497589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.04, Y:-35.67, Z:-253.42 [[ 4.13644317e-01 -9.03462277e-01 1.12491305e-01 1.97043693e+02] [ 2.73541092e-02 1.35834197e-01 9.90353888e-01 -3.56730305e+01] [-9.10027545e-01 -4.06577158e-01 8.09004493e-02 -2.53416679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-33.67, Z:-253.86 [[ 3.47912964e-01 9.23916701e-01 -1.59168150e-01 1.96244354e+02] [ 6.48324780e-02 -1.93077915e-01 -9.79039156e-01 -3.36702964e+01] [-9.35282481e-01 3.30301149e-01 -1.27074119e-01 -2.53856798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-33.70, Z:-254.00 [[ 2.81973451e-01 9.53822641e-01 -1.03505283e-01 1.96312698e+02] [ 7.40988322e-02 -1.29211184e-01 -9.88844696e-01 -3.37024916e+01] [-9.56556499e-01 2.71158330e-01 -1.07111267e-01 -2.53996125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-33.74, Z:-254.14 [[ 2.13872167e-01 9.76190626e-01 -3.62016227e-02 1.96366014e+02] [ 7.82940274e-02 -5.40696527e-02 -9.95462967e-01 -3.37376960e+01] [-9.73719026e-01 2.10067451e-01 -8.79938894e-02 -2.54144327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.60, Y:-35.56, Z:-254.15 [[ 2.92197132e-01 -9.55410051e-01 -4.25731231e-02 1.97595650e+02] [ 5.50827927e-02 -2.76291596e-02 9.98099452e-01 -3.55598034e+01] [-9.54770508e-01 -2.93986843e-01 4.45534927e-02 -2.54150181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:-35.61, Z:-254.35 [[ 3.55848218e-01 -9.33082073e-01 5.22483558e-02 1.97477184e+02] [ 4.94262109e-02 7.46203164e-02 9.95986374e-01 -3.56057823e+01] [-9.33235820e-01 -3.51837538e-01 7.26722179e-02 -2.54350230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-33.67, Z:-254.74 [[ 2.80154770e-01 9.54950329e-01 -9.78936834e-02 1.96535539e+02] [ 8.46713970e-02 -1.26161737e-01 -9.88389584e-01 -3.36659374e+01] [-9.56213396e-01 2.68613261e-01 -1.16201791e-01 -2.54735936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:-33.70, Z:-254.88 [[ 2.13287556e-01 9.76637449e-01 -2.62242455e-02 1.96583689e+02] [ 8.81423933e-02 -4.59679523e-02 -9.95046665e-01 -3.37007811e+01] [-9.73005312e-01 2.09919604e-01 -9.58875544e-02 -2.54883895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.83, Y:-35.50, Z:-254.90 [[ 2.93941424e-01 -9.53331018e-01 -6.89812200e-02 1.97830054e+02] [ 6.61201811e-02 -5.17158200e-02 9.96470569e-01 -3.55018951e+01] [-9.53533723e-01 -2.97465029e-01 4.78329978e-02 -2.54900142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-33.70, Z:-255.27 [[ 2.13430904e-01 9.76859773e-01 1.38648198e-02 1.96648165e+02] [ 8.90487223e-02 -5.31929732e-03 -9.96013067e-01 -3.37005029e+01] [-9.72891348e-01 2.13814614e-01 -8.81234171e-02 -2.55266796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-33.74, Z:-255.42 [[ 1.46917740e-01 9.84028982e-01 1.00509405e-01 1.96681087e+02] [ 8.37214808e-02 8.88766572e-02 -9.92517835e-01 -3.37418860e+01] [-9.85599255e-01 1.54233273e-01 -6.93268059e-02 -2.55422077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:-35.33, Z:-255.45 [[ 2.25828144e-01 -9.45494293e-01 -2.34610724e-01 1.98177083e+02] [ 7.71205451e-02 -2.22724622e-01 9.71826201e-01 -3.53345076e+01] [-9.71109711e-01 -2.37559014e-01 2.26195474e-02 -2.55446162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-35.39, Z:-255.61 [[ 2.88783005e-01 -9.43880978e-01 -1.60290599e-01 1.98088467e+02] [ 8.52450911e-02 -1.41408877e-01 9.86274203e-01 -3.53919515e+01] [-9.53591973e-01 -2.98483215e-01 3.96247395e-02 -2.55610927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.78, Y:-33.70, Z:-255.99 [[ 2.15872421e-01 9.71921722e-01 9.36336715e-02 1.96777436e+02] [ 1.06815754e-01 7.18126334e-02 -9.91682076e-01 -3.37026691e+01] [-9.70561432e-01 2.24078362e-01 -8.83141846e-02 -2.55986966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:-35.35, Z:-255.99 [[ 2.82937269e-01 -9.43306494e-01 -1.73549299e-01 1.98193962e+02] [ 9.14915244e-02 -1.53574133e-01 9.83892416e-01 -3.53534175e+01] [-9.54764789e-01 -2.94258123e-01 4.28527033e-02 -2.55990391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:-33.68, Z:-256.36 [[ 2.21099476e-01 9.69947389e-01 1.01573047e-01 1.96869622e+02] [ 1.12689350e-01 7.80441283e-02 -9.90560561e-01 -3.36756442e+01] [-9.68718810e-01 2.30458622e-01 -9.20472249e-02 -2.56360280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:-35.31, Z:-256.34 [[ 2.75098918e-01 -9.42711593e-01 -1.88720530e-01 1.98312189e+02] [ 9.58058964e-02 -1.68436805e-01 9.81045500e-01 -3.53089073e+01] [-9.56630449e-01 -2.87965095e-01 4.39805466e-02 -2.56342627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.24, Y:-35.35, Z:-256.51 [[ 3.38225409e-01 -9.33664524e-01 -1.17788497e-01 1.98236679e+02] [ 1.02598008e-01 -8.78345406e-02 9.90837394e-01 -3.53542975e+01] [-9.35455622e-01 -3.47211248e-01 6.60842471e-02 -2.56507565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:-35.38, Z:-256.67 [[ 3.99470036e-01 -9.14822136e-01 -5.93645549e-02 1.98177767e+02] [ 1.05305759e-01 -1.85366408e-02 9.94267112e-01 -3.53820740e+01] [-9.10677982e-01 -4.03431348e-01 8.89312067e-02 -2.56673573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-33.55, Z:-257.08 [[ 3.55441801e-01 9.34446098e-01 2.17167250e-02 1.97072565e+02] [ 1.34524301e-01 -2.81502794e-02 -9.90510360e-01 -3.35504443e+01] [-9.24967209e-01 3.54990214e-01 -1.35711494e-01 -2.57076755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-33.57, Z:-257.20 [[ 2.93310496e-01 9.53344060e-01 7.14426750e-02 1.97128338e+02] [ 1.33119385e-01 3.32740390e-02 -9.90541300e-01 -3.35657789e+01] [-9.46703851e-01 3.00046565e-01 -1.17148950e-01 -2.57199776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:-35.28, Z:-257.15 [[ 3.32244622e-01 -9.35381085e-01 -1.21143459e-01 1.98481234e+02] [ 1.10035779e-01 -8.91230360e-02 9.89923841e-01 -3.52792437e+01] [-9.36752709e-01 -3.42226987e-01 7.33147368e-02 -2.57152825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-33.52, Z:-257.52 [[ 2.95962063e-01 9.53280606e-01 6.05189470e-02 1.97241807e+02] [ 1.35945546e-01 2.06752618e-02 -9.90500551e-01 -3.35195998e+01] [-9.45476211e-01 3.01377868e-01 -1.23475160e-01 -2.57516018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-33.55, Z:-257.65 [[ 2.30039670e-01 9.64811703e-01 1.27358267e-01 1.97273738e+02] [ 1.29552127e-01 9.93431648e-02 -9.86583591e-01 -3.35462650e+01] [-9.64519568e-01 2.43452898e-01 -1.02140539e-01 -2.57646880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-33.59, Z:-257.78 [[ 1.63788148e-01 9.62199426e-01 2.17590687e-01 1.97283070e+02] [ 1.17628686e-01 1.99946796e-01 -9.72720294e-01 -3.35912809e+01] [-9.79457470e-01 1.84914962e-01 -8.04333387e-02 -2.57784323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-33.66, Z:-257.93 [[ 9.73289726e-02 9.37636554e-01 3.33713596e-01 1.97269215e+02] [ 9.71434196e-02 3.24754458e-01 -9.40796310e-01 -3.36643298e+01] [-9.90499988e-01 1.23984818e-01 -5.94772034e-02 -2.57926981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:-35.39, Z:-258.07 [[ 6.94621923e-02 -6.87529670e-01 7.22826367e-01 1.97945399e+02] [ 8.08220954e-02 7.26073148e-01 6.82851062e-01 -3.53908346e+01] [-9.94305181e-01 1.09880098e-02 1.06002221e-01 -2.58068820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:-33.82, Z:-258.00 [[ 1.06009455e-01 -7.22752380e-02 -9.91734987e-01 1.99129353e+02] [ 1.32435916e-01 -9.87443293e-01 8.61189324e-02 -3.38203872e+01] [-9.85506329e-01 -1.40470752e-01 -9.51064884e-02 -2.57998881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:-35.44, Z:-258.45 [[ 9.28431567e-02 -8.40482561e-01 5.33825077e-01 1.98228498e+02] [ 1.28927227e-01 5.41775195e-01 8.30576552e-01 -3.54399417e+01] [-9.87298293e-01 -8.28876218e-03 1.58661205e-01 -2.58448292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-35.42, Z:-258.53 [[ 1.01345682e-01 -7.74327768e-01 6.24616330e-01 1.98110397e+02] [ 1.24782518e-01 6.32784533e-01 7.64207471e-01 -3.54237402e+01] [-9.86994618e-01 4.92071646e-04 1.60752549e-01 -2.58534590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:-35.41, Z:-258.60 [[ 1.05070609e-01 -7.45059873e-01 6.58669836e-01 1.98065500e+02] [ 1.21587485e-01 6.66991498e-01 7.35077428e-01 -3.54092391e+01] [-9.87003876e-01 2.85097527e-03 1.60671159e-01 -2.58596861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:-35.39, Z:-258.66 [[ 1.09007539e-01 -7.26668831e-01 6.78284429e-01 1.98039259e+02] [ 1.16795943e-01 6.86987141e-01 7.17221985e-01 -3.53949277e+01] [-9.87155542e-01 1.03826616e-03 1.59758749e-01 -2.58657479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:-35.38, Z:-258.72 [[ 1.12137757e-01 -7.10576795e-01 6.94626333e-01 1.98019640e+02] [ 1.13435959e-01 7.03619642e-01 7.01463957e-01 -3.53810804e+01] [-9.87196742e-01 1.35009526e-04 1.59507289e-01 -2.58716576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:-35.37, Z:-258.78 [[ 1.16621312e-01 -6.95135465e-01 7.09356155e-01 1.98003318e+02] [ 1.07887069e-01 7.18869974e-01 6.86721443e-01 -3.53671685e+01] [-9.87299271e-01 -3.55599877e-03 1.58831688e-01 -2.58775885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:-35.34, Z:-258.87 [[ 1.25058297e-01 -6.78857011e-01 7.23542383e-01 1.97986165e+02] [ 1.00402811e-01 7.34183087e-01 6.71486761e-01 -3.53436299e+01] [-9.87056076e-01 -1.13293019e-02 1.59974838e-01 -2.58871152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:-33.59, Z:-258.91 [[ 6.23169435e-02 9.34266701e-01 3.51087353e-01 1.97403085e+02] [ 9.97880934e-02 3.44176022e-01 -9.33587276e-01 -3.35863404e+01] [-9.93055353e-01 9.32126431e-02 -7.17806951e-02 -2.58911056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.33, Y:-33.82, Z:-259.10 [[ 4.43954209e-03 7.92136111e-01 6.10328331e-01 1.97331041e+02] [ 5.50799040e-02 6.09214105e-01 -7.91090626e-01 -3.38194302e+01] [-9.98472080e-01 3.71289060e-02 -4.09261493e-02 -2.59097327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-34.08, Z:-259.23 [[ 6.57861453e-02 -4.53341694e-01 -8.88905783e-01 1.99447660e+02] [ 1.08827480e-01 -8.82261775e-01 4.58007357e-01 -3.40777694e+01] [-9.91881426e-01 -1.26867915e-01 -8.70456701e-03 -2.59228458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:-33.91, Z:-259.47 [[-1.87256671e-02 7.25658391e-01 6.87800297e-01 1.97338248e+02] [ 6.53155440e-02 6.87339304e-01 -7.23393780e-01 -3.39125927e+01] [-9.97688944e-01 3.13780195e-02 -6.02676596e-02 -2.59471983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-35.05, Z:-259.56 [[ 1.46112057e-02 -9.99888460e-01 -3.09534119e-03 1.99040569e+02] [ 4.47553470e-02 -2.43857279e-03 9.98995001e-01 -3.50487883e+01] [-9.98891121e-01 -1.47350545e-02 4.47147244e-02 -2.59555604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-35.08, Z:-259.62 [[ 1.99446482e-02 -9.97704382e-01 6.47161216e-02 1.98972645e+02] [ 4.39182747e-02 6.55407885e-02 9.96882937e-01 -3.50831384e+01] [-9.98836021e-01 -1.70402591e-02 4.51246431e-02 -2.59616400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:-35.12, Z:-259.68 [[ 2.32192975e-02 -9.89922277e-01 1.39695205e-01 1.98893724e+02] [ 4.42702369e-02 1.40613922e-01 9.89074250e-01 -3.51170227e+01] [-9.98749724e-01 -1.67812695e-02 4.70890502e-02 -2.59682626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:-35.14, Z:-259.77 [[ 2.95130099e-02 -9.76273684e-01 2.14519639e-01 1.98810679e+02] [ 4.19225776e-02 2.15633245e-01 9.75574088e-01 -3.51442647e+01] [-9.98684875e-01 -1.97989115e-02 4.72918954e-02 -2.59767007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:-35.18, Z:-259.84 [[ 3.05032736e-02 -9.41792392e-01 3.34808364e-01 1.98675415e+02] [ 3.97382166e-02 3.35842060e-01 9.41079691e-01 -3.51816776e+01] [-9.98744424e-01 -1.54013240e-02 4.76694324e-02 -2.59835404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-35.19, Z:-259.90 [[ 3.15040262e-02 -9.14170857e-01 4.04102883e-01 1.98593945e+02] [ 3.81378096e-02 4.05108604e-01 9.13472783e-01 -3.51936862e+01] [-9.98775753e-01 -1.33664716e-02 4.76270262e-02 -2.59896638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:198.29, Y:-33.06, Z:-259.95 [[-3.55018515e-02 9.11950478e-01 -4.08761477e-01 1.98290748e+02] [ 9.94929900e-02 -4.03762061e-01 -9.09437927e-01 -3.30639258e+01] [-9.94404728e-01 -7.29556317e-02 -7.63983790e-02 -2.59947838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-34.75, Z:-260.14 [[-1.77132785e-02 -9.27645518e-01 -3.73041596e-01 1.99377958e+02] [ 7.37107139e-02 -3.73296424e-01 9.24779168e-01 -3.47464361e+01] [-9.97122345e-01 -1.11162914e-02 7.49897169e-02 -2.60136265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:-34.79, Z:-260.15 [[-1.62040371e-02 -9.44049554e-01 -3.29405327e-01 1.99347703e+02] [ 7.53622221e-02 -3.29664607e-01 9.41085428e-01 -3.47868746e+01] [-9.97024556e-01 -9.57533429e-03 7.64875696e-02 -2.60146992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:-34.83, Z:-260.18 [[-7.96916715e-04 -9.58591136e-01 -2.84784831e-01 1.99312980e+02] [ 8.01666597e-02 -2.83929574e-01 9.55487993e-01 -3.48252483e+01] [-9.96781155e-01 -2.20688043e-02 7.70733176e-02 -2.60182401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-34.97, Z:-260.21 [[ 1.14410133e-03 -9.95276219e-01 -9.70769782e-02 1.99163688e+02] [ 7.84054164e-02 -9.66889151e-02 9.92221671e-01 -3.49709986e+01] [-9.96920900e-01 -8.74656303e-03 7.79244244e-02 -2.60209241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:-35.00, Z:-260.23 [[ 7.00885602e-03 -9.98669754e-01 -5.10842267e-02 1.99122604e+02] [ 7.72004165e-02 -5.03926208e-02 9.95741271e-01 -3.50004221e+01] [-9.96990959e-01 -1.09227308e-02 7.67445263e-02 -2.60225771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:-35.03, Z:-260.33 [[ 1.68934817e-02 -9.99655994e-01 2.00624937e-02 1.99048225e+02] [ 7.49418735e-02 2.12748702e-02 9.96960930e-01 -3.50330578e+01] [-9.97044796e-01 -1.53386204e-02 7.52754996e-02 -2.60327416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-35.09, Z:-260.40 [[ 2.00396051e-02 -9.90317237e-01 1.37368787e-01 1.98932584e+02] [ 7.46305772e-02 1.38494741e-01 9.87547206e-01 -3.50871390e+01] [-9.97009875e-01 -9.53814417e-03 7.66833270e-02 -2.60399215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.92, Y:-35.09, Z:-260.46 [[ 2.90242700e-02 -9.88200188e-01 1.50392754e-01 1.98915331e+02] [ 9.15559202e-02 1.52451882e-01 9.84060942e-01 -3.50854035e+01] [-9.95376866e-01 -1.47923035e-02 9.49003821e-02 -2.60464770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:-34.35, Z:-260.57 [[-1.27099981e-02 2.85150685e-01 9.58398426e-01 1.97439329e+02] [ 2.12080143e-02 9.58337112e-01 -2.84851188e-01 -3.43515486e+01] [-9.99694291e-01 1.67052694e-02 -1.82279426e-02 -2.60567425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:-35.03, Z:-260.63 [[ 9.37863661e-03 -9.84556264e-01 1.74817058e-01 1.98903560e+02] [ 3.52873757e-03 1.74856245e-01 9.84587651e-01 -3.50275985e+01] [-9.99949793e-01 -8.61720626e-03 5.11415386e-03 -2.60630307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:-33.77, Z:-260.74 [[ 4.36988572e-02 -2.78952753e-01 -9.59310050e-01 1.99494095e+02] [ 8.54792122e-02 -9.55662118e-01 2.81785771e-01 -3.37697089e+01] [-9.95381190e-01 -9.43147835e-02 -1.79166809e-02 -2.60736281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:198.76, Y:-35.11, Z:-260.93 [[ 2.99991061e-02 -9.54465707e-01 2.96808470e-01 1.98757253e+02] [ 6.75685419e-02 2.98199323e-01 9.52109057e-01 -3.51142300e+01] [-9.97263529e-01 -8.50750507e-03 7.34375693e-02 -2.60926572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:-33.03, Z:-260.90 [[-2.87575268e-02 9.13527802e-01 -4.05758500e-01 1.98346235e+02] [ 1.26881819e-01 -3.99306850e-01 -9.07995068e-01 -3.30312692e+01] [-9.91500887e-01 -7.75950689e-02 -1.04426991e-01 -2.60899332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-34.79, Z:-261.14 [[-2.12056573e-02 -9.62327534e-01 -2.71064637e-01 1.99328478e+02] [ 1.00289102e-01 -2.71805563e-01 9.57112236e-01 -3.47903623e+01] [-9.94732334e-01 -6.88863514e-03 1.02274780e-01 -2.61141340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-34.82, Z:-261.15 [[-1.82244396e-02 -9.71253027e-01 -2.37350853e-01 1.99301970e+02] [ 1.00556232e-01 -2.37967127e-01 9.66053876e-01 -3.48178675e+01] [-9.94764451e-01 -6.26131705e-03 1.02002363e-01 -2.61154829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-34.83, Z:-261.17 [[-2.07351896e-02 -9.74662071e-01 -2.22719329e-01 1.99287596e+02] [ 1.04714636e-01 -2.23659163e-01 9.69026018e-01 -3.48285890e+01] [-9.94286124e-01 -3.22903528e-03 1.06698999e-01 -2.61173803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:197.51, Y:-34.43, Z:-261.12 [[-5.00370083e-02 2.29512878e-01 9.72018589e-01 1.97505290e+02] [ 5.19517421e-02 9.72518255e-01 -2.26956517e-01 -3.44280820e+01] [-9.97395265e-01 3.91418339e-02 -6.05854978e-02 -2.61117864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:199.52, Y:-34.44, Z:-261.21 [[-2.27774443e-02 -8.02523422e-01 -5.96185664e-01 1.99524168e+02] [ 3.46665003e-02 -5.96615766e-01 8.01777937e-01 -3.44380807e+01] [-9.99139341e-01 -2.40521818e-03 4.14100608e-02 -2.61210178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:-34.53, Z:-261.23 [[-2.33074153e-02 -8.56013647e-01 -5.16427537e-01 1.99482704e+02] [ 3.76337621e-02 -5.16952985e-01 8.55186126e-01 -3.45318416e+01] [-9.99019752e-01 4.97067144e-04 4.42638519e-02 -2.61226896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:-34.60, Z:-261.26 [[-2.10303220e-02 -8.91831715e-01 -4.51878212e-01 1.99444667e+02] [ 3.89173425e-02 -4.52365855e-01 8.90982926e-01 -3.45997691e+01] [-9.99021104e-01 1.15175870e-03 4.42211199e-02 -2.61260931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-34.70, Z:-261.28 [[-1.81923447e-02 -9.37411992e-01 -3.47746740e-01 1.99376281e+02] [ 3.87888122e-02 -3.48204179e-01 9.36615865e-01 -3.46999604e+01] [-9.99081812e-01 3.55055564e-03 4.26957482e-02 -2.61281028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-34.77, Z:-261.31 [[-1.05742030e-02 -9.63943819e-01 -2.65895656e-01 1.99316419e+02] [ 4.15350160e-02 -2.66104440e-01 9.63048944e-01 -3.47696943e+01] [-9.99081092e-01 -8.60505313e-04 4.28512644e-02 -2.61307508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:-34.89, Z:-261.33 [[-1.04928542e-02 -9.94544587e-01 -1.03783258e-01 1.99187440e+02] [ 4.35148689e-02 -1.04144804e-01 9.93609740e-01 -3.48910660e+01] [-9.98997676e-01 5.90968729e-03 4.43702535e-02 -2.61329874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:-34.94, Z:-261.35 [[-8.95441795e-03 -9.99433352e-01 -3.24467782e-02 1.99126110e+02] [ 4.54683597e-02 -3.28214625e-02 9.98426452e-01 -3.49366567e+01] [-9.98925646e-01 7.46502596e-03 4.57364922e-02 -2.61350004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-34.97, Z:-261.41 [[-6.53884505e-03 -9.99425992e-01 3.32404757e-02 1.99064221e+02] [ 4.50880613e-02 3.29127119e-02 9.98440694e-01 -3.49701814e+01] [-9.98961616e-01 8.02739760e-03 4.48469693e-02 -2.61408918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:-35.00, Z:-261.47 [[-3.13046822e-03 -9.94838788e-01 1.01419847e-01 1.98996574e+02] [ 4.24815203e-02 1.01196485e-01 9.93959049e-01 -3.50002311e+01] [-9.99092348e-01 7.42002653e-03 4.19454718e-02 -2.61465278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:-33.01, Z:-261.49 [[-2.48099301e-02 8.03511503e-01 -5.94772000e-01 1.98624349e+02] [ 1.07943031e-01 -5.89323536e-01 -8.00653528e-01 -3.30088843e+01] [-9.93847458e-01 -8.40656502e-02 -7.21123910e-02 -2.61486703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:-34.66, Z:-261.71 [[-4.68553362e-02 -9.14661871e-01 -4.01495004e-01 1.99448904e+02] [ 8.63031544e-02 -4.04140309e-01 9.10616481e-01 -3.46590056e+01] [-9.95166490e-01 8.01695609e-03 9.78743348e-02 -2.61705129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-34.69, Z:-261.74 [[-3.32563511e-02 -9.29260572e-01 -3.67924999e-01 1.99422885e+02] [ 9.04677414e-02 -3.69416293e-01 9.24849820e-01 -3.46881343e+01] [-9.95343962e-01 -2.52821333e-03 9.63535431e-02 -2.61737849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:199.33, Y:-34.79, Z:-261.76 [[-3.06378201e-02 -9.70402793e-01 -2.39540693e-01 1.99328867e+02] [ 8.87403535e-02 -2.41347647e-01 9.66372839e-01 -3.47944807e+01] [-9.95583484e-01 8.35063140e-03 9.35082527e-02 -2.61764271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-34.82, Z:-261.78 [[-2.77080308e-02 -9.78985825e-01 -2.02037174e-01 1.99300063e+02] [ 8.87325523e-02 -2.03725704e-01 9.74998652e-01 -3.48200135e+01] [-9.95670025e-01 9.08801857e-03 9.25127490e-02 -2.61780715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.26, Y:-34.85, Z:-261.80 [[-2.58521576e-02 -9.87088615e-01 -1.58075081e-01 1.99264716e+02] [ 9.15156518e-02 -1.59800817e-01 9.82898054e-01 -3.48506708e+01] [-9.95468006e-01 1.09436913e-02 9.44652539e-02 -2.61802393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:199.23, Y:-34.88, Z:-261.82 [[-2.46379630e-02 -9.92126521e-01 -1.22792252e-01 1.99232620e+02] [ 9.34396431e-02 -1.24577249e-01 9.87800355e-01 -3.48754797e+01] [-9.95320051e-01 1.28637244e-02 9.57732777e-02 -2.61822943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:-34.90, Z:-261.83 [[-2.05698739e-02 -9.95922556e-01 -8.78358830e-02 1.99201326e+02] [ 9.10375286e-02 -8.93552821e-02 9.91830531e-01 -3.48970239e+01] [-9.95634998e-01 1.24054673e-02 9.25043551e-02 -2.61829983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-34.91, Z:-261.87 [[-4.49132632e-04 -9.98627411e-01 -5.23745369e-02 1.99167971e+02] [ 9.10559350e-02 -5.21978068e-02 9.94476850e-01 -3.49126491e+01] [-9.95845678e-01 -4.32236042e-03 9.09543963e-02 -2.61872502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.01, Y:-35.00, Z:-261.94 [[-3.42817784e-04 -9.93041240e-01 1.17766629e-01 1.99010286e+02] [ 9.32864797e-02 1.17221334e-01 9.88714717e-01 -3.49973661e+01] [-9.95639250e-01 1.13249833e-02 9.25971359e-02 -2.61943114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:-35.00, Z:-262.00 [[ 5.54643865e-03 -9.88805116e-01 1.49109623e-01 1.98973112e+02] [ 9.62393043e-02 1.48947577e-01 9.84150708e-01 -3.50048593e+01] [-9.95342772e-01 8.89167484e-03 9.59880451e-02 -2.62001088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-35.01, Z:-262.06 [[ 1.06741500e-02 -9.82578724e-01 1.85540059e-01 1.98928097e+02] [ 9.37721494e-02 1.85716554e-01 9.78118677e-01 -3.50124293e+01] [-9.95536462e-01 6.95790466e-03 9.41208853e-02 -2.62057973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:-35.02, Z:-262.12 [[ 1.42070788e-02 -9.75257091e-01 2.20616783e-01 1.98891541e+02] [ 9.33644660e-02 2.20968982e-01 9.70801620e-01 -3.50185130e+01] [-9.95530630e-01 6.80551295e-03 9.41936813e-02 -2.62116495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:-35.02, Z:-262.18 [[ 1.90823440e-02 -9.66309483e-01 2.56674596e-01 1.98851345e+02] [ 9.28910611e-02 2.57324428e-01 9.61849983e-01 -3.50234636e+01] [-9.95493403e-01 5.48842331e-03 9.46718664e-02 -2.62176245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:-35.02, Z:-262.26 [[ 2.68902282e-02 -9.54893031e-01 2.95729968e-01 1.98807457e+02] [ 9.08802471e-02 2.96947081e-01 9.50559421e-01 -3.50247709e+01] [-9.95498717e-01 1.31525292e-03 9.47658894e-02 -2.62256583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.73, Y:-35.04, Z:-262.32 [[ 2.94230113e-02 -9.29223824e-01 3.68344095e-01 1.98728138e+02] [ 9.06491974e-02 3.69465698e-01 9.24812317e-01 -3.50352818e+01] [-9.95448145e-01 6.17933332e-03 9.51041872e-02 -2.62315594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.69, Y:-35.03, Z:-262.37 [[ 3.26711217e-02 -9.15914142e-01 4.00042350e-01 1.98692670e+02] [ 8.95931478e-02 4.01328495e-01 9.11541830e-01 -3.50341980e+01] [-9.95442447e-01 6.05995933e-03 9.51714832e-02 -2.62372426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:-35.00, Z:-262.51 [[ 8.12688528e-02 -8.97748036e-01 4.32947846e-01 1.98622095e+02] [ 6.77145497e-02 4.38354262e-01 8.96247890e-01 -3.50041936e+01] [-9.94389317e-01 -4.35201694e-02 9.64151520e-02 -2.62511249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.17, Y:-34.93, Z:-262.67 [[ 9.01947425e-02 -6.25389487e-01 7.75082511e-01 1.98168466e+02] [ 6.27831258e-02 7.80277054e-01 6.22274857e-01 -3.49277234e+01] [-9.93943252e-01 -7.46381777e-03 1.09640795e-01 -2.62669873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:198.03, Y:-34.84, Z:-262.81 [[ 9.98715203e-02 -5.00832500e-01 8.59763041e-01 1.98030213e+02] [ 4.38491394e-02 8.65459061e-01 4.99056978e-01 -3.48368720e+01] [-9.94033668e-01 -1.21417096e-02 1.08395786e-01 -2.62813721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:-34.76, Z:-262.81 [[ 1.77766661e-01 -9.80865828e-01 -7.93803666e-02 1.99103200e+02] [ 2.63170062e-02 -7.58977839e-02 9.96768249e-01 -3.47571784e+01] [-9.83720707e-01 -1.79281217e-01 1.23213565e-02 -2.62814568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:-32.96, Z:-263.06 [[ 1.41500695e-01 9.86353023e-01 -8.41740305e-02 1.98107876e+02] [ 7.05623561e-02 -9.48628814e-02 -9.92986399e-01 -3.29633120e+01] [-9.87420127e-01 1.34568747e-01 -8.30225569e-02 -2.63063280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:-33.05, Z:-263.22 [[ 7.03912267e-02 9.92422998e-01 1.00705852e-01 1.98017341e+02] [ 6.62644084e-02 9.60811387e-02 -9.93165365e-01 -3.30535598e+01] [-9.95316082e-01 7.65833422e-02 -5.89990536e-02 -2.63219820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:197.79, Y:-33.35, Z:-263.39 [[ 1.54454048e-03 8.67523661e-01 4.97393518e-01 1.97789866e+02] [ 3.76700438e-02 4.96990601e-01 -8.66937893e-01 -3.33513671e+01] [-9.99289038e-01 2.00758563e-02 -3.19120322e-02 -2.63385724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-34.62, Z:-263.42 [[-8.06516587e-03 -9.80879671e-01 -1.94447997e-01 1.99424714e+02] [-8.15966083e-03 -1.94383292e-01 9.80891715e-01 -3.46246042e+01] [-9.99934184e-01 9.49768409e-03 -6.43591194e-03 -2.63417707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-33.55, Z:-263.54 [[ 3.26704111e-02 -2.04178223e-01 -9.78388419e-01 1.99688564e+02] [ 6.08058431e-02 -9.76691635e-01 2.05854557e-01 -3.35535217e+01] [-9.97614802e-01 -6.62170856e-02 -1.94936882e-02 -2.63538858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:-33.95, Z:-263.74 [[-2.02205339e-02 4.32897556e-01 9.01216309e-01 1.97684146e+02] [ 4.04017821e-02 9.01018123e-01 -4.31895866e-01 -3.39501069e+01] [-9.98978892e-01 2.76775799e-02 -3.57089002e-02 -2.63741455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-34.31, Z:-263.79 [[-1.26837802e-02 -8.43219954e-01 -5.37419046e-01 1.99667830e+02] [-6.04452516e-04 -5.37455716e-01 8.43291757e-01 -3.43059468e+01] [-9.99919375e-01 1.10209716e-02 6.30728375e-03 -2.63786186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47232058799995 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:199.57, Y:-34.47, Z:-263.80 [[-1.21432431e-02 -9.27697471e-01 -3.73135288e-01 1.99565178e+02] [ 1.22170924e-03 -3.73176289e-01 9.27759648e-01 -3.44711453e+01] [-9.99925522e-01 1.08101481e-02 5.66494697e-03 -2.63801658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:-34.61, Z:-263.82 [[-7.34790498e-03 -9.79988074e-01 -1.98920544e-01 1.99436733e+02] [ 3.75505500e-03 -1.98951553e-01 9.80002132e-01 -3.46115607e+01] [-9.99965953e-01 6.45400497e-03 5.14178623e-03 -2.63824151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-34.79, Z:-263.88 [[-7.96171713e-03 -9.92914838e-01 1.18561102e-01 1.99158972e+02] [ 6.58414487e-03 1.18510237e-01 9.92931001e-01 -3.47915603e+01] [-9.99946629e-01 8.68605924e-03 5.59395015e-03 -2.63884146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-34.83, Z:-264.02 [[ 5.27000131e-02 -9.58375672e-01 2.80604311e-01 1.98945362e+02] [-9.03187753e-03 2.80525853e-01 9.59803975e-01 -3.48306452e+01] [-9.98569544e-01 -5.31160658e-02 6.12778442e-03 -2.64023218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-34.72, Z:-264.15 [[ 1.25892785e-01 -9.91988687e-01 1.04619325e-02 1.99160528e+02] [-1.37612896e-02 8.79857793e-03 9.99866597e-01 -3.47187443e+01] [-9.91948403e-01 -1.26019961e-01 -1.25433661e-02 -2.64145424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-34.75, Z:-264.30 [[ 1.92677799e-01 -9.76447947e-01 9.70807488e-02 1.99043567e+02] [-1.85709316e-02 9.52882130e-02 9.95276483e-01 -3.47548349e+01] [-9.81086330e-01 -1.93570562e-01 2.26375091e-04 -2.64301651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.95, Y:-34.78, Z:-264.46 [[ 2.59421387e-01 -9.50305205e-01 1.72106251e-01 1.98945100e+02] [-2.86663434e-02 1.70551765e-01 9.84931640e-01 -3.47753955e+01] [-9.65338689e-01 -2.60445989e-01 1.70030000e-02 -2.64461766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:-32.83, Z:-264.79 [[ 2.15462435e-01 9.51721330e-01 -2.18637712e-01 1.98361364e+02] [ 1.79175421e-02 -2.27711922e-01 -9.73563682e-01 -3.28281356e+01] [-9.76347736e-01 2.05848951e-01 -6.61158721e-02 -2.64793607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.39, Y:-32.86, Z:-264.93 [[ 1.44226127e-01 9.75826787e-01 -1.64197766e-01 1.98392791e+02] [ 3.20163873e-02 -1.70447456e-01 -9.84846493e-01 -3.28587211e+01] [-9.89026681e-01 1.36783576e-01 -5.58254248e-02 -2.64927252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:-32.90, Z:-265.07 [[ 7.20405256e-02 9.95251133e-01 -6.54625531e-02 1.98376327e+02] [ 3.63508075e-02 -6.82093754e-02 -9.97008576e-01 -3.29043969e+01] [-9.96739074e-01 6.94454051e-02 -4.10920216e-02 -2.65070277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-34.70, Z:-265.17 [[ 1.46173469e-01 -9.88391236e-01 -4.14256143e-02 1.99377811e+02] [ 4.70090962e-03 -4.11809264e-02 9.99140647e-01 -3.46986043e+01] [-9.89247804e-01 -1.46242593e-01 -1.37322102e-03 -2.65172480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-34.72, Z:-265.33 [[ 2.14614889e-01 -9.76691020e-01 -3.88601649e-03 1.99303643e+02] [ 5.60319330e-03 -2.74745243e-03 9.99980528e-01 -3.47164358e+01] [-9.76682678e-01 -2.14632484e-01 4.88294438e-03 -2.65326468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:-32.89, Z:-265.62 [[ 1.30119008e-01 9.88030372e-01 -8.28554685e-02 1.98417348e+02] [ 4.34625648e-02 -8.91694350e-02 -9.95067745e-01 -3.28916900e+01] [-9.90545329e-01 1.25876116e-01 -5.45449724e-02 -2.65616016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.38, Y:-34.70, Z:-265.67 [[ 2.19900035e-01 -9.74873599e-01 -3.55730439e-02 1.99384792e+02] [ 1.40986137e-02 -3.32858626e-02 9.99346427e-01 -3.46977699e+01] [-9.75420527e-01 -2.20257844e-01 6.42480391e-03 -2.65674141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:-34.73, Z:-265.84 [[ 2.86384540e-01 -9.57407907e-01 3.67966743e-02 1.99290017e+02] [ 9.94686907e-03 4.13741869e-02 9.99094208e-01 -3.47286733e+01] [-9.58063127e-01 -2.85759123e-01 2.13721386e-02 -2.65840302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:-32.87, Z:-266.16 [[ 1.93991703e-01 9.74985437e-01 -1.08492473e-01 1.98506044e+02] [ 5.49596635e-02 -1.21221214e-01 -9.91102847e-01 -3.28737887e+01] [-9.79462431e-01 1.86303019e-01 -7.71007812e-02 -2.66159782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-34.71, Z:-266.19 [[ 2.87293177e-01 -9.57756599e-01 1.28423985e-02 1.99390549e+02] [ 1.74893569e-02 1.86506395e-02 9.99673085e-01 -3.47108043e+01] [-9.57683013e-01 -2.86974651e-01 2.21087484e-02 -2.66187553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-32.89, Z:-266.51 [[ 1.94144222e-01 9.79685371e-01 -5.02453510e-02 1.98541258e+02] [ 5.61100534e-02 -6.22262133e-02 -9.96483598e-01 -3.28904907e+01] [-9.79366981e-01 1.90642263e-01 -6.70510583e-02 -2.66513481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:-34.68, Z:-266.52 [[ 2.87225093e-01 -9.57153570e-01 -3.68617575e-02 1.99515377e+02] [ 2.30136541e-02 -3.15764474e-02 9.99236358e-01 -3.46760746e+01] [-9.57586611e-01 -2.87854079e-01 1.29580532e-02 -2.66524319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.59, Y:-32.91, Z:-266.86 [[ 1.94672314e-01 9.80860929e-01 3.81159716e-03 1.98585066e+02] [ 6.14629033e-02 -8.32010602e-03 -9.98074690e-01 -3.29066554e+01] [-9.78940755e-01 1.94531781e-01 -6.19062547e-02 -2.66862144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:-32.92, Z:-267.00 [[ 1.27962383e-01 9.90897158e-01 4.18144792e-02 1.98643591e+02] [ 5.80054931e-02 3.46115210e-02 -9.97716095e-01 -3.29197671e+01] [-9.90081305e-01 1.30095598e-01 -5.30485056e-02 -2.66998791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:-34.61, Z:-267.05 [[ 2.19484161e-01 -9.68292296e-01 -1.19317784e-01 1.99756960e+02] [ 3.15463093e-02 -1.15192295e-01 9.92842165e-01 -3.46116409e+01] [-9.75105909e-01 -2.21677165e-01 5.26316409e-03 -2.67054751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-34.65, Z:-267.22 [[ 2.82928127e-01 -9.57782126e-01 -5.10399273e-02 1.99669321e+02] [ 3.45850731e-02 -4.29921197e-02 9.98476615e-01 -3.46482309e+01] [-9.58517369e-01 -2.84262338e-01 2.09612850e-02 -2.67220177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-32.87, Z:-267.53 [[ 1.99527113e-01 9.79694986e-01 -1.96638114e-02 1.98761849e+02] [ 7.13025499e-02 -3.45299281e-02 -9.96856876e-01 -3.28710412e+01] [-9.77294673e-01 1.97497895e-01 -7.67444075e-02 -2.67532905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-34.62, Z:-267.56 [[ 2.79024394e-01 -9.57507721e-01 -7.29681601e-02 1.99769873e+02] [ 4.05172552e-02 -6.41795155e-02 9.97115511e-01 -3.46242600e+01] [-9.59428861e-01 -2.81176021e-01 2.08879342e-02 -2.67559615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-34.65, Z:-267.72 [[ 3.41139984e-01 -9.39863303e-01 -1.67476183e-02 1.99703726e+02] [ 4.07074694e-02 -3.02885958e-03 9.99166517e-01 -3.46466028e+01] [-9.39130669e-01 -3.41537403e-01 3.72261916e-02 -2.67724493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:-32.85, Z:-268.07 [[ 2.69973314e-01 9.62647960e-01 -2.05746408e-02 1.98856678e+02] [ 7.82093207e-02 -4.32211624e-02 -9.95999615e-01 -3.28466689e+01] [-9.59686257e-01 2.67284188e-01 -8.69566035e-02 -2.68065849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:-34.63, Z:-268.06 [[ 3.39398532e-01 -9.40588492e-01 -1.00957899e-02 1.99800174e+02] [ 4.56312632e-02 5.74329461e-03 9.98941841e-01 -3.46341714e+01] [-9.39535217e-01 -3.39500079e-01 4.48695068e-02 -2.68057688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.98, Y:-32.82, Z:-268.38 [[ 2.72765500e-01 9.60991860e-01 -4.57561696e-02 1.98984631e+02] [ 8.17240658e-02 -7.05315897e-02 -9.94156161e-01 -3.28173723e+01] [-9.58603233e-01 2.67432122e-01 -9.77747464e-02 -2.68379341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:-32.84, Z:-268.51 [[ 2.06688705e-01 9.78384843e-01 6.54811008e-03 1.99031622e+02] [ 8.19811209e-02 -1.06490570e-02 -9.96576988e-01 -3.28355604e+01] [-9.74966089e-01 2.06518029e-01 -8.24101260e-02 -2.68512363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.04, Y:-32.87, Z:-268.65 [[ 1.38996790e-01 9.86101538e-01 9.10145485e-02 1.99044296e+02] [ 7.67007263e-02 8.09105235e-02 -9.93765810e-01 -3.28681501e+01] [-9.87318029e-01 1.45111140e-01 -6.43884011e-02 -2.68654874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:-32.75, Z:-268.75 [[ 7.52005183e-02 9.85522767e-01 -1.51953145e-01 1.99341281e+02] [ 8.54464817e-02 -1.58192760e-01 -9.83704198e-01 -3.27548305e+01] [-9.93500770e-01 6.09912040e-02 -9.61056306e-02 -2.68747452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.15, Y:-32.88, Z:-268.91 [[ 3.76722250e-03 9.90278758e-01 1.39045996e-01 1.99148502e+02] [ 7.59730383e-02 1.38361684e-01 -9.87463489e-01 -3.28807098e+01] [-9.97102756e-01 1.42837414e-02 -7.47132467e-02 -2.68909009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-34.61, Z:-269.13 [[ 2.82288444e-02 -9.95220098e-01 9.34884449e-02 2.00174743e+02] [ 4.83908455e-02 9.47766336e-02 9.94321737e-01 -3.46106796e+01] [-9.98429496e-01 -2.35445687e-02 5.08349768e-02 -2.69132205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.492320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:199.86, Y:-34.69, Z:-269.21 [[ 2.91378389e-02 -9.16715332e-01 3.98477084e-01 1.99862131e+02] [ 4.39951025e-02 3.99436185e-01 9.15704737e-01 -3.46882495e+01] [-9.98606738e-01 -9.15061693e-03 5.19696922e-02 -2.69210098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:-34.69, Z:-269.28 [[ 3.46008828e-02 -8.76061965e-01 4.80955521e-01 1.99766934e+02] [ 4.05694110e-02 4.82078248e-01 8.75188372e-01 -3.46874220e+01] [-9.98577439e-01 -1.07702080e-02 5.22216509e-02 -2.69276557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:-34.68, Z:-269.34 [[ 3.82361882e-02 -8.33144084e-01 5.51732661e-01 1.99681365e+02] [ 3.79860416e-02 5.52949210e-01 8.32348624e-01 -3.46799884e+01] [-9.98546471e-01 -1.08676988e-02 5.27905158e-02 -2.69339207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-34.66, Z:-269.42 [[ 4.40870466e-02 -7.91016664e-01 6.10204039e-01 1.99607100e+02] [ 3.29251739e-02 6.11616569e-01 7.90468915e-01 -3.46645488e+01] [-9.98484985e-01 -1.47583658e-02 5.30087294e-02 -2.69415682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:-34.63, Z:-269.50 [[ 4.85608598e-02 -7.13751446e-01 6.98713615e-01 1.99489320e+02] [ 2.64872283e-02 7.00213129e-01 7.13442360e-01 -3.46316008e+01] [-9.98468963e-01 -1.61383874e-02 5.29082491e-02 -2.69503128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-34.58, Z:-269.56 [[ 4.92047013e-02 -6.09579754e-01 7.91196196e-01 1.99356854e+02] [ 2.26380883e-02 7.92632880e-01 6.09278782e-01 -3.45796547e+01] [-9.98532130e-01 -1.20682112e-02 5.28009844e-02 -2.69564831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:-32.65, Z:-269.61 [[-3.10397009e-03 8.83334936e-01 -4.68732073e-01 1.99794504e+02] [ 8.92953023e-02 -4.66616975e-01 -8.79940309e-01 -3.26498310e+01] [-9.96000359e-01 -4.45868805e-02 -7.74292950e-02 -2.69608929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:-34.53, Z:-269.76 [[ 1.16805674e-02 -9.98934827e-01 -4.46405273e-02 2.00350848e+02] [ 5.39333961e-02 -4.39491993e-02 9.97576893e-01 -3.45252770e+01] [-9.98476216e-01 -1.40598794e-02 5.33625961e-02 -2.69757453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.28, Y:-34.55, Z:-269.89 [[ 3.64308395e-02 -9.99194719e-01 1.68139035e-02 2.00277695e+02] [ 5.08737520e-02 1.86575986e-02 9.98530798e-01 -3.45473664e+01] [-9.98040408e-01 -3.55219289e-02 5.15124963e-02 -2.69890895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-34.65, Z:-269.97 [[ 3.45939704e-02 -9.37172306e-01 3.47147414e-01 1.99951575e+02] [ 4.57943285e-02 3.48476927e-01 9.36198008e-01 -3.46487014e+01] [-9.98351710e-01 -1.64894235e-02 5.49723769e-02 -2.69967374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:-34.65, Z:-270.03 [[ 3.72330247e-02 -9.11647234e-01 4.09283548e-01 1.99883202e+02] [ 4.37133920e-02 4.10661334e-01 9.10739484e-01 -3.46513801e+01] [-9.98350059e-01 -1.60184136e-02 5.51413565e-02 -2.70029056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:-34.65, Z:-270.10 [[ 4.15730765e-02 -8.84882584e-01 4.63955270e-01 1.99818263e+02] [ 4.00319972e-02 4.65459067e-01 8.84163614e-01 -3.46484348e+01] [-9.98333170e-01 -1.81843456e-02 5.47741825e-02 -2.70097864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:-34.64, Z:-270.20 [[ 5.05931978e-02 -8.43672594e-01 5.34468785e-01 1.99731044e+02] [ 3.34792041e-02 5.36286061e-01 8.43372044e-01 -3.46350550e+01] [-9.98158039e-01 -2.47752991e-02 5.53779137e-02 -2.70198307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-34.59, Z:-270.33 [[ 6.32077328e-02 -7.42872482e-01 6.66442239e-01 1.99559268e+02] [ 1.90194546e-02 6.68552902e-01 7.43421332e-01 -3.45914410e+01] [-9.97819143e-01 -3.43146090e-02 5.63867427e-02 -2.70331778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-34.48, Z:-270.42 [[ 6.05214874e-02 -5.31749460e-01 8.44736445e-01 1.99300054e+02] [ 1.27157528e-02 8.46629833e-01 5.32030295e-01 -3.44818137e+01] [-9.98085898e-01 -2.14578050e-02 5.80008915e-02 -2.70421997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:-34.40, Z:-270.55 [[ 6.44342557e-02 -4.34559946e-01 8.98335060e-01 1.99209186e+02] [-2.96113138e-03 9.00118507e-01 4.35635060e-01 -3.44047161e+01] [-9.97917561e-01 -3.07299090e-02 5.67116769e-02 -2.70546651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:199.69, Y:-32.60, Z:-270.62 [[ 1.24863037e-02 9.47072187e-01 -3.20777750e-01 1.99688073e+02] [ 6.54859423e-02 -3.20888566e-01 -9.44850316e-01 -3.26008080e+01] [-9.97775367e-01 -9.20874523e-03 -6.60266267e-02 -2.70618252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:199.98, Y:-34.59, Z:-270.77 [[ 2.27987963e-02 -9.27161688e-01 3.73967136e-01 1.99977210e+02] [ 1.11313930e-02 3.74276597e-01 9.27250301e-01 -3.45947545e+01] [-9.99678102e-01 -1.69774156e-02 1.88536570e-02 -2.70765923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.80, Y:-34.60, Z:-270.82 [[ 2.15943943e-02 -8.50097212e-01 5.26182870e-01 1.99803474e+02] [ 1.04957289e-02 5.26469357e-01 8.50129317e-01 -3.45968651e+01] [-9.99711719e-01 -1.28353549e-02 2.02911768e-02 -2.70824666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:199.71, Y:-34.58, Z:-270.92 [[ 2.91725071e-02 -7.97948136e-01 6.02019714e-01 1.99706654e+02] [ 5.54606069e-03 6.02395989e-01 7.98178121e-01 -3.45796913e+01] [-9.99559006e-01 -1.99460190e-02 2.19988700e-02 -2.70916486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09232058799995 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:199.46, Y:-34.50, Z:-270.99 [[ 2.74244445e-02 -6.21481884e-01 7.82948381e-01 1.99460840e+02] [ 2.71438494e-03 7.83286386e-01 6.21655105e-01 -3.45047156e+01] [-9.99620194e-01 -1.49233227e-02 2.31681351e-02 -2.70993277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:199.32, Y:-34.40, Z:-271.14 [[ 4.34229775e-02 -4.96089695e-01 8.67184790e-01 1.99317813e+02] [-2.87833255e-02 8.67021982e-01 4.97437839e-01 -3.44047121e+01] [-9.98642061e-01 -4.65606942e-02 2.33695649e-02 -2.71143288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15232058799995 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:198.89, Y:-33.85, Z:-271.24 [[ 3.37687276e-02 1.81077984e-01 9.82888822e-01 1.98891893e+02] [-2.00118554e-02 9.83375049e-01 -1.80480022e-01 -3.38547429e+01] [-9.99229302e-01 -1.35748483e-02 3.68310306e-02 -2.71244650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:198.87, Y:-33.74, Z:-271.30 [[ 3.24198991e-02 2.90647080e-01 9.56280934e-01 1.98865932e+02] [-2.01122369e-02 9.56779858e-01 -2.90116874e-01 -3.37421110e+01] [-9.99271959e-01 -9.82738888e-03 3.68642694e-02 -2.71304020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21232058799995 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:198.86, Y:-33.67, Z:-271.36 [[ 3.02155744e-02 3.55145810e-01 9.34322467e-01 1.98858618e+02] [-2.17606467e-02 9.34761452e-01 -3.54608943e-01 -3.36732355e+01] [-9.99306506e-01 -9.61674816e-03 3.59725567e-02 -2.71364443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:200.43, Y:-34.35, Z:-271.40 [[ 1.29382638e-01 -9.79066512e-01 -1.57127015e-01 2.00427326e+02] [-3.72411734e-02 -1.63144920e-01 9.85898996e-01 -3.43488783e+01] [-9.90895165e-01 -1.21706618e-01 -5.75697058e-02 -2.71402536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27232058799996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:198.89, Y:-33.92, Z:-271.66 [[ 9.76982943e-02 1.21031789e-01 9.87829109e-01 1.98885102e+02] [-1.82329351e-02 9.92628607e-01 -1.19816564e-01 -3.39236298e+01] [-9.95049046e-01 -6.30515010e-03 9.91848866e-02 -2.71658034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:198.88, Y:-33.88, Z:-271.72 [[ 9.75262784e-02 1.60256233e-01 9.82245674e-01 1.98878414e+02] [-2.13051571e-02 9.87060527e-01 -1.58926420e-01 -3.38842553e+01] [-9.95004882e-01 -5.42739612e-03 9.96786239e-02 -2.71719539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33232058799996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:198.87, Y:-33.84, Z:-271.79 [[ 9.59756796e-02 1.99858216e-01 9.75113000e-01 1.98874723e+02] [-2.63230098e-02 9.79802310e-01 -1.98228485e-01 -3.38436119e+01] [-9.95035561e-01 -6.64279548e-03 9.92980624e-02 -2.71785710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:198.87, Y:-33.79, Z:-271.86 [[ 9.42981786e-02 2.49059577e-01 9.63886498e-01 1.98871891e+02] [-3.22804538e-02 9.68456632e-01 -2.47082423e-01 -3.37930844e+01] [-9.95020515e-01 -7.81527109e-03 9.93634526e-02 -2.71861316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39232058799996 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:198.87, Y:-33.73, Z:-271.92 [[ 9.39405724e-02 3.09343601e-01 9.46298951e-01 1.98865114e+02] [-3.47823174e-02 9.50941767e-01 -3.07408435e-01 -3.37328686e+01] [-9.94970029e-01 -4.03634609e-03 1.00091701e-01 -2.71923923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:200.26, Y:-34.45, Z:-271.87 [[ 1.80655003e-01 -9.82215046e-01 5.11602643e-02 2.00255357e+02] [-6.94597083e-02 3.91453462e-02 9.96816428e-01 -3.44538638e+01] [-9.81090780e-01 -1.83633452e-01 -6.11525680e-02 -2.71874272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-34.40, Z:-272.01 [[ 2.49415630e-01 -9.64802641e-01 -8.33529063e-02 2.00343100e+02] [-6.33906271e-02 -1.02154508e-01 9.92746738e-01 -3.43953502e+01] [-9.66319550e-01 -2.42322760e-01 -8.66383753e-02 -2.72005087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:199.30, Y:-32.75, Z:-272.48 [[ 1.81432316e-01 9.74404983e-01 1.32729969e-01 1.99298704e+02] [-2.31953028e-02 1.39172701e-01 -9.89996433e-01 -3.27475230e+01] [-9.83129845e-01 1.76538634e-01 4.78520440e-02 -2.72483452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51232058799997 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:200.38, Y:-34.43, Z:-272.34 [[ 2.48216260e-01 -9.68115287e-01 -3.37857962e-02 2.00375419e+02] [-6.97217388e-02 -5.26411359e-02 9.96176586e-01 -3.44336510e+01] [-9.66192303e-01 -2.44911622e-01 -8.05650671e-02 -2.72343981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:200.43, Y:-34.39, Z:-272.48 [[ 3.15000818e-01 -9.40775183e-01 -1.25365627e-01 2.00433432e+02] [-5.87601077e-02 -1.51168185e-01 9.86760067e-01 -3.43937534e+01] [-9.47270676e-01 -3.03463730e-01 -1.02898153e-01 -2.72478185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57232058799997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:199.30, Y:-32.83, Z:-273.06 [[ 2.46868314e-01 9.43068498e-01 2.22885271e-01 1.99301556e+02] [-2.67444475e-02 2.36547075e-01 -9.71251881e-01 -3.28311214e+01] [-9.68679911e-01 2.33810371e-01 8.36178236e-02 -2.73057514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:200.51, Y:-34.42, Z:-272.81 [[ 3.15636829e-01 -9.43898588e-01 -9.71022581e-02 2.00509952e+02] [-6.43239444e-02 -1.23382618e-01 9.90272265e-01 -3.44181301e+01] [-9.46697324e-01 -3.06320397e-01 -9.96593786e-02 -2.72808323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63232058799997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:199.43, Y:-32.81, Z:-273.39 [[ 2.48526363e-01 9.52616747e-01 1.75373831e-01 1.99429290e+02] [-3.27411447e-02 1.89212697e-01 -9.81390123e-01 -3.28119087e+01] [-9.68071621e-01 2.38159378e-01 7.82141061e-02 -2.73386090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:200.61, Y:-34.43, Z:-273.13 [[ 3.18729656e-01 -9.43456276e-01 -9.11134606e-02 2.00605038e+02] [-7.05036542e-02 -1.19458893e-01 9.90332675e-01 -3.44329600e+01] [-9.45219890e-01 -3.09224561e-01 -1.04592207e-01 -2.73132225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.692320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:199.18, Y:-33.95, Z:-273.78 [[ 2.87046935e-01 1.60666352e-01 9.44346536e-01 1.99184333e+02] [-8.43219584e-02 9.86245010e-01 -1.42163944e-01 -3.39546971e+01] [-9.54198022e-01 -3.88214250e-02 2.96646309e-01 -2.73781546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:-33.85, Z:-273.86 [[ 2.87643215e-01 2.69546451e-01 9.19024533e-01 1.99168836e+02] [-8.82898621e-02 9.62955395e-01 -2.54797583e-01 -3.38462792e+01] [-9.53659416e-01 -7.84975348e-03 3.00785804e-01 -2.73856462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.50, Y:-34.52, Z:-273.51 [[ 3.75591977e-01 -9.20767892e-01 1.05437925e-01 2.00496842e+02] [-1.15177761e-01 6.65111600e-02 9.91115709e-01 -3.45199465e+01] [-9.19600321e-01 -3.84399213e-01 -8.10709258e-02 -2.73509217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:200.53, Y:-34.52, Z:-273.65 [[ 4.39120889e-01 -8.95444284e-01 7.31599529e-02 2.00527088e+02] [-1.16818888e-01 2.38323116e-02 9.92867246e-01 -3.45151685e+01] [-8.90800872e-01 -4.44535212e-01 -9.41395393e-02 -2.73649422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:199.81, Y:-32.75, Z:-274.34 [[ 3.63686893e-01 9.31312337e-01 -1.97275396e-02 1.99811597e+02] [-7.44641782e-02 7.95597956e-03 -9.97191952e-01 -3.27455636e+01] [-9.28540215e-01 3.64134637e-01 7.22428933e-02 -2.74344136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:200.66, Y:-34.55, Z:-273.97 [[ 4.42749868e-01 -8.92204497e-01 8.91273828e-02 2.00655498e+02] [-1.23470366e-01 3.77881603e-02 9.91628521e-01 -3.45512776e+01] [-8.88103385e-01 -4.50047987e-01 -9.34301128e-02 -2.73968691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872320588 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:199.96, Y:-32.77, Z:-274.66 [[ 3.60931794e-01 9.32130521e-01 -2.93416345e-02 1.99961027e+02] [-7.84431841e-02 -1.00690475e-03 -9.96918077e-01 -3.27736232e+01] [-9.29287311e-01 3.62121082e-01 7.27558621e-02 -2.74664836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:-34.59, Z:-274.29 [[ 4.45370864e-01 -8.89824799e-01 9.92805130e-02 2.00787654e+02] [-1.24983233e-01 4.80125377e-02 9.90996462e-01 -3.45892448e+01] [-8.86579937e-01 -4.53769350e-01 -8.98297947e-02 -2.74288599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.932320588 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:200.83, Y:-34.59, Z:-274.43 [[ 5.07314714e-01 -8.59111608e-01 6.75205551e-02 2.00826691e+02] [-1.25618980e-01 3.79094976e-03 9.92071318e-01 -3.45858982e+01] [-8.52555953e-01 -5.11774241e-01 -1.05997520e-01 -2.74428467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:-32.83, Z:-275.20 [[ 4.17940821e-01 9.08159510e-01 -2.39117947e-02 2.00143871e+02] [-8.62447301e-02 1.34609271e-02 -9.96183040e-01 -3.28298675e+01] [-9.04371227e-01 4.18407824e-01 8.39498428e-02 -2.75198852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.992320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:200.99, Y:-34.62, Z:-274.74 [[ 5.09228910e-01 -8.57640235e-01 7.16878277e-02 2.00988511e+02] [-1.28387120e-01 6.66306254e-03 9.91701745e-01 -3.46224663e+01] [-8.51000978e-01 -5.14206992e-01 -1.06716936e-01 -2.74739132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:201.03, Y:-34.62, Z:-274.88 [[ 5.67067951e-01 -8.22385787e-01 4.59951756e-02 2.01030161e+02] [-1.26910271e-01 -3.20619829e-02 9.91395891e-01 -3.46231879e+01] [-8.13835193e-01 -5.68026097e-01 -1.22550526e-01 -2.74882193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.34, Y:-32.90, Z:-275.73 [[ 4.76173739e-01 8.79340881e-01 4.26439807e-03 2.00342700e+02] [-8.81455423e-02 5.25558134e-02 -9.94720187e-01 -3.29048432e+01] [-8.74922245e-01 4.73283743e-01 1.02535677e-01 -2.75730123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:-32.90, Z:-275.81 [[ 4.15785739e-01 9.09031901e-01 -2.79861077e-02 2.00492489e+02] [-8.79107879e-02 9.54375320e-03 -9.96082632e-01 -3.28994976e+01] [-9.05203796e-01 4.16617234e-01 8.38818671e-02 -2.75809045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:-34.70, Z:-275.35 [[ 5.10110296e-01 -8.56173038e-01 8.21901190e-02 2.01323638e+02] [-1.33343994e-01 1.56811815e-02 9.90945750e-01 -3.46988907e+01] [-8.49709871e-01 -5.16451189e-01 -1.06166400e-01 -2.75347640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:-32.93, Z:-276.12 [[ 4.16965365e-01 9.08030557e-01 -4.02540790e-02 2.00666229e+02] [-9.15059792e-02 -2.12578604e-03 -9.95802258e-01 -3.29301009e+01] [-9.04304451e-01 4.18898541e-01 8.22038462e-02 -2.76118287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.48, Y:-34.74, Z:-275.66 [[ 5.07437782e-01 -8.56914602e-01 9.05773861e-02 2.01479948e+02] [-1.34780975e-01 2.48911892e-02 9.90562728e-01 -3.47409815e+01] [-8.51082244e-01 -5.14857062e-01 -1.02865056e-01 -2.75656054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.52, Y:-34.74, Z:-275.80 [[ 5.64375292e-01 -8.22655191e-01 6.86947330e-02 2.01519720e+02] [-1.34257223e-01 -9.36199145e-03 9.90902292e-01 -3.47428419e+01] [-8.14527794e-01 -5.68463534e-01 -1.15731078e-01 -2.75795569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:-34.75, Z:-275.93 [[ 6.16521349e-01 -7.85604696e-01 5.22176881e-02 2.01565281e+02] [-1.32538133e-01 -3.81794824e-02 9.90442311e-01 -3.47475660e+01] [-7.76102486e-01 -6.17549665e-01 -1.27661045e-01 -2.75930485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:-33.04, Z:-276.84 [[ 5.41715920e-01 8.40526483e-01 -7.68716795e-03 2.00932068e+02] [-9.47039180e-02 5.19441419e-02 -9.94149372e-01 -3.30353119e+01] [-8.35209572e-01 5.39274547e-01 1.07740120e-01 -2.76841507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29232058799994 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:201.08, Y:-33.03, Z:-276.92 [[ 4.86350061e-01 8.73304099e-01 -2.83472760e-02 2.01076890e+02] [-9.75477050e-02 2.20280199e-02 -9.94987041e-01 -3.30349519e+01] [-8.68301827e-01 4.86677220e-01 9.59021395e-02 -2.76915806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:-34.82, Z:-276.36 [[ 5.56303658e-01 -8.27892463e-01 7.15563462e-02 2.01908413e+02] [-1.37253519e-01 -6.61569237e-03 9.90513859e-01 -3.48221734e+01] [-8.19565563e-01 -5.60847843e-01 -1.17311487e-01 -2.76359273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:201.25, Y:-33.08, Z:-277.22 [[ 4.88841236e-01 8.72023766e-01 -2.46738324e-02 2.01250708e+02] [-1.00296485e-01 2.80834342e-02 -9.94561177e-01 -3.30767748e+01] [-8.66588057e-01 4.88657214e-01 1.01189260e-01 -2.77216168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.39, Y:-33.08, Z:-277.30 [[ 4.29091173e-01 9.02083928e-01 -4.61015491e-02 2.01389653e+02] [-1.00210328e-01 -3.18139434e-03 -9.94961190e-01 -3.30813741e+01] [-8.97685165e-01 4.31548915e-01 8.90330185e-02 -2.77298408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:201.53, Y:-33.08, Z:-277.38 [[ 3.68094903e-01 9.26321590e-01 -8.02150505e-02 2.01534727e+02] [-9.67003729e-02 -4.76644503e-02 -9.94171584e-01 -3.30818144e+01] [-9.24746008e-01 3.73706318e-01 7.20306019e-02 -2.77384995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.31, Y:-34.95, Z:-276.99 [[ 4.34366123e-01 -8.89369786e-01 1.42644502e-01 2.02311044e+02] [-1.42406185e-01 8.85660248e-02 9.85837988e-01 -3.49464071e+01] [-8.89407977e-01 -4.48528084e-01 -8.81816777e-02 -2.76988781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:202.34, Y:-34.95, Z:-277.13 [[ 4.93604404e-01 -8.60756317e-01 1.24311125e-01 2.02337303e+02] [-1.48164515e-01 5.76186084e-02 9.87282823e-01 -3.49495147e+01] [-8.56972561e-01 -5.05745646e-01 -9.90927430e-02 -2.77131065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:-34.95, Z:-277.27 [[ 5.51518268e-01 -8.28510800e-01 9.69404663e-02 2.02383567e+02] [-1.48815184e-01 1.66240405e-02 9.88725281e-01 -3.49502080e+01] [-8.20781116e-01 -5.59726268e-01 -1.14126525e-01 -2.77266484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:-33.18, Z:-278.13 [[ 4.90616860e-01 8.69713038e-01 -5.37989626e-02 2.01746015e+02] [-1.09446486e-01 2.53552227e-04 -9.93992657e-01 -3.31806668e+01] [-8.64474733e-01 4.93557663e-01 9.53114332e-02 -2.78133614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:-34.99, Z:-277.55 [[ 5.51362095e-01 -8.28502140e-01 9.78981334e-02 2.02565920e+02] [-1.49802329e-01 1.71195826e-02 9.88567743e-01 -3.49929733e+01] [-8.20706465e-01 -5.59724151e-01 -1.14672461e-01 -2.77553725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.93, Y:-33.22, Z:-278.43 [[ 4.90848882e-01 8.69423425e-01 -5.63052608e-02 2.01927956e+02] [-1.10432968e-01 -2.01841776e-03 -9.93881525e-01 -3.32237894e+01] [-8.64217527e-01 4.94063592e-01 9.50222711e-02 -2.78426846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.06, Y:-33.23, Z:-278.51 [[ 4.30755736e-01 8.99136032e-01 -7.74847855e-02 2.02064725e+02] [-1.07800822e-01 -3.39797450e-02 -9.93591646e-01 -3.32308820e+01] [-8.96006963e-01 4.36348225e-01 8.22906334e-02 -2.78507462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-33.24, Z:-278.60 [[ 3.69992528e-01 9.23292261e-01 -1.03135494e-01 2.02203124e+02] [-1.02911333e-01 -6.95988068e-02 -9.92252621e-01 -3.32379981e+01] [-9.23317273e-01 3.77739867e-01 6.92661993e-02 -2.78596672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.35, Y:-33.24, Z:-278.69 [[ 3.07121113e-01 9.40658945e-01 -1.44351553e-01 2.02346067e+02] [-9.72143366e-02 -1.19879019e-01 -9.88017406e-01 -3.32402932e+01] [-9.46692133e-01 3.17474046e-01 5.46281576e-02 -2.78689254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:-35.17, Z:-278.36 [[ 3.69721840e-01 -9.08135421e-01 1.96458183e-01 2.03058807e+02] [-1.46251351e-01 1.51924362e-01 9.77511908e-01 -3.51725175e+01] [-9.17559972e-01 -3.90139776e-01 -7.66462778e-02 -2.78364427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:-33.28, Z:-279.02 [[ 3.06393880e-01 9.41946205e-01 -1.37332212e-01 2.02455539e+02] [-9.91944101e-02 -1.11891371e-01 -9.88757195e-01 -3.32833720e+01] [-9.46722377e-01 3.16571741e-01 5.91529668e-02 -2.79017024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:-34.45, Z:-279.15 [[ 2.82665834e-01 3.68589032e-01 8.85574475e-01 2.01884003e+02] [-1.28622935e-01 9.29451972e-01 -3.45796432e-01 -3.44465394e+01] [-9.50555715e-01 -1.61603516e-02 3.10133320e-01 -2.79154752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.20, Y:-35.22, Z:-278.77 [[ 3.65517853e-01 -9.04972541e-01 2.17764548e-01 2.03195737e+02] [-1.63840366e-01 1.67747279e-01 9.72119944e-01 -3.52229755e+01] [-9.16271266e-01 -3.91005818e-01 -8.69564074e-02 -2.78773554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-35.22, Z:-278.91 [[ 4.28288642e-01 -8.84932619e-01 1.82929217e-01 2.03228874e+02] [-1.71742533e-01 1.19032271e-01 9.77924241e-01 -3.52196399e+01] [-8.87171540e-01 -4.50250572e-01 -1.01000400e-01 -2.78913354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:-33.36, Z:-279.68 [[ 3.60715054e-01 9.24042448e-01 -1.26610445e-01 2.02621779e+02] [-1.27133246e-01 -8.57686004e-02 -9.88170474e-01 -3.33642437e+01] [-9.23970664e-01 3.72544362e-01 8.65384908e-02 -2.79676130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:-35.27, Z:-279.23 [[ 4.28692790e-01 -8.84377464e-01 1.84659127e-01 2.03369880e+02] [-1.75302275e-01 1.19082644e-01 9.77286261e-01 -3.52696698e+01] [-8.86279642e-01 -4.51326739e-01 -1.03983511e-01 -2.79227918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:-34.58, Z:-280.08 [[ 3.97809623e-01 3.54798542e-01 8.46088351e-01 2.02141714e+02] [-1.76996337e-01 9.34553984e-01 -3.08676446e-01 -3.45780171e+01] [-9.00233192e-01 -2.69600783e-02 4.34572611e-01 -2.80078171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.74, Y:-33.47, Z:-280.17 [[ 3.48553271e-01 9.36203471e-01 -4.50963215e-02 2.02740218e+02] [-1.56686566e-01 1.07636338e-02 -9.87589725e-01 -3.34743125e+01] [-9.24099528e-01 3.51293617e-01 1.50442206e-01 -2.80168556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-34.46, Z:-280.30 [[ 3.03692935e-01 4.72443136e-01 8.27386297e-01 2.02304199e+02] [-2.38581326e-01 8.78442935e-01 -4.14025314e-01 -3.44604481e+01] [-9.22415065e-01 -7.16623573e-02 3.79493023e-01 -2.80298627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.28, Y:-33.37, Z:-280.39 [[ 2.62646764e-01 8.80290176e-01 -3.95102370e-01 2.03284017e+02] [-1.93605618e-01 -3.53071416e-01 -9.15345530e-01 -3.33737478e+01] [-9.45269032e-01 3.16906580e-01 7.76960585e-02 -2.80385425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:-35.43, Z:-280.01 [[ 3.25495791e-01 -8.30425208e-01 4.52157566e-01 2.03484703e+02] [-2.62220897e-01 3.80164553e-01 8.86969624e-01 -3.54291894e+01] [-9.08456213e-01 -4.07270042e-01 -9.40128806e-02 -2.80008086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.38, Y:-33.45, Z:-280.72 [[ 2.59212256e-01 8.85366917e-01 -3.85920235e-01 2.03376686e+02] [-1.94205167e-01 -3.43636292e-01 -9.18802727e-01 -3.34531830e+01] [-9.46093737e-01 3.13112632e-01 8.28680915e-02 -2.80715069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:202.53, Y:-34.37, Z:-280.80 [[ 2.36145245e-01 6.41560656e-01 7.29818709e-01 2.02526672e+02] [-2.18695682e-01 7.66881163e-01 -6.03378389e-01 -3.43740840e+01] [-9.46788055e-01 -1.71232628e-02 3.21401886e-01 -2.80798104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13232058799997 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:203.61, Y:-35.51, Z:-280.40 [[ 3.20771658e-01 -8.36208165e-01 4.44816195e-01 2.03605625e+02] [-2.71206980e-01 3.68878977e-01 8.89030412e-01 -3.55106960e+01] [-9.07497833e-01 -4.05813017e-01 -1.08459570e-01 -2.80400516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:-34.45, Z:-281.13 [[ 2.91526976e-01 6.17771305e-01 7.30322283e-01 2.02555704e+02] [-2.50175463e-01 7.86152759e-01 -5.65133681e-01 -3.44493032e+01] [-9.23268249e-01 -1.79570020e-02 3.83735959e-01 -2.81125486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:-33.55, Z:-281.13 [[ 2.64158521e-01 7.91721717e-01 -5.50814849e-01 2.03715140e+02] [-1.91771272e-01 -5.16582047e-01 -8.34485930e-01 -3.35495982e+01] [-9.45221696e-01 3.26067033e-01 1.53699311e-02 -2.81126724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-33.61, Z:-281.23 [[ 2.12240613e-01 7.95806731e-01 -5.67138052e-01 2.03821795e+02] [-1.54915513e-01 -5.45621389e-01 -8.23588783e-01 -3.36138583e+01] [-9.64860148e-01 2.62657471e-01 7.47978943e-03 -2.81232831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:-35.69, Z:-281.03 [[ 2.56040500e-01 -7.52407270e-01 6.06899137e-01 2.03619568e+02] [-2.43072912e-01 5.57541981e-01 7.93764763e-01 -3.56857274e+01] [-9.35606125e-01 -3.50756667e-01 -4.01364991e-02 -2.81032717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:-33.69, Z:-281.63 [[ 1.98642096e-01 9.06919033e-01 -3.71536250e-01 2.03672032e+02] [-1.73241997e-01 -3.40629217e-01 -9.24098992e-01 -3.36921198e+01] [-9.64639066e-01 2.47930643e-01 8.94531629e-02 -2.81628610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:-34.51, Z:-281.71 [[ 1.73494590e-01 7.04317237e-01 6.88358087e-01 2.02849726e+02] [-1.94769887e-01 7.09691107e-01 -6.77054816e-01 -3.45109817e+01] [-9.65382990e-01 -1.66060791e-02 2.60307357e-01 -2.81714814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-34.49, Z:-281.81 [[ 1.65590888e-01 7.26233084e-01 6.67206989e-01 2.02881610e+02] [-1.98555474e-01 6.87244004e-01 -6.98764197e-01 -3.44941033e+01] [-9.65999680e-01 -1.67686165e-02 2.57998899e-01 -2.81805637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-34.47, Z:-281.87 [[ 1.62906875e-01 7.51561230e-01 6.39231623e-01 2.02907518e+02] [-2.00763635e-01 6.59582338e-01 -7.24323893e-01 -3.44681969e+01] [-9.65999644e-01 -1.03371225e-02 2.58336662e-01 -2.81871704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-34.46, Z:-281.93 [[ 1.62686994e-01 7.63498321e-01 6.24982604e-01 2.02926424e+02] [-2.02089749e-01 6.45776931e-01 -7.36296060e-01 -3.44601336e+01] [-9.65760154e-01 -6.51678470e-03 2.59354691e-01 -2.81931258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:-34.45, Z:-281.99 [[ 1.63366773e-01 7.73920201e-01 6.11848691e-01 2.02942185e+02] [-2.05279002e-01 6.33272356e-01 -7.46208184e-01 -3.44526590e+01] [-9.64972450e-01 -3.69406576e-03 2.62325227e-01 -2.81986338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:-34.45, Z:-282.04 [[ 1.60067210e-01 7.82825842e-01 6.01300415e-01 2.02958599e+02] [-2.05542840e-01 6.22235082e-01 -7.55364576e-01 -3.44503673e+01] [-9.65469124e-01 -2.68389444e-03 2.60503681e-01 -2.82041089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:-34.45, Z:-282.10 [[ 1.57440209e-01 7.91532612e-01 5.90498692e-01 2.02975579e+02] [-2.06704389e-01 6.11124385e-01 -7.64068244e-01 -3.44488035e+01] [-9.65653083e-01 -1.76360737e-03 2.59828815e-01 -2.82097063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-34.45, Z:-282.21 [[ 1.42803298e-01 8.02655505e-01 5.79095292e-01 2.03012716e+02] [-2.16444599e-01 5.96255622e-01 -7.73065954e-01 -3.44542646e+01] [-9.65794468e-01 -1.49456803e-02 2.58877718e-01 -2.82214345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:-34.41, Z:-282.30 [[ 1.38493644e-01 8.39993915e-01 5.24623421e-01 2.03054996e+02] [-2.19539596e-01 5.42588151e-01 -8.10802358e-01 -3.44059437e+01] [-9.65723499e-01 -2.88464093e-03 2.59556935e-01 -2.82296273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:-34.40, Z:-282.44 [[ 1.05165218e-01 8.58784755e-01 5.01426985e-01 2.03113839e+02] [-2.39072064e-01 5.11268576e-01 -8.25499237e-01 -3.43996980e+01] [-9.65290021e-01 -3.30633775e-02 2.59079115e-01 -2.82437860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:-34.49, Z:-282.33 [[ 1.42218813e-01 -1.23399778e-01 -9.82113183e-01 2.05016919e+02] [-2.01468716e-01 -9.75037790e-01 9.33362947e-02 -3.44919601e+01] [-9.69115146e-01 1.84590905e-01 -1.63529912e-01 -2.82331368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:-34.52, Z:-282.71 [[ 8.01397174e-02 8.52463204e-01 5.16608276e-01 2.03161362e+02] [-1.93134287e-01 5.21733118e-01 -8.30959506e-01 -3.45174973e+01] [-9.77894050e-01 -3.31819111e-02 2.06451418e-01 -2.82705936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:-34.39, Z:-282.81 [[ 7.55778151e-02 9.26116241e-01 3.69589912e-01 2.03265310e+02] [-1.96137128e-01 3.77216164e-01 -9.05117778e-01 -3.43857627e+01] [-9.77659563e-01 -4.08347978e-03 2.10154953e-01 -2.82808347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:-34.38, Z:-282.95 [[ 4.21015739e-02 9.42028719e-01 3.32880383e-01 2.03325744e+02] [-2.09563827e-01 3.34090580e-01 -9.18948577e-01 -3.43760589e+01] [-9.76888151e-01 -3.10705055e-02 2.11480883e-01 -2.82950296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:-35.80, Z:-282.75 [[ 4.52957461e-02 -3.13515565e-01 9.48502127e-01 2.03469913e+02] [-2.96238518e-01 9.02553243e-01 3.12474613e-01 -3.57967171e+01] [-9.54039326e-01 -2.95136635e-01 -5.19935637e-02 -2.82748602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:-34.30, Z:-283.27 [[ 6.17336194e-02 9.75291894e-01 2.12119499e-01 2.03409291e+02] [-2.73987061e-01 2.20919918e-01 -9.36015748e-01 -3.42968311e+01] [-9.59749994e-01 -3.34358213e-04 2.80855545e-01 -2.83273316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.42, Y:-34.30, Z:-283.33 [[ 5.83059428e-02 9.78320010e-01 1.98721854e-01 2.03423839e+02] [-2.75083014e-01 2.07098896e-01 -9.38850032e-01 -3.43022530e+01] [-9.59650849e-01 7.55298234e-05 2.81194313e-01 -2.83327361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-34.31, Z:-283.38 [[ 5.50126858e-02 9.80937856e-01 1.86372014e-01 2.03435575e+02] [-2.75743512e-01 1.94321295e-01 -9.41384486e-01 -3.43115528e+01] [-9.59655730e-01 3.97215145e-04 2.81177386e-01 -2.83380351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-34.33, Z:-283.46 [[ 4.47341286e-02 9.83759478e-01 1.73827926e-01 2.03456467e+02] [-2.76259243e-01 1.79398538e-01 -9.44191186e-01 -3.43269618e+01] [-9.60041504e-01 -5.78400142e-03 2.79797886e-01 -2.83461883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-34.32, Z:-283.54 [[ 3.87054571e-02 9.89127945e-01 1.41872463e-01 2.03491099e+02] [-2.75994303e-01 1.47038048e-01 -9.49845754e-01 -3.43238294e+01] [-9.60379629e-01 -2.39177757e-03 2.78684853e-01 -2.83535677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-34.32, Z:-283.60 [[ 3.48218534e-02 9.92261940e-01 1.19179194e-01 2.03514863e+02] [-2.76902845e-01 1.24162031e-01 -9.52842382e-01 -3.43247033e+01] [-9.60266761e-01 1.78679731e-04 2.79083706e-01 -2.83595407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:-34.33, Z:-283.65 [[ 3.13501971e-02 9.94032388e-01 1.04483377e-01 2.03530702e+02] [-2.77230182e-01 1.09081108e-01 -9.54591398e-01 -3.43295740e+01] [-9.60291930e-01 9.60682737e-04 2.78995495e-01 -2.83650092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:-34.34, Z:-283.71 [[ 2.76994661e-02 9.95389235e-01 9.18314241e-02 2.03545292e+02] [-2.78442982e-01 9.59138085e-02 -9.55651635e-01 -3.43381596e+01] [-9.60053251e-01 9.01224485e-04 2.79815908e-01 -2.83705901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:-34.36, Z:-283.80 [[ 1.41156297e-02 9.96817996e-01 7.84514627e-02 2.03568558e+02] [-2.77128324e-01 7.92858039e-02 -9.57556084e-01 -3.43598156e+01] [-9.60729224e-01 -8.22461531e-03 2.77365669e-01 -2.83801381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:-34.37, Z:-283.94 [[-1.33893917e-02 9.99267463e-01 3.58505472e-02 2.03629349e+02] [-2.79694919e-01 3.06796648e-02 -9.59598620e-01 -3.43746465e+01] [-9.59995561e-01 -2.28756577e-02 2.79079250e-01 -2.83940009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.71, Y:-34.33, Z:-283.97 [[-1.65045367e-02 9.98289796e-01 -5.60810422e-02 2.03713237e+02] [-2.80684932e-01 -5.84591998e-02 -9.58018001e-01 -3.43285736e+01] [-9.59658048e-01 -7.05397652e-05 2.81169746e-01 -2.83970432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:-34.66, Z:-283.94 [[-2.28643485e-03 5.09089231e-02 -9.98700683e-01 2.05111125e+02] [-2.40806323e-01 -9.69342514e-01 -4.88610816e-02 -3.46637531e+01] [-9.70570496e-01 2.40381722e-01 1.44755291e-02 -2.83936727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-34.33, Z:-284.01 [[-2.80932768e-02 9.93497622e-01 -1.10332419e-01 2.03764139e+02] [-2.11425441e-01 -1.13784517e-01 -9.70748354e-01 -3.43266134e+01] [-9.76990302e-01 -3.94442193e-03 2.13247253e-01 -2.84014320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-35.70, Z:-283.70 [[-7.01855044e-02 1.18531253e-01 9.90466727e-01 2.03264571e+02] [-2.87571901e-01 9.48357181e-01 -1.33869559e-01 -3.57034850e+01] [-9.55183960e-01 -2.94226102e-01 -3.24746692e-02 -2.83703334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:-34.34, Z:-284.17 [[-3.54515250e-02 9.88952095e-01 -1.43933812e-01 2.03793190e+02] [-2.76635438e-01 -1.48107576e-01 -9.49493012e-01 -3.43393959e+01] [-9.60320792e-01 6.15621805e-03 2.78829836e-01 -2.84172375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-34.34, Z:-284.20 [[-3.57556925e-02 9.86978622e-01 -1.56827072e-01 2.03804848e+02] [-2.76070682e-01 -1.60575870e-01 -9.47628814e-01 -3.43410399e+01] [-9.60472024e-01 9.41223230e-03 2.78217363e-01 -2.84197500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:-35.27, Z:-284.04 [[-4.14352323e-03 -4.88851384e-01 -8.72357241e-01 2.05292858e+02] [-2.67582418e-01 -8.40011357e-01 4.71996367e-01 -3.52742349e+01] [-9.63526067e-01 2.35383187e-01 -1.27327429e-01 -2.84035403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.23, Y:-35.72, Z:-283.92 [[-5.54899221e-02 1.57973250e-01 9.85883016e-01 2.03233105e+02] [-2.86112076e-01 9.43481003e-01 -1.67282623e-01 -3.57236519e+01] [-9.56588077e-01 -2.91355536e-01 -7.15563280e-03 -2.83920329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-34.42, Z:-284.38 [[-1.63152520e-02 9.95093727e-01 -9.75822041e-02 2.03737884e+02] [-2.82896682e-01 -9.82014928e-02 -9.54110022e-01 -3.44175932e+01] [-9.59011616e-01 1.20391363e-02 2.83110896e-01 -2.84376903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:-34.42, Z:-284.40 [[-1.98412246e-02 9.93476091e-01 -1.12301301e-01 2.03750958e+02] [-2.84912142e-01 -1.13284480e-01 -9.51835962e-01 -3.44161067e+01] [-9.58348265e-01 1.31104131e-02 2.85301104e-01 -2.84395785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.31, Y:-35.88, Z:-283.95 [[-6.50710457e-02 -7.94796501e-03 9.97848981e-01 2.03312824e+02] [-3.51934015e-01 9.35896541e-01 -1.54955727e-02 -3.58832813e+01] [-9.33760252e-01 -3.52185312e-01 -6.36969259e-02 -2.83947926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-34.47, Z:-284.56 [[-2.54815993e-02 9.94619033e-01 -1.00417468e-01 2.03735447e+02] [-3.46044406e-01 -1.03015941e-01 -9.32545433e-01 -3.44674200e+01] [-9.37872037e-01 1.09861539e-02 3.46807363e-01 -2.84562750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-34.47, Z:-284.59 [[-3.25977250e-02 9.91878161e-01 -1.22943488e-01 2.03755927e+02] [-3.46201951e-01 -1.26599281e-01 -9.29578846e-01 -3.44680205e+01] [-9.37593514e-01 1.22611199e-02 3.47517003e-01 -2.84592576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-34.47, Z:-284.62 [[-3.32579084e-02 9.88903989e-01 -1.44785398e-01 2.03775844e+02] [-3.47682282e-01 -1.47264927e-01 -9.25975201e-01 -3.44662493e+01] [-9.37022381e-01 1.95433193e-02 3.48722119e-01 -2.84619252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:-34.47, Z:-284.64 [[-3.91983322e-02 9.87130245e-01 -1.55039898e-01 2.03785294e+02] [-3.46834276e-01 -1.58953560e-01 -9.24359103e-01 -3.44697949e+01] [-9.37106971e-01 1.75398157e-02 3.48601318e-01 -2.84643187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:-34.47, Z:-284.67 [[-4.38044764e-02 9.83981529e-01 -1.72804856e-01 2.03800902e+02] [-3.46943693e-01 -1.77188618e-01 -9.20996345e-01 -3.44713505e+01] [-9.36862446e-01 1.96097921e-02 3.49147840e-01 -2.84665559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:-34.47, Z:-284.68 [[-4.83890163e-02 9.81134690e-01 -1.87171642e-01 2.03814278e+02] [-3.46807843e-01 -1.92236492e-01 -9.18024755e-01 -3.44714928e+01] [-9.36687153e-01 2.04902787e-02 3.49567341e-01 -2.84680131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:-34.47, Z:-284.69 [[-5.41889195e-02 9.78551482e-01 -1.98747475e-01 2.03825651e+02] [-3.47115083e-01 -2.05087025e-01 -9.15123178e-01 -3.44711416e+01] [-9.36255670e-01 1.93987100e-02 3.50783423e-01 -2.84694328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:-35.48, Z:-284.48 [[-4.16857726e-02 -5.33659916e-01 -8.44671173e-01 2.05271500e+02] [-3.40738342e-01 -7.87131239e-01 5.14122354e-01 -3.54763838e+01] [-9.39233559e-01 3.09243442e-01 -1.49026221e-01 -2.84478161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-34.52, Z:-284.74 [[-2.80552796e-02 9.89074952e-01 -1.44719176e-01 2.03756487e+02] [-2.89889318e-01 -1.46604903e-01 -9.45764868e-01 -3.45246324e+01] [-9.56648883e-01 1.54188453e-02 2.90835305e-01 -2.84739769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-34.52, Z:-284.77 [[-3.78351569e-02 9.84066696e-01 -1.73727483e-01 2.03783118e+02] [-2.88292329e-01 -1.77208995e-01 -9.41001862e-01 -3.45232504e+01] [-9.56794667e-01 1.44813475e-02 2.90403610e-01 -2.84774175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:-34.52, Z:-284.79 [[-4.16484679e-02 9.77653702e-01 -2.06054952e-01 2.03814806e+02] [-2.88067949e-01 -2.09225976e-01 -9.34473835e-01 -3.45155939e+01] [-9.56703853e-01 2.04384238e-02 2.90344638e-01 -2.84793652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.83, Y:-34.52, Z:-284.83 [[-5.57282452e-02 9.73799757e-01 -2.20473118e-01 2.03827255e+02] [-2.84942111e-01 -2.27144592e-01 -9.31242894e-01 -3.45228516e+01] [-9.56923381e-01 1.09255434e-02 2.90134928e-01 -2.84832567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:-34.51, Z:-284.86 [[-6.13099763e-02 9.62398163e-01 -2.64633450e-01 2.03871717e+02] [-2.84841488e-01 -2.70977060e-01 -9.19476351e-01 -3.45142472e+01] [-9.56611945e-01 1.90055124e-02 2.90744521e-01 -2.84856994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.89, Y:-34.51, Z:-284.88 [[-6.32694550e-02 9.57278438e-01 -2.82161245e-01 2.03887596e+02] [-2.84197834e-01 -2.88303783e-01 -9.14391885e-01 -3.45142303e+01] [-9.56675790e-01 2.23365386e-02 2.90297282e-01 -2.84876286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-34.52, Z:-284.89 [[-6.80346206e-02 9.53433463e-01 -2.93829749e-01 2.03897671e+02] [-2.83537559e-01 -3.00845899e-01 -9.10548295e-01 -3.45155662e+01] [-9.56544690e-01 2.13629618e-02 2.90802133e-01 -2.84893633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.91, Y:-34.52, Z:-284.92 [[-7.77392190e-02 9.48349668e-01 -3.07554095e-01 2.03909723e+02] [-2.81283498e-01 -3.16818472e-01 -9.05817669e-01 -3.45181423e+01] [-9.56470704e-01 1.60923336e-02 2.91384333e-01 -2.84918894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:-34.51, Z:-284.94 [[-8.27819941e-02 9.38346570e-01 -3.35637985e-01 2.03935668e+02] [-2.81837094e-01 -3.45088556e-01 -8.95255126e-01 -3.45142822e+01] [-9.55884404e-01 2.04842297e-02 2.93027989e-01 -2.84939429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:-34.52, Z:-284.96 [[-8.60545312e-02 9.32719213e-01 -3.50184934e-01 2.03948377e+02] [-2.79184740e-01 -3.59982121e-01 -8.90207141e-01 -3.45159531e+01] [-9.56373619e-01 2.11599313e-02 2.91379063e-01 -2.84956502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:-34.52, Z:-284.97 [[-9.19979172e-02 9.26947181e-01 -3.63737966e-01 2.03960410e+02] [-2.76030432e-01 -3.74711691e-01 -8.85097932e-01 -3.45159276e+01] [-9.56735901e-01 1.89755816e-02 2.90338326e-01 -2.84968047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:-34.52, Z:-284.98 [[-9.76710332e-02 9.20704584e-01 -3.77840492e-01 2.03973720e+02] [-2.75254337e-01 -3.89837021e-01 -8.78784471e-01 -3.45171762e+01] [-9.56397103e-01 1.81704470e-02 2.91503715e-01 -2.84984223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:-34.52, Z:-285.00 [[-1.02993029e-01 9.14613225e-01 -3.90992435e-01 2.03985228e+02] [-2.74189344e-01 -4.03958655e-01 -8.72718516e-01 -3.45168467e+01] [-9.56144675e-01 1.73220354e-02 2.92382125e-01 -2.85001954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:-34.52, Z:-285.02 [[-1.09595548e-01 9.06890809e-01 -4.06863462e-01 2.04001331e+02] [-2.71956668e-01 -4.21068761e-01 -8.65298023e-01 -3.45192761e+01] [-9.56048318e-01 1.58164203e-02 2.92782264e-01 -2.85022782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.02, Y:-34.52, Z:-285.04 [[-1.15922634e-01 8.97303619e-01 -4.25920367e-01 2.04021852e+02] [-2.71662618e-01 -4.41103444e-01 -8.55352076e-01 -3.45180120e+01] [-9.55385454e-01 1.65519760e-02 2.94897723e-01 -2.85036320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:-34.52, Z:-285.06 [[-1.24724723e-01 8.90637678e-01 -4.37273678e-01 2.04030675e+02] [-2.66464066e-01 -4.54592123e-01 -8.49907585e-01 -3.45242771e+01] [-9.55740888e-01 1.05132343e-02 2.94021814e-01 -2.85061749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:-34.53, Z:-285.08 [[-1.32518569e-01 8.75700551e-01 -4.64313874e-01 2.04061304e+02] [-2.63932852e-01 -4.82708259e-01 -8.35064181e-01 -3.45265585e+01] [-9.55394305e-01 1.18861742e-02 2.95093952e-01 -2.85084798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.08, Y:-34.54, Z:-285.12 [[-1.46416573e-01 8.63013538e-01 -4.83497488e-01 2.04080619e+02] [-2.55808528e-01 -5.05171879e-01 -8.24235021e-01 -3.45356161e+01] [-9.55575316e-01 3.00111382e-03 2.94731758e-01 -2.85123386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:-34.55, Z:-285.17 [[-1.61446566e-01 8.36338764e-01 -5.23901211e-01 2.04126274e+02] [-2.47886136e-01 -5.48212224e-01 -7.98758925e-01 -3.45453874e+01] [-9.55242100e-01 9.10961142e-04 2.95823766e-01 -2.85165272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-34.55, Z:-285.19 [[-1.68331902e-01 8.07461247e-01 -5.65394291e-01 2.04174368e+02] [-2.43824703e-01 -5.89862603e-01 -7.69812720e-01 -3.45530838e+01] [-9.55098888e-01 8.27305542e-03 2.96171693e-01 -2.85194911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:-34.56, Z:-285.23 [[-1.75977642e-01 7.91107598e-01 -5.85816216e-01 2.04196330e+02] [-2.35983575e-01 -6.11653525e-01 -7.55110401e-01 -3.45626900e+01] [-9.55690128e-01 5.36045732e-03 2.94325744e-01 -2.85227720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-34.57, Z:-285.25 [[-1.81843918e-01 7.68416678e-01 -6.13570370e-01 2.04233386e+02] [-2.34104993e-01 -6.39863098e-01 -7.31963160e-01 -3.45703960e+01] [-9.55053738e-01 1.05368381e-02 2.96245393e-01 -2.85248122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-34.58, Z:-285.27 [[-1.84615922e-01 7.56260677e-01 -6.27683638e-01 2.04249748e+02] [-2.31097350e-01 -6.54158566e-01 -7.20187882e-01 -3.45761131e+01] [-9.55254404e-01 1.20978762e-02 2.95537925e-01 -2.85266778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-34.59, Z:-285.31 [[-2.06609123e-01 7.42263803e-01 -6.37461463e-01 2.04254856e+02] [-2.12344055e-01 -6.70007247e-01 -7.11336974e-01 -3.45900565e+01] [-9.55103488e-01 -1.16075564e-02 2.96044916e-01 -2.85310856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:-35.65, Z:-285.34 [[-1.88748289e-01 -4.94008363e-01 -8.48722464e-01 2.05173396e+02] [-1.83558991e-01 -8.31276925e-01 5.24675872e-01 -3.56505221e+01] [-9.64717669e-01 2.54822312e-01 6.62224204e-02 -2.85336184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:-35.84, Z:-285.34 [[-1.50394433e-01 -6.36021073e-01 -7.56874303e-01 2.05155464e+02] [-1.34030643e-01 -7.45396407e-01 6.53008410e-01 -3.58392262e+01] [-9.79498495e-01 1.99653179e-01 2.68571567e-02 -2.85339243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.86, Y:-36.45, Z:-285.27 [[-1.00621801e-01 -9.64851746e-01 -2.42768123e-01 2.04863233e+02] [-1.15162513e-01 -2.31071475e-01 9.66097081e-01 -3.64502464e+01] [-9.88237243e-01 1.25168216e-01 -8.78639237e-02 -2.85266588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-34.63, Z:-285.40 [[-6.79268560e-02 7.23920434e-01 -6.86531243e-01 2.04233773e+02] [-8.79159095e-02 -6.89786930e-01 -7.18654843e-01 -3.46262779e+01] [-9.93809205e-01 1.15410545e-02 1.10499181e-01 -2.85399609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:-34.64, Z:-285.43 [[-7.40712167e-02 6.91414002e-01 -7.18651607e-01 2.04281244e+02] [-8.27969371e-02 -7.22406954e-01 -6.86493161e-01 -3.46384412e+01] [-9.93809902e-01 8.65276829e-03 1.10756524e-01 -2.85427283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-34.66, Z:-285.47 [[-8.58765060e-02 6.39304088e-01 -7.64143644e-01 2.04352389e+02] [-7.18357915e-02 -7.68953944e-01 -6.35255422e-01 -3.46613863e+01] [-9.93712657e-01 3.39347395e-04 1.11959993e-01 -2.85466655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-35.64, Z:-285.27 [[-1.56513305e-01 5.89092454e-01 7.92763310e-01 2.02953520e+02] [-1.03268832e-01 7.88495314e-01 -6.06309070e-01 -3.56397986e+01] [-9.82262253e-01 -1.76763177e-01 -6.25751178e-02 -2.85268537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:-34.66, Z:-285.61 [[-1.33783068e-01 6.39289951e-01 -7.57238701e-01 2.04341292e+02] [-1.17505541e-01 -7.68950108e-01 -6.28417201e-01 -3.46638309e+01] [-9.84019582e-01 4.90816225e-03 1.77992617e-01 -2.85614014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:-34.68, Z:-285.63 [[-1.43008480e-01 6.13817888e-01 -7.76386614e-01 2.04371041e+02] [-1.07093823e-01 -7.89440800e-01 -6.04412223e-01 -3.46775407e+01] [-9.83910305e-01 -3.28986213e-03 1.78632833e-01 -2.85630638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:-34.70, Z:-285.65 [[-1.46831079e-01 5.72029052e-01 -8.06984138e-01 2.04422056e+02] [-1.01247759e-01 -8.20232797e-01 -5.62998268e-01 -3.46999636e+01] [-9.83966222e-01 -9.60307691e-04 1.78352326e-01 -2.85651484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:-34.72, Z:-285.67 [[-1.52014112e-01 5.43577742e-01 -8.25478618e-01 2.04454393e+02] [-9.42647562e-02 -8.39351243e-01 -5.35353758e-01 -3.47159617e+01] [-9.83872891e-01 -3.56778560e-03 1.78833457e-01 -2.85665551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:-34.69, Z:-285.56 [[-2.27346945e-01 9.46654679e-01 -2.28381884e-01 2.03658726e+02] [-6.82793034e-02 -2.49441901e-01 -9.65979645e-01 -3.46931588e+01] [-9.71417162e-01 -2.04018765e-01 1.21346776e-01 -2.85560300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:-34.85, Z:-285.80 [[-2.17786271e-01 3.38677419e-01 -9.15350614e-01 2.04656757e+02] [-7.47987836e-02 -9.40896132e-01 -3.30332576e-01 -3.48516773e+01] [-9.73126036e-01 -3.47478740e-03 2.30246919e-01 -2.85797745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:-34.81, Z:-285.54 [[-3.00827823e-01 9.53678446e-01 -2.08547064e-04 2.03435899e+02] [-6.16048983e-02 -1.96508353e-02 -9.97907151e-01 -3.48127900e+01] [-9.51686638e-01 -3.00185388e-01 6.46627816e-02 -2.85539424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-34.94, Z:-285.97 [[-2.94555785e-01 2.41343719e-01 -9.24656746e-01 2.04697179e+02] [-3.35376882e-02 -9.69598953e-01 -2.42390377e-01 -3.49360796e+01] [-9.55045608e-01 -4.03866381e-02 2.93695091e-01 -2.85974247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.36, Y:-34.87, Z:-285.58 [[-3.78181568e-01 9.23407485e-01 6.55539368e-02 2.03363806e+02] [-2.79574412e-02 5.93882701e-02 -9.97843382e-01 -3.48747154e+01] [-9.25309182e-01 -3.79198695e-01 3.35656133e-03 -2.85578270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-34.86, Z:-285.62 [[-4.40396903e-01 8.97002972e-01 3.78977100e-02 2.03385990e+02] [-3.07899858e-02 2.70969060e-02 -9.99158513e-01 -3.48581875e+01] [-8.97275066e-01 -4.41193185e-01 1.56853153e-02 -2.85623849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-35.06, Z:-286.28 [[-4.22270335e-01 1.02241742e-01 -9.00685512e-01 2.04717039e+02] [-3.45255598e-02 -9.94711810e-01 -9.67284890e-02 -3.50623823e+01] [-9.05812205e-01 -9.74889998e-03 4.23567242e-01 -2.86276787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:-36.65, Z:-286.15 [[-3.67733800e-01 -9.28473474e-01 -5.20467174e-02 2.04523284e+02] [-5.42492601e-02 -3.44542327e-02 9.97932825e-01 -3.66481055e+01] [-9.28347386e-01 3.69797126e-01 -3.76990130e-02 -2.86145526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:-36.62, Z:-286.19 [[-3.03309920e-01 -9.48636443e-01 -8.99554993e-02 2.04528333e+02] [-4.83714104e-02 -7.89528291e-02 9.95704101e-01 -3.66246234e+01] [-9.51663438e-01 3.06358206e-01 -2.19397064e-02 -2.86187090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:-34.90, Z:-285.86 [[-3.80582394e-01 9.20474494e-01 8.87904726e-02 2.03235240e+02] [-2.44699470e-02 8.59581883e-02 -9.95998199e-01 -3.49020062e+01] [-9.24423206e-01 -3.81232077e-01 -1.01902110e-02 -2.85859749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-36.56, Z:-286.36 [[-3.02716610e-01 -9.35153046e-01 -1.83987592e-01 2.04553047e+02] [-4.28202473e-02 -1.79505517e-01 9.82824601e-01 -3.65583756e+01] [-9.52118207e-01 3.05395726e-01 1.42958170e-02 -2.86357544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:-36.59, Z:-286.37 [[-2.39443444e-01 -9.59822917e-01 -1.46310649e-01 2.04500822e+02] [-3.22859593e-02 -1.42739602e-01 9.89233553e-01 -3.65898292e+01] [-9.70373358e-01 2.41589269e-01 3.18925837e-03 -2.86373123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:-36.60, Z:-286.40 [[-1.75226364e-01 -9.75665178e-01 -1.31807370e-01 2.04467638e+02] [-2.32242890e-02 -1.29745215e-01 9.91275346e-01 -3.66027235e+01] [-9.84254212e-01 1.76758707e-01 7.56521963e-05 -2.86398434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-34.91, Z:-286.20 [[-2.49960319e-01 9.64939842e-01 8.00683477e-02 2.03124919e+02] [-5.74073238e-04 8.25456520e-02 -9.96587119e-01 -3.49082085e+01] [-9.68255911e-01 -2.49153199e-01 -2.00791914e-02 -2.86200235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-36.70, Z:-286.50 [[-1.79690062e-01 -9.83669665e-01 1.02699778e-02 2.04307638e+02] [-2.99507645e-02 1.59056703e-02 9.99424815e-01 -3.66991280e+01] [-9.83267224e-01 1.79279113e-01 -3.23197494e-02 -2.86504974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.30, Y:-36.69, Z:-286.54 [[-1.12476074e-01 -9.93641388e-01 -5.09161817e-03 2.04304361e+02] [-3.03158484e-02 -1.69021042e-03 9.99538940e-01 -3.66905557e+01] [-9.93191866e-01 1.12578572e-01 -2.99329734e-02 -2.86535466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:-36.64, Z:-286.58 [[-4.36657095e-02 -9.95636705e-01 -8.24673160e-02 2.04358117e+02] [-2.45955611e-02 -8.14496901e-02 9.96373929e-01 -3.66423645e+01] [-9.98743393e-01 4.55357044e-02 -2.09316849e-02 -2.86577159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:-34.83, Z:-286.58 [[-1.10962640e-01 9.91838304e-01 -6.28018435e-02 2.03185258e+02] [ 7.80712212e-03 -6.23201917e-02 -9.98025672e-01 -3.48262214e+01] [-9.93793913e-01 -1.11233865e-01 -8.28189797e-04 -2.86578763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-35.15, Z:-286.76 [[-9.86615644e-02 5.12930945e-02 -9.93798226e-01 2.04584634e+02] [ 8.30906332e-03 -9.98593418e-01 -5.23654907e-02 -3.51508220e+01] [-9.95086356e-01 -1.34239936e-02 9.80965912e-02 -2.86763768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-36.71, Z:-286.77 [[-4.66256697e-02 -9.98748776e-01 1.80811743e-02 2.04247057e+02] [-7.81711999e-03 1.84651215e-02 9.99798946e-01 -3.67072164e+01] [-9.98881845e-01 4.64749527e-02 -8.66828768e-03 -2.86774170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:-34.97, Z:-286.74 [[-1.13416017e-01 9.80401229e-01 1.61090776e-01 2.02973880e+02] [ 1.10289510e-02 1.63369285e-01 -9.86503340e-01 -3.49650443e+01] [-9.93486371e-01 -1.10108617e-01 -2.93414907e-02 -2.86737671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:-35.17, Z:-286.95 [[-9.82081052e-02 3.02328448e-02 -9.94706561e-01 2.04582388e+02] [ 9.68652256e-03 -9.99462039e-01 -3.13337390e-02 -3.51693468e+01] [-9.95118756e-01 -1.27124747e-02 9.78624219e-02 -2.86951328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-35.29, Z:-286.98 [[-9.85330026e-02 -9.92572342e-02 -9.90171323e-01 2.04650505e+02] [ 1.48549027e-02 -9.95049113e-01 9.82679688e-02 -3.52926304e+01] [-9.95022904e-01 -5.02626067e-03 9.95196335e-02 -2.86983467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:-36.70, Z:-287.00 [[-4.68698690e-02 -9.98872494e-01 7.54687981e-03 2.04233460e+02] [ 4.49074925e-03 7.34440019e-03 9.99962946e-01 -3.66994452e+01] [-9.98890909e-01 4.69020234e-02 4.14145483e-03 -2.86999261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-34.80, Z:-286.95 [[-1.08001121e-01 9.87690408e-01 -1.13152179e-01 2.03207953e+02] [ 4.07241826e-02 -1.09327006e-01 -9.93171258e-01 -3.47995984e+01] [-9.93316314e-01 -1.11871639e-01 -2.84154454e-02 -2.86947774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:-35.42, Z:-287.16 [[-9.36514981e-02 -2.27039576e-01 -9.69372182e-01 2.04688156e+02] [ 3.25302356e-02 -9.73829274e-01 2.24940724e-01 -3.54233031e+01] [-9.95073455e-01 -1.04678697e-02 9.85862213e-02 -2.87160320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-36.72, Z:-287.19 [[-4.40936407e-02 -9.97753646e-01 5.04322647e-02 2.04173430e+02] [ 1.93896709e-02 4.96171515e-02 9.98580081e-01 -3.67176812e+01] [-9.98839222e-01 4.50088963e-02 1.71583140e-02 -2.87186552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:-35.94, Z:-287.20 [[-2.79842096e-02 -6.52539944e-01 -7.57237417e-01 2.04716795e+02] [ 2.68039608e-02 -7.57751551e-01 6.51992434e-01 -3.59379197e+01] [-9.99248934e-01 -2.05146916e-03 3.86957333e-02 -2.87195195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:-36.02, Z:-287.23 [[-1.96593505e-02 -7.10486478e-01 -7.03436190e-01 2.04698529e+02] [ 3.52329409e-02 -7.03627481e-01 7.09695010e-01 -3.60209499e+01] [-9.99185743e-01 -1.08319828e-02 3.88653874e-02 -2.87226490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.61, Y:-36.26, Z:-287.25 [[-1.80276746e-02 -8.55188701e-01 -5.18003174e-01 2.04610053e+02] [ 3.77906486e-02 -5.18299978e-01 8.54363506e-01 -3.62601171e+01] [-9.99123050e-01 -4.17348864e-03 4.16618790e-02 -2.87253257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:-36.35, Z:-287.27 [[-1.54335666e-02 -9.03384112e-01 -4.28554491e-01 2.04554933e+02] [ 3.82676674e-02 -4.28825194e-01 9.02576611e-01 -3.63545850e+01] [-9.99148333e-01 -2.46980455e-03 4.11887049e-02 -2.87271117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:-36.42, Z:-287.28 [[-1.07903677e-02 -9.34176985e-01 -3.56646784e-01 2.04504139e+02] [ 3.92067053e-02 -3.56788537e-01 9.33362081e-01 -3.64232742e+01] [-9.99172859e-01 -3.91162532e-03 4.04758812e-02 -2.87284463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.44, Y:-36.50, Z:-287.31 [[-3.58106747e-03 -9.62648481e-01 -2.70730636e-01 2.04439465e+02] [ 4.06250058e-02 -2.70648919e-01 9.61820551e-01 -3.64974538e+01] [-9.99168046e-01 -7.55408941e-03 4.00768122e-02 -2.87306623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:-36.60, Z:-287.32 [[-6.76109412e-04 -9.91283226e-01 -1.31746379e-01 2.04326755e+02] [ 4.14943016e-02 -1.31660751e-01 9.90426004e-01 -3.66022672e+01] [-9.99138512e-01 -4.79708762e-03 4.12216222e-02 -2.87323207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:-36.65, Z:-287.36 [[ 1.32017563e-02 -9.98257040e-01 -5.75204010e-02 2.04260482e+02] [ 4.30049548e-02 -5.69053356e-02 9.97452935e-01 -3.66482498e+01] [-9.98987631e-01 -1.56417928e-02 4.21787485e-02 -2.87358388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-36.76, Z:-287.46 [[ 2.03366971e-02 -9.85193803e-01 1.70233926e-01 2.04035546e+02] [ 4.05296070e-02 1.70941549e-01 9.84447225e-01 -3.67584314e+01] [-9.98971356e-01 -1.31208909e-02 4.34059041e-02 -2.87459995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:203.86, Y:-36.81, Z:-287.52 [[ 2.17220567e-02 -9.43650298e-01 3.30230626e-01 2.03859459e+02] [ 3.65999702e-02 3.30837732e-01 9.42977644e-01 -3.68051627e+01] [-9.99093887e-01 -8.39698278e-03 4.17240488e-02 -2.87524992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.78, Y:-36.81, Z:-287.62 [[ 3.20027671e-02 -9.19293554e-01 3.92269276e-01 2.03781516e+02] [ 3.15157400e-02 3.93203291e-01 9.18911274e-01 -3.68082004e+01] [-9.98990781e-01 -1.70450470e-02 4.15558100e-02 -2.87623177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-36.81, Z:-287.69 [[ 3.26460692e-02 -8.17992215e-01 5.74302160e-01 2.03556321e+02] [ 2.93847704e-02 5.75145580e-01 8.17523148e-01 -3.68100929e+01] [-9.99034919e-01 -9.81318015e-03 4.28127558e-02 -2.87688915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:-36.80, Z:-287.75 [[ 3.44124043e-02 -7.72421570e-01 6.34177187e-01 2.03475341e+02] [ 2.69956926e-02 6.35039905e-01 7.72007482e-01 -3.67958342e+01] [-9.99043052e-01 -9.44658123e-03 4.27053052e-02 -2.87750841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.39, Y:-36.77, Z:-287.81 [[ 3.56108612e-02 -7.21967793e-01 6.91009676e-01 2.03390633e+02] [ 2.66439135e-02 6.91888337e-01 7.21512738e-01 -3.67736099e+01] [-9.99010495e-01 -7.28248787e-03 4.38747870e-02 -2.87807865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-35.76, Z:-287.94 [[-2.04328603e-03 4.35185380e-01 9.00338553e-01 2.02594458e+02] [-1.39018711e-02 9.00241065e-01 -4.35169809e-01 -3.57633103e+01] [-9.99901277e-01 -1.34055669e-02 4.21044108e-03 -2.87939372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-35.30, Z:-288.03 [[-5.38517555e-03 7.77161368e-01 6.29278323e-01 2.02664226e+02] [-1.20808698e-02 6.29190962e-01 -7.77156861e-01 -3.52978250e+01] [-9.99912522e-01 -1.17873556e-02 6.00048155e-03 -2.88028415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-34.97, Z:-288.11 [[-5.49885194e-03 9.49813004e-01 3.12769916e-01 2.02867282e+02] [-9.09851841e-03 3.12714176e-01 -9.49803696e-01 -3.49690606e+01] [-9.99943488e-01 -8.06857274e-03 6.92232214e-03 -2.88105702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:-34.79, Z:-288.25 [[-6.66497985e-02 9.96183117e-01 5.63649062e-02 2.03137442e+02] [-1.06953718e-02 5.57739791e-02 -9.98386134e-01 -3.47857901e+01] [-9.97719105e-01 -6.71450783e-02 6.93722430e-03 -2.88250652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-34.79, Z:-288.38 [[-6.49731421e-02 4.31057349e-01 -8.99982251e-01 2.04324895e+02] [ 8.86572274e-03 -9.01602977e-01 -4.32473665e-01 -3.47936676e+01] [-9.97847629e-01 -3.60781660e-02 5.47583434e-02 -2.88377381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-34.82, Z:-288.31 [[-1.48907663e-01 9.82137795e-01 1.15029820e-01 2.03098741e+02] [ 1.21768329e-02 1.18139133e-01 -9.92922389e-01 -3.48242535e+01] [-9.88776129e-01 -1.46453053e-01 -2.95511500e-02 -2.88313383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:-36.58, Z:-288.52 [[-8.55090798e-02 -9.95788527e-01 -3.30667074e-02 2.04277005e+02] [-1.91997352e-02 -3.15352211e-02 9.99318218e-01 -3.65795116e+01] [-9.96152382e-01 8.60856532e-02 -1.64223283e-02 -2.88522943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:-36.58, Z:-288.57 [[-1.92024161e-02 -9.99521789e-01 -2.42375664e-02 2.04254008e+02] [-1.69495956e-02 -2.39131149e-02 9.99570345e-01 -3.65845919e+01] [-9.99671935e-01 1.96049826e-02 -1.64823005e-02 -2.88565213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-34.87, Z:-288.59 [[-7.66127841e-02 9.79661529e-01 1.85455574e-01 2.03007207e+02] [ 1.54473922e-03 1.86118651e-01 -9.82526062e-01 -3.48693712e+01] [-9.97059725e-01 -7.49875765e-02 -1.57723896e-02 -2.88592053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.02, Y:-34.87, Z:-288.63 [[-1.44160672e-01 9.72442711e-01 1.83229025e-01 2.03016701e+02] [-9.14672525e-03 1.83845800e-01 -9.82912539e-01 -3.48674017e+01] [-9.89512020e-01 -1.43373278e-01 -1.76086677e-02 -2.88630024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:202.84, Y:-35.07, Z:-288.64 [[-2.09503371e-01 8.78754217e-01 4.28834891e-01 2.02838448e+02] [-3.76110551e-02 4.31000920e-01 -9.01567311e-01 -3.50739430e+01] [-9.77084309e-01 -2.05010323e-01 -5.72452722e-02 -2.88637214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-34.93, Z:-288.70 [[-2.70018787e-01 9.22052525e-01 2.77324713e-01 2.02949313e+02] [-5.70603735e-02 2.72193461e-01 -9.60549235e-01 -3.49347143e+01] [-9.61162821e-01 -2.75190591e-01 -2.08846868e-02 -2.88704678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.41, Y:-34.92, Z:-289.14 [[-2.61110034e-01 2.64590635e-01 -9.28339025e-01 2.04407767e+02] [-6.25457377e-02 -9.64317813e-01 -2.57253155e-01 -3.49210705e+01] [-9.63280635e-01 -9.10773071e-03 2.68342073e-01 -2.89141706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.05, Y:-34.84, Z:-288.80 [[-3.38174334e-01 9.29582062e-01 1.46680982e-01 2.03049500e+02] [-6.01964335e-02 1.34177790e-01 -9.89127247e-01 -3.48371361e+01] [-9.39156275e-01 -3.43327119e-01 1.05820399e-02 -2.88797105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.08, Y:-34.81, Z:-288.85 [[-4.02879385e-01 9.08697596e-01 1.09347516e-01 2.03079977e+02] [-6.48362117e-02 9.08368680e-02 -9.93752952e-01 -3.48147218e+01] [-9.12953704e-01 -4.07452257e-01 2.23202081e-02 -2.88846443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-34.79, Z:-288.91 [[-4.65700261e-01 8.82621141e-01 6.40561315e-02 2.03115297e+02] [-6.63536635e-02 3.73537855e-02 -9.97096729e-01 -3.47883793e+01] [-8.82451391e-01 -4.68598566e-01 4.11694785e-02 -2.88905816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:-36.62, Z:-289.31 [[-3.95399961e-01 -9.17805600e-01 -3.59409554e-02 2.04121528e+02] [-9.50959248e-02 1.98617339e-03 9.95466132e-01 -3.66163822e+01] [-9.13573005e-01 3.97025108e-01 -8.80649052e-02 -2.89314187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:-35.01, Z:-289.59 [[-3.93770238e-01 1.87973333e-01 -8.99783877e-01 2.04312294e+02] [-5.29488346e-02 -9.81880742e-01 -1.81952272e-01 -3.50108730e+01] [-9.17682636e-01 -2.40048818e-02 3.96588382e-01 -2.89585979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:-36.52, Z:-289.48 [[-3.33562120e-01 -9.22532443e-01 -1.94088133e-01 2.04208398e+02] [-5.98702108e-02 -1.84733774e-01 9.80963297e-01 -3.65168181e+01] [-9.40825101e-01 3.38832294e-01 6.38797750e-03 -2.89482846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:-34.89, Z:-289.13 [[-4.14784149e-01 8.93700042e-01 1.71039015e-01 2.02893423e+02] [-4.87364620e-02 1.65881352e-01 -9.84940675e-01 -3.48861418e+01] [-9.08613706e-01 -4.16873616e-01 -2.52491773e-02 -2.89131308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:-34.89, Z:-289.17 [[-4.75161722e-01 8.61649346e-01 1.78274348e-01 2.02883288e+02] [-6.10639949e-02 1.69827582e-01 -9.83580084e-01 -3.48924460e+01] [-8.77777037e-01 -4.78245750e-01 -2.80798151e-02 -2.89170100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:-36.53, Z:-289.73 [[-3.93688639e-01 -8.97693655e-01 -1.97877125e-01 2.04110071e+02] [-7.11609089e-02 -1.84852863e-01 9.80186484e-01 -3.65293299e+01] [-9.16485341e-01 3.99969399e-01 8.89377554e-03 -2.89727168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:-36.45, Z:-289.80 [[-3.31750337e-01 -8.92623925e-01 -3.05228181e-01 2.04165966e+02] [-4.65671946e-02 -3.07662139e-01 9.50355462e-01 -3.64469325e+01] [-9.42217178e-01 3.29494365e-01 6.05000263e-02 -2.89802038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:-36.67, Z:-289.73 [[-2.68089476e-01 -9.63140639e-01 2.20939536e-02 2.03859683e+02] [-5.60736039e-02 3.84944128e-02 9.97684284e-01 -3.66735224e+01] [-9.61760773e-01 2.66229769e-01 -6.43267136e-02 -2.89726683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-34.83, Z:-289.56 [[-3.59227031e-01 9.32284569e-01 4.24431717e-02 2.02843700e+02] [-3.06455665e-02 3.36704531e-02 -9.98963037e-01 -3.48253575e+01] [-9.32746905e-01 -3.60155221e-01 1.64750519e-02 -2.89555356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.99, Y:-34.75, Z:-289.65 [[-4.19319807e-01 9.00922825e-01 -1.11843472e-01 2.02986699e+02] [-1.99429608e-02 -1.32309045e-01 -9.91007868e-01 -3.47527211e+01] [-9.07619512e-01 -4.13318738e-01 7.34468719e-02 -2.89652718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-36.58, Z:-290.05 [[-3.30528403e-01 -9.32574794e-01 -1.45104198e-01 2.03927844e+02] [-3.89632793e-02 -1.40131060e-01 9.89366034e-01 -3.65837864e+01] [-9.42991430e-01 3.32667310e-01 9.98112324e-03 -2.90047095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters Centerline goodness : 0.999952 Centerline is valid? [True, True] Translation: X:204.14, Y:-35.16, Z:-290.19 [[-3.34484893e-01 6.84332276e-02 -9.39913161e-01 2.04136836e+02] [-3.45645814e-03 -9.97442363e-01 -7.13917732e-02 -3.51646642e+01] [-9.42394774e-01 -2.06306991e-02 3.33865939e-01 -2.90185660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:-36.76, Z:-289.99 [[-2.70523525e-01 -9.41690378e-01 2.00090618e-01 2.03562163e+02] [-4.98356039e-02 2.21259676e-01 9.73940742e-01 -3.67554885e+01] [-9.61422610e-01 2.53502246e-01 -1.06785656e-01 -2.89987768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.98, Y:-36.49, Z:-290.16 [[-2.02164426e-01 -9.37697956e-01 -2.82581116e-01 2.03975143e+02] [-2.10823909e-02 -2.84305250e-01 9.58501986e-01 -3.64889697e+01] [-9.79124649e-01 1.99732490e-01 3.77074929e-02 -2.90162750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:-36.69, Z:-290.14 [[-1.37218241e-01 -9.90187175e-01 2.64671835e-02 2.03687020e+02] [-2.92290250e-02 3.07559066e-02 9.99099464e-01 -3.66877960e+01] [-9.90109498e-01 1.36321061e-01 -3.31624772e-02 -2.90138814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:-36.67, Z:-290.18 [[-6.90403086e-02 -9.97591215e-01 -6.72337929e-03 2.03696918e+02] [-2.93646750e-02 -4.70439114e-03 9.99557694e-01 -3.66720065e+01] [-9.97181604e-01 6.92072016e-02 -2.89691492e-02 -2.90183489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:-34.85, Z:-290.17 [[-1.71397636e-01 9.84298281e-01 4.21870265e-02 2.02658566e+02] [-7.76363104e-03 4.14699441e-02 -9.99109588e-01 -3.48457829e+01] [-9.85171344e-01 -1.71572546e-01 5.33878311e-04 -2.90171351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-34.77, Z:-290.24 [[-2.35746070e-01 9.62004721e-01 -1.37734191e-01 2.02837295e+02] [ 3.11093981e-03 -1.40981093e-01 -9.90007401e-01 -3.47676005e+01] [-9.71809710e-01 -2.33818836e-01 3.02429997e-02 -2.90244216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.932320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:202.60, Y:-34.90, Z:-290.23 [[-3.04419735e-01 9.43950909e-01 1.27613900e-01 2.02595852e+02] [-1.10990488e-02 1.30448263e-01 -9.91392991e-01 -3.49007454e+01] [-9.52473326e-01 -3.03215984e-01 -2.92340685e-02 -2.90233528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:-34.94, Z:-290.26 [[-3.67940953e-01 9.09574915e-01 1.93113770e-01 2.02541270e+02] [-2.66093709e-02 1.97298106e-01 -9.79982346e-01 -3.49423072e+01] [-9.29468341e-01 -3.65714274e-01 -4.83908369e-02 -2.90263620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.91, Y:-34.74, Z:-290.46 [[-4.25697378e-01 8.80979838e-01 -2.06533936e-01 2.02909497e+02] [-3.69673951e-03 -2.29939525e-01 -9.73197898e-01 -3.47423996e+01] [-9.04858042e-01 -4.13524291e-01 1.01141406e-01 -2.90455201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-34.77, Z:-290.47 [[-4.86174284e-01 8.62754240e-01 -1.38887321e-01 2.02836476e+02] [ 5.31302736e-03 -1.56013821e-01 -9.87740583e-01 -3.47679635e+01] [-8.73845717e-01 -4.80951983e-01 7.12660709e-02 -2.90470116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.052320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:203.35, Y:-36.77, Z:-290.78 [[-3.93166534e-01 -9.01506740e-01 1.80847102e-01 2.03353909e+02] [-3.36805526e-02 2.10675395e-01 9.76975690e-01 -3.67668327e+01] [-9.18850204e-01 3.78023115e-01 -1.13193760e-01 -2.90781291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:-34.86, Z:-290.53 [[-4.89172401e-01 8.70943450e-01 4.65603847e-02 2.02596568e+02] [-1.45870839e-02 4.52064100e-02 -9.98871162e-01 -3.48553831e+01] [-8.72065123e-01 -4.89299385e-01 -9.40920297e-03 -2.90532560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-34.86, Z:-290.58 [[-5.47014331e-01 8.35742590e-01 4.80587665e-02 2.02586474e+02] [-1.85663976e-02 4.52831887e-02 -9.98801643e-01 -3.48580005e+01] [-8.36917326e-01 -5.47251091e-01 -9.25382393e-03 -2.90576589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:202.58, Y:-34.86, Z:-290.62 [[-6.03204929e-01 7.96191292e-01 4.71512368e-02 2.02577488e+02] [-2.12506548e-02 4.30529206e-02 -9.98846763e-01 -3.48583135e+01] [-7.97303093e-01 -6.03511286e-01 -9.05014763e-03 -2.90624701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-35.15, Z:-290.47 [[-6.51209999e-01 6.56152437e-01 3.81299774e-01 2.02297180e+02] [-6.19049632e-02 4.54835847e-01 -8.88421143e-01 -3.51525087e+01] [-7.56368504e-01 -6.02153080e-01 -2.55574559e-01 -2.90467348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-34.77, Z:-290.86 [[-6.98795778e-01 7.09511086e-01 -9.09861497e-02 2.02670737e+02] [-3.91201200e-02 -1.64911806e-01 -9.85532198e-01 -3.47734491e+01] [-7.14250710e-01 -6.85126350e-01 1.42995833e-01 -2.90863621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:-36.75, Z:-291.27 [[-6.16703403e-01 -7.85026444e-01 5.83985899e-02 2.03179068e+02] [-6.85835156e-02 1.27485047e-01 9.89466454e-01 -3.67491207e+01] [-7.84202279e-01 6.06202149e-01 -1.32460336e-01 -2.91265022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-34.82, Z:-290.91 [[-6.99667475e-01 7.14373490e-01 -1.16593521e-02 2.02498548e+02] [-4.63881234e-02 -6.17055649e-02 -9.97015830e-01 -3.48182398e+01] [-7.12961125e-01 -6.97038693e-01 7.63118224e-02 -2.90914295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-36.68, Z:-291.50 [[-6.16610110e-01 -7.82536303e-01 -8.61911015e-02 2.03206353e+02] [-5.95106024e-02 -6.28378075e-02 9.96247910e-01 -3.66751290e+01] [-7.85016216e-01 6.19425818e-01 -7.82277933e-03 -2.91497020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.33, Y:-34.88, Z:-290.95 [[-6.99562546e-01 7.10792359e-01 7.33925566e-02 2.02328108e+02] [-4.78769025e-02 5.58542904e-02 -9.97290379e-01 -3.48822536e+01] [-7.12965670e-01 -7.01180805e-01 -5.04303309e-03 -2.90952198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-36.68, Z:-291.61 [[-6.16736932e-01 -7.82638192e-01 -8.43387070e-02 2.03102577e+02] [-5.88130170e-02 -6.10283034e-02 9.96401814e-01 -3.66835263e+01] [-7.84969162e-01 6.19478012e-01 -8.39090472e-03 -2.91607433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:-36.69, Z:-291.63 [[-5.62535969e-01 -8.22440535e-01 -8.45272192e-02 2.03062381e+02] [-5.49055380e-02 -6.48498895e-02 9.96383397e-01 -3.66881070e+01] [-8.24947674e-01 5.65142512e-01 -8.67614460e-03 -2.91630201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:-36.56, Z:-291.77 [[-5.06993837e-01 -8.20716374e-01 -2.63404409e-01 2.03175632e+02] [-3.05970381e-02 -2.88262731e-01 9.57062391e-01 -3.65562929e+01] [-8.61406449e-01 4.93284128e-01 1.21035938e-01 -2.91774368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:202.91, Y:-36.74, Z:-291.66 [[-4.49234330e-01 -8.93409757e-01 2.74277799e-03 2.02910251e+02] [-3.95091148e-02 2.29332231e-02 9.98956004e-01 -3.67391603e+01] [-8.92539941e-01 4.48656966e-01 -4.56002197e-02 -2.91658736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.88, Y:-36.74, Z:-291.70 [[-3.87361546e-01 -9.21922273e-01 -3.21793366e-03 2.02883345e+02] [-4.01352049e-02 1.33761627e-02 9.99104721e-01 -3.67361963e+01] [-9.21053852e-01 3.87143902e-01 -4.21829504e-02 -2.91696808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:202.86, Y:-36.73, Z:-291.74 [[-3.24025763e-01 -9.45978876e-01 -1.14573852e-02 2.02860201e+02] [-4.00416337e-02 1.61350257e-03 9.99196709e-01 -3.67318029e+01] [-9.45200493e-01 3.24224249e-01 -3.84013560e-02 -2.91736728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:-35.29, Z:-291.98 [[-3.37915629e-01 6.86465616e-02 -9.38669631e-01 2.03238882e+02] [ 2.87292423e-02 -9.96119471e-01 -8.31903302e-02 -3.52861846e+01] [-9.40737826e-01 -5.50785800e-02 3.34632174e-01 -2.91978897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:202.09, Y:-34.84, Z:-291.60 [[-4.24434794e-01 8.97892439e-01 -1.16808704e-01 2.02090510e+02] [ 2.99697852e-02 -1.15003363e-01 -9.92912906e-01 -3.48366540e+01] [-9.04962385e-01 -4.24927517e-01 2.19017853e-02 -2.91602694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59232058799995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:202.12, Y:-34.83, Z:-291.67 [[-4.84877297e-01 8.61737781e-01 -1.49338555e-01 2.02115516e+02] [ 4.05817357e-02 -1.48401745e-01 -9.88094148e-01 -3.48260075e+01] [-8.73640160e-01 -4.85164837e-01 3.69858219e-02 -2.91666773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.12, Y:-34.82, Z:-291.72 [[-5.42783868e-01 8.23806763e-01 -1.63487278e-01 2.02118297e+02] [ 5.15321179e-02 -1.61623942e-01 -9.85506034e-01 -3.48227342e+01] [-8.38289994e-01 -5.43341622e-01 4.52743610e-02 -2.91723623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:-36.80, Z:-292.11 [[-4.49340816e-01 -8.76461500e-01 1.72939499e-01 2.02499647e+02] [ 9.88029267e-03 1.88695716e-01 9.81985899e-01 -3.68015395e+01] [-8.93305777e-01 4.42955038e-01 -7.61289909e-02 -2.92110571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:-34.82, Z:-291.87 [[-5.45127610e-01 8.21256067e-01 -1.68446907e-01 2.02047332e+02] [ 5.16004623e-02 -1.67676779e-01 -9.84490675e-01 -3.48176618e+01] [-8.36763575e-01 -5.45364987e-01 4.90280493e-02 -2.91868523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:-36.80, Z:-292.23 [[-4.50859916e-01 -8.73181599e-01 1.85146513e-01 2.02405621e+02] [ 4.54575623e-03 2.05176194e-01 9.78714496e-01 -3.67978065e+01] [-8.92583146e-01 4.42104766e-01 -8.85364508e-02 -2.92231217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:-35.41, Z:-292.57 [[-4.54663949e-01 -6.64270615e-02 -8.88182492e-01 2.03033811e+02] [ 5.99047906e-02 -9.97237506e-01 4.39177859e-02 -3.54108658e+01] [-8.88646223e-01 -3.32385522e-02 4.57387242e-01 -2.92567504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-35.44, Z:-292.58 [[-4.54253000e-01 -9.21630433e-02 -8.86092650e-01 2.03037394e+02] [ 6.29081840e-02 -9.95469907e-01 7.12897289e-02 -3.54377311e+01] [-8.88648846e-01 -2.33589063e-02 4.57993002e-01 -2.92583471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.67, Y:-34.96, Z:-291.89 [[-5.45622575e-01 8.27374385e-01 1.33220238e-01 2.01669982e+02] [ 3.77431971e-02 1.83068070e-01 -9.82375454e-01 -3.49608115e+01] [-8.37180659e-01 -5.30978068e-01 -1.31113826e-01 -2.91888537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-35.42, Z:-292.75 [[-5.11700500e-01 -8.04900237e-02 -8.55385267e-01 2.02945179e+02] [ 7.64104799e-02 -9.95920180e-01 4.80045187e-02 -3.54164399e+01] [-8.55759333e-01 -4.07964625e-02 5.15763135e-01 -2.92753363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-36.77, Z:-292.50 [[-4.51367328e-01 -8.78919633e-01 1.54168136e-01 2.02296772e+02] [ 3.05946314e-02 1.57424317e-01 9.87057016e-01 -3.67741085e+01] [-8.91813604e-01 4.50242005e-01 -4.41659712e-02 -2.92501163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89232058799996 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:202.27, Y:-36.76, Z:-292.55 [[-3.88791123e-01 -9.10479508e-01 1.40955765e-01 2.02273984e+02] [ 1.83606064e-02 1.45305115e-01 9.89216514e-01 -3.67648915e+01] [-9.21142959e-01 3.87186633e-01 -3.97763828e-02 -2.92545453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:-36.76, Z:-292.59 [[-3.24432740e-01 -9.37075584e-01 1.28968011e-01 2.02254547e+02] [ 9.89347966e-03 1.32973883e-01 9.91070162e-01 -3.67560519e+01] [-9.45857027e-01 3.22811550e-01 -3.38701430e-02 -2.92592204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:-34.81, Z:-292.38 [[-4.25110605e-01 8.96593871e-01 -1.24098364e-01 2.01698806e+02] [ 5.41655020e-02 -1.11658882e-01 -9.92269315e-01 -3.48124827e+01] [-9.03519270e-01 -4.28546059e-01 -1.09708227e-03 -2.92384534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.20, Y:-36.75, Z:-292.74 [[-3.23149415e-01 -9.38473247e-01 1.21829476e-01 2.02198839e+02] [ 7.45607407e-03 1.26207614e-01 9.91975829e-01 -3.67476548e+01] [-9.46318584e-01 3.21464778e-01 -3.37865905e-02 -2.92739512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-34.81, Z:-292.53 [[-4.26047815e-01 8.96366008e-01 -1.22520366e-01 2.01642033e+02] [ 5.39418284e-02 -1.10016849e-01 -9.92464897e-01 -3.48073711e+01] [-9.03091102e-01 -4.29446473e-01 -1.47918322e-03 -2.92531284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.64, Y:-34.80, Z:-292.58 [[-4.85737858e-01 8.64659674e-01 -1.28149840e-01 2.01639843e+02] [ 6.09521567e-02 -1.12745140e-01 -9.91752675e-01 -3.48041257e+01] [-8.71976816e-01 -4.89542829e-01 2.06171096e-03 -2.92583643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:-36.77, Z:-292.93 [[-3.88627851e-01 -8.95542244e-01 2.16731360e-01 2.02004789e+02] [ 9.14997100e-03 2.31458340e-01 9.72801786e-01 -3.67700791e+01] [-9.21349375e-01 3.80040953e-01 -8.17569717e-02 -2.92929796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:-36.76, Z:-292.98 [[-3.25988282e-01 -9.25100216e-01 1.94733744e-01 2.01995150e+02] [-5.01356465e-03 2.07674804e-01 9.78185075e-01 -3.67611486e+01] [-9.45360515e-01 3.17900562e-01 -7.23376022e-02 -2.92980520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.14, Y:-36.70, Z:-293.09 [[-2.56862697e-01 -9.66288838e-01 1.75338510e-02 2.02137576e+02] [-3.22320164e-03 1.89989935e-02 9.99814307e-01 -3.67023577e+01] [-9.66442531e-01 2.56758485e-01 -7.99467650e-03 -2.93087703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-35.39, Z:-293.26 [[-2.64214996e-01 -5.31007379e-02 -9.63000907e-01 2.02665010e+02] [ 5.07960542e-02 -9.97863553e-01 4.10863702e-02 -3.53910285e+01] [-9.63125224e-01 -3.80610112e-02 2.66347823e-01 -2.93262833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.54, Y:-34.77, Z:-292.97 [[-3.66340662e-01 9.09411302e-01 -1.96889824e-01 2.01543489e+02] [ 5.87397423e-02 -1.88575216e-01 -9.80300480e-01 -3.47701637e+01] [-9.28624877e-01 -3.70689184e-01 1.56641841e-02 -2.92974086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:-34.76, Z:-293.05 [[-4.27583477e-01 8.70002205e-01 -2.45496504e-01 2.01587479e+02] [ 7.68521757e-02 -2.35605822e-01 -9.68805264e-01 -3.47615796e+01] [-9.00703122e-01 -4.33112064e-01 3.38795944e-02 -2.93048904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.61, Y:-35.47, Z:-293.56 [[-3.86258009e-01 -1.46485952e-01 -9.10684696e-01 2.02614573e+02] [ 8.71403928e-02 -9.88688355e-01 1.22073294e-01 -3.54746644e+01] [-9.18265377e-01 -3.22056347e-02 3.94653639e-01 -2.93561787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.95, Y:-36.72, Z:-293.41 [[-3.12936227e-01 -9.45029029e-01 9.48211533e-02 2.01954541e+02] [ 3.41172099e-02 8.85860998e-02 9.95484063e-01 -3.67183961e+01] [-9.49161174e-01 3.14758060e-01 4.51995390e-03 -2.93409502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:-36.72, Z:-293.45 [[-2.46973833e-01 -9.63907003e-01 9.94344803e-02 2.01915582e+02] [ 2.60323801e-02 9.59763554e-02 9.95043142e-01 -3.67163253e+01] [-9.68672412e-01 2.48338135e-01 1.38914510e-03 -2.93453879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:-34.78, Z:-293.26 [[-3.71139593e-01 9.20369695e-01 -1.23186961e-01 2.01362739e+02] [ 7.30592633e-02 -1.03308129e-01 -9.91962587e-01 -3.47792327e+01] [-9.25698518e-01 -3.77156539e-01 -2.88997951e-02 -2.93257471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.54, Y:-35.49, Z:-293.74 [[-3.20442506e-01 -1.66017832e-01 -9.32606391e-01 2.02543346e+02] [ 8.74286752e-02 -9.85503346e-01 1.45393884e-01 -3.54945236e+01] [-9.43224696e-01 -3.49461608e-02 3.30311881e-01 -2.93741903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:-34.81, Z:-293.29 [[-4.32787520e-01 9.00286375e-01 -4.66841139e-02 2.01281110e+02] [ 7.67203928e-02 -1.48150106e-02 -9.96942574e-01 -3.48054744e+01] [-8.98225442e-01 -4.35045928e-01 -6.26585726e-02 -2.93294541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.92, Y:-36.66, Z:-293.76 [[-3.10605764e-01 -9.50529270e-01 -4.26216919e-03 2.01923892e+02] [ 4.29054813e-02 -1.84993820e-02 9.98907850e-01 -3.66612903e+01] [-9.49569997e-01 3.10083665e-01 4.65289305e-02 -2.93756826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:-34.80, Z:-293.44 [[-4.32188008e-01 9.00406953e-01 -4.98080746e-02 2.01230999e+02] [ 7.76275439e-02 -1.78809086e-02 -9.96822069e-01 -3.47961194e+01] [-8.98436136e-01 -4.34681023e-01 -6.21684660e-02 -2.93443612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.43, Y:-35.48, Z:-294.05 [[-3.83365403e-01 -1.67075011e-01 -9.08359460e-01 2.02428510e+02] [ 1.01526841e-01 -9.85165284e-01 1.38353403e-01 -3.54829729e+01] [-9.17999601e-01 -3.91829586e-02 3.94640884e-01 -2.94054154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.33, Y:-34.76, Z:-293.57 [[-4.87135573e-01 8.55796073e-01 -1.74103458e-01 2.01333091e+02] [ 1.03258530e-01 -1.41517545e-01 -9.84535657e-01 -3.47561947e+01] [-8.67200444e-01 -4.97580009e-01 -1.94300145e-02 -2.93571314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:-35.50, Z:-294.22 [[-4.40128765e-01 -1.95007028e-01 -8.76503810e-01 2.02366072e+02] [ 1.23923159e-01 -9.79983972e-01 1.55802649e-01 -3.54998432e+01] [-8.89342297e-01 -4.00458935e-02 4.55485022e-01 -2.94221049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.55, Y:-36.71, Z:-293.98 [[-3.79111699e-01 -8.94263823e-01 2.37837202e-01 2.01546155e+02] [ 5.60536220e-02 2.34358410e-01 9.70532909e-01 -3.67058593e+01] [-9.23651618e-01 3.81272016e-01 -3.87212885e-02 -2.93983682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:-36.71, Z:-293.99 [[-3.22623488e-01 -8.88181297e-01 3.27182012e-01 2.01419353e+02] [ 3.19995169e-02 3.35233378e-01 9.41591532e-01 -3.67067688e+01] [-9.45986319e-01 3.14249211e-01 -7.97327892e-02 -2.93985685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:-36.68, Z:-294.08 [[-2.56502492e-01 -9.48172405e-01 1.87551491e-01 2.01534258e+02] [ 2.23200314e-02 1.88181016e-01 9.81880706e-01 -3.66828994e+01] [-9.66285821e-01 2.56041003e-01 -2.71056617e-02 -2.94079512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:-34.72, Z:-293.94 [[-3.63240310e-01 9.12655284e-01 -1.87394797e-01 2.01183330e+02] [ 7.86973175e-02 -1.70359580e-01 -9.82234364e-01 -3.47191667e+01] [-9.28365881e-01 -3.71534583e-01 -9.94205578e-03 -2.93940564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:-36.67, Z:-294.23 [[-2.56736554e-01 -9.50654929e-01 1.74188251e-01 2.01495089e+02] [ 2.65576339e-02 1.73221967e-01 9.84524678e-01 -3.66730192e+01] [-9.66116470e-01 2.57389501e-01 -1.92252653e-02 -2.94229511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:-34.71, Z:-294.09 [[-3.63515412e-01 9.14593390e-01 -1.77131237e-01 2.01130555e+02] [ 7.55134991e-02 -1.60584695e-01 -9.84129192e-01 -3.47124623e+01] [-9.28522620e-01 -3.71121929e-01 -1.06891355e-02 -2.94086981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:-35.48, Z:-294.55 [[-3.22503644e-01 -1.72998529e-01 -9.30625010e-01 2.02223573e+02] [ 8.45984542e-02 -9.84490257e-01 1.53694619e-01 -3.54759778e+01] [-9.42780198e-01 -2.91623625e-02 3.32137103e-01 -2.94548755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:-34.70, Z:-294.19 [[-4.21864723e-01 8.67978831e-01 -2.61997911e-01 2.01204543e+02] [ 1.00399993e-01 -2.42470849e-01 -9.64949599e-01 -3.46972482e+01] [-9.01082681e-01 -4.33382783e-01 1.51448291e-02 -2.94185919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-34.74, Z:-294.16 [[-4.86238184e-01 8.71509467e-01 -6.35899198e-02 2.00994727e+02] [ 9.79812317e-02 -1.79360608e-02 -9.95026621e-01 -3.47445698e+01] [-8.68315672e-01 -4.90050556e-01 -7.66703734e-02 -2.94157878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:-34.76, Z:-294.20 [[-5.45502275e-01 8.37640756e-01 -2.80219825e-02 2.00948191e+02] [ 9.47530983e-02 2.84173046e-02 -9.95095125e-01 -3.47555384e+01] [-8.32735924e-01 -5.45481824e-01 -9.48707613e-02 -2.94196069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:-34.76, Z:-294.24 [[-6.02709170e-01 7.97929815e-01 -7.04748758e-03 2.00912984e+02] [ 8.97168144e-02 5.89856391e-02 -9.94219084e-01 -3.47598452e+01] [-7.92901349e-01 -5.99857238e-01 -1.07138907e-01 -2.94240108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:-34.76, Z:-294.28 [[-6.56531982e-01 7.54232701e-01 9.93930603e-03 2.00875504e+02] [ 8.22114513e-02 8.46480309e-02 -9.93013589e-01 -3.47627783e+01] [-7.49804664e-01 -6.51128055e-01 -1.17580704e-01 -2.94283829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-36.55, Z:-294.97 [[-5.53383329e-01 -8.31488555e-01 -4.89251926e-02 2.01430264e+02] [ 6.18447043e-02 -9.95944534e-02 9.93104313e-01 -3.65483172e+01] [-8.30627548e-01 5.46541607e-01 1.06537074e-01 -2.94971470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:-36.56, Z:-295.00 [[-4.92535329e-01 -8.69974662e-01 -2.35167442e-02 2.01358923e+02] [ 6.59271261e-02 -6.42413403e-02 9.95754319e-01 -3.65585375e+01] [-8.67791775e-01 4.88893790e-01 8.89960589e-02 -2.94997986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.74, Y:-34.73, Z:-294.51 [[-6.08308706e-01 7.93583992e-01 -1.36002026e-02 2.00736035e+02] [ 9.27191029e-02 5.40335682e-02 -9.94225096e-01 -3.47327097e+01] [-7.88266254e-01 -6.06056780e-01 -1.06449486e-01 -2.94511145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:-34.74, Z:-294.56 [[-6.61200568e-01 7.50204847e-01 -2.54867439e-03 2.00704502e+02] [ 9.05915954e-02 7.64704651e-02 -9.92947849e-01 -3.47368230e+01] [-7.44719391e-01 -6.56768570e-01 -1.18524569e-01 -2.94557400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:-36.53, Z:-295.23 [[-5.48351962e-01 -8.35165531e-01 -4.25283722e-02 2.01223670e+02] [ 6.10882524e-02 -9.07258318e-02 9.94000528e-01 -3.65254816e+01] [-8.34013400e-01 5.42464155e-01 1.00768491e-01 -2.95229013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.16, Y:-36.53, Z:-295.26 [[-4.90549393e-01 -8.71109139e-01 -2.30252192e-02 2.01161667e+02] [ 6.58728329e-02 -6.34164393e-02 9.95810788e-01 -3.65311361e+01] [-8.68920056e-01 4.86977641e-01 8.84913225e-02 -2.95256410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.09, Y:-36.54, Z:-295.29 [[-4.29963982e-01 -9.02840250e-01 3.23379113e-03 2.01094766e+02] [ 6.94165831e-02 -2.94869991e-02 9.97151872e-01 -3.65375023e+01] [-9.00173490e-01 4.28963868e-01 7.53504328e-02 -2.95285517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.54, Y:-34.69, Z:-294.88 [[-5.54500931e-01 8.30766583e-01 -4.85345389e-02 2.00536783e+02] [ 1.01197938e-01 9.42640284e-03 -9.94821653e-01 -3.46868209e+01] [-8.26007079e-01 -5.56541128e-01 -8.92988141e-02 -2.94881442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.50, Y:-34.69, Z:-294.93 [[-6.10679287e-01 7.91136723e-01 -3.42562966e-02 2.00502927e+02] [ 1.00127433e-01 3.42314813e-02 -9.94385591e-01 -3.46906553e+01] [-7.85522314e-01 -6.10680679e-01 -1.00118946e-01 -2.94932219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.47, Y:-34.69, Z:-294.98 [[-6.63316225e-01 7.48042615e-01 -2.10673147e-02 2.00467017e+02] [ 9.65407071e-02 5.76214166e-02 -9.93659733e-01 -3.46934144e+01] [-7.42085896e-01 -6.61144476e-01 -1.10437784e-01 -2.94979004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:-36.49, Z:-295.61 [[-5.46278186e-01 -8.37428635e-01 -1.71296279e-02 2.00919798e+02] [ 6.88602028e-02 -6.52821801e-02 9.95488076e-01 -3.64939550e+01] [-8.34768480e-01 5.42633871e-01 9.33277366e-02 -2.95614206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:-34.68, Z:-295.11 [[-6.63726351e-01 7.47486820e-01 -2.70330152e-02 2.00379857e+02] [ 9.72107487e-02 5.03698940e-02 -9.93988402e-01 -3.46777904e+01] [-7.41631580e-01 -6.62364195e-01 -1.06095579e-01 -2.95112972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.34, Y:-34.68, Z:-295.16 [[-7.12894917e-01 7.01194997e-01 -1.03156773e-02 2.00342095e+02] [ 8.81887194e-02 7.50476110e-02 -9.93272674e-01 -3.46757574e+01] [-6.95703663e-01 -7.09008767e-01 -1.15338549e-01 -2.95158743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.76, Y:-36.47, Z:-295.83 [[-6.02188742e-01 -7.98092357e-01 -2.04281263e-02 2.00761981e+02] [ 7.26523881e-02 -8.02645288e-02 9.94122345e-01 -3.64726994e+01] [-7.95041099e-01 5.97165132e-01 1.06317711e-01 -2.95828020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:-35.35, Z:-296.14 [[-6.15295980e-01 -1.62218027e-01 -7.71424765e-01 2.01236208e+02] [ 1.32738454e-01 -9.85944959e-01 1.01454623e-01 -3.53545087e+01] [-7.77040127e-01 -3.99731086e-02 6.28180540e-01 -2.96142076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:-34.65, Z:-295.32 [[-7.09081223e-01 7.03783513e-01 -4.35038596e-02 2.00248489e+02] [ 1.06934523e-01 4.63464523e-02 -9.93185287e-01 -3.46519794e+01] [-6.96971181e-01 -7.08901102e-01 -1.08122153e-01 -2.95315414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-36.47, Z:-295.96 [[-6.04459610e-01 -7.96566941e-01 1.04731945e-02 2.00604195e+02] [ 8.25828643e-02 -4.95796502e-02 9.95350154e-01 -3.64656222e+01] [-7.92343770e-01 6.02513873e-01 9.57516756e-02 -2.95958295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:-36.52, Z:-295.85 [[-5.55663448e-01 -8.08664572e-01 1.93131413e-01 2.00380541e+02] [ 6.03518821e-02 1.92449489e-01 9.79449256e-01 -3.65160036e+01] [-8.29213955e-01 5.55899995e-01 -5.81327180e-02 -2.95853998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:-34.58, Z:-295.63 [[-6.53058106e-01 7.28396640e-01 -2.07252130e-01 2.00243679e+02] [ 1.16395335e-01 -1.73877200e-01 -9.77864431e-01 -3.45787718e+01] [-7.48309586e-01 -6.62725474e-01 2.87699443e-02 -2.95625511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:-34.57, Z:-295.68 [[-7.00762233e-01 6.81013292e-01 -2.12492796e-01 2.00223829e+02] [ 1.28079035e-01 -1.72921274e-01 -9.76572575e-01 -3.45743521e+01] [-7.01803429e-01 -7.11561051e-01 3.39531732e-02 -2.95682233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-34.71, Z:-295.47 [[-7.51601783e-01 6.51269519e-01 1.04607707e-01 1.99894093e+02] [ 9.64841348e-02 2.65430484e-01 -9.59290086e-01 -3.47116560e+01] [-6.52522468e-01 -7.10911156e-01 -2.62335201e-01 -2.95472231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:-36.47, Z:-296.17 [[-6.59835941e-01 -7.43877059e-01 1.06129418e-01 2.00252891e+02] [ 6.90269106e-02 8.06361913e-02 9.94350587e-01 -3.64682455e+01] [-7.48232462e-01 6.63434041e-01 -1.85912189e-03 -2.96174587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:-36.46, Z:-296.21 [[-6.07169698e-01 -7.87167114e-01 1.08226112e-01 2.00199636e+02] [ 6.34586606e-02 8.77318798e-02 9.94120775e-01 -3.64623684e+01] [-7.92034062e-01 6.10467895e-01 -3.31556827e-03 -2.96206786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:-36.46, Z:-296.24 [[-5.53006635e-01 -8.25958359e-01 1.09436972e-01 2.00152434e+02] [ 5.69273702e-02 9.35848843e-02 9.93982467e-01 -3.64564160e+01] [-8.31229773e-01 5.55908858e-01 -4.73342466e-03 -2.96241028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:-36.45, Z:-296.28 [[-4.96255729e-01 -8.61179193e-01 1.10002945e-01 2.00108400e+02] [ 4.97332513e-02 9.82989316e-02 9.93913439e-01 -3.64498208e+01] [-8.66750746e-01 4.98706042e-01 -5.95216675e-03 -2.96277950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-36.37, Z:-296.43 [[-4.34347529e-01 -8.94956102e-01 -1.01959788e-01 2.00262666e+02] [ 6.81437284e-02 -1.45518842e-01 9.87005927e-01 -3.63669295e+01] [-8.98164047e-01 4.21755666e-01 1.24191395e-01 -2.96434515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:-36.23, Z:-296.57 [[-3.74611362e-01 -8.70786710e-01 -3.18428694e-01 2.00409251e+02] [ 1.01516444e-01 -3.79893520e-01 9.19442943e-01 -3.62325433e+01] [-9.21607693e-01 3.12108024e-01 2.30711600e-01 -2.96566394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:-34.54, Z:-296.14 [[-4.86689959e-01 8.58162245e-01 -1.63372105e-01 1.99742181e+02] [ 1.32217899e-01 -1.12498923e-01 -9.84815932e-01 -3.45379472e+01] [-8.63511037e-01 -5.00900742e-01 -5.87123127e-02 -2.96139010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:-34.54, Z:-296.19 [[-5.43192884e-01 8.26510427e-01 -1.47722729e-01 1.99713788e+02] [ 1.40344681e-01 -8.40860926e-02 -9.86525671e-01 -3.45375953e+01] [-8.27795181e-01 -5.56605824e-01 -7.03213754e-02 -2.96188419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:-34.54, Z:-296.23 [[-5.98101636e-01 7.90899552e-01 -1.29430802e-01 1.99678279e+02] [ 1.42727817e-01 -5.38001973e-02 -9.88298694e-01 -3.45364130e+01] [-7.88608397e-01 -6.09576441e-01 -8.07053808e-02 -2.96234646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-34.53, Z:-296.28 [[-6.50706699e-01 7.50373174e-01 -1.16279369e-01 1.99643953e+02] [ 1.43440582e-01 -2.89057134e-02 -9.89236705e-01 -3.45338149e+01] [-7.45657825e-01 -6.60382131e-01 -8.88248235e-02 -2.96279766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-34.53, Z:-296.32 [[-6.99033386e-01 7.06832661e-01 -1.08350885e-01 1.99612174e+02] [ 1.44272991e-01 -8.99963826e-03 -9.89496999e-01 -3.45312191e+01] [-7.00383915e-01 -7.07323544e-01 -9.56858144e-02 -2.96322832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:-36.26, Z:-297.05 [[-6.13571763e-01 -7.81003745e-01 -1.16459611e-01 1.99971982e+02] [ 1.32203576e-01 -2.47005449e-01 9.59953396e-01 -3.62623148e+01] [-7.78493356e-01 5.73603921e-01 2.54807057e-01 -2.97050909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.69, Y:-34.49, Z:-296.55 [[-6.89787345e-01 6.68310206e-01 -2.78486782e-01 1.99685661e+02] [ 1.81106908e-01 -2.13144538e-01 -9.60088378e-01 -3.44882780e+01] [-7.00994798e-01 -7.12692693e-01 2.59888097e-02 -2.96546562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:-36.38, Z:-296.88 [[-6.23688652e-01 -7.37748932e-01 2.58338884e-01 1.99516257e+02] [ 1.22650572e-01 2.34038575e-01 9.64459840e-01 -3.63770863e+01] [-7.71990481e-01 6.33208070e-01 -5.54818748e-02 -2.96883398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-34.47, Z:-296.65 [[-6.89417975e-01 6.69922189e-01 -2.75512462e-01 1.99589626e+02] [ 1.77449561e-01 -2.12566162e-01 -9.60899204e-01 -3.44654411e+01] [-7.02292325e-01 -7.11350748e-01 2.76695342e-02 -2.96654181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-34.50, Z:-296.55 [[-7.39535933e-01 6.64737063e-01 -1.05883150e-01 1.99390558e+02] [ 1.71983579e-01 3.45198528e-02 -9.84494809e-01 -3.44991504e+01] [-6.50775117e-01 -7.46279450e-01 -1.39852531e-01 -2.96550682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:-34.49, Z:-296.59 [[-7.83256001e-01 6.13620099e-01 -9.99020053e-02 1.99350636e+02] [ 1.70094672e-01 5.69505616e-02 -9.83780685e-01 -3.44937929e+01] [-5.97978126e-01 -7.87544924e-01 -1.48980379e-01 -2.96590439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-34.45, Z:-296.75 [[-8.19291316e-01 5.37381685e-01 -1.99956656e-01 1.99412934e+02] [ 1.79884702e-01 -9.02295771e-02 -9.79540769e-01 -3.44471359e+01] [-5.44429273e-01 -8.38498389e-01 -2.27424351e-02 -2.96747219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:-36.31, Z:-297.24 [[-7.65846903e-01 -6.19913691e-01 1.70837748e-01 1.99320168e+02] [ 1.35149473e-01 1.04565040e-01 9.85292227e-01 -3.63075224e+01] [-6.28659798e-01 7.77671632e-01 3.70019629e-03 -2.97239972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:-35.21, Z:-297.77 [[-7.56516570e-01 -2.18982673e-01 -6.16221768e-01 1.99908964e+02] [ 1.82535579e-01 -9.75528780e-01 1.22573906e-01 -3.52103320e+01] [-6.27983631e-01 -1.97532064e-02 7.77975816e-01 -2.97767206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:-34.46, Z:-296.73 [[-8.18590296e-01 5.63924960e-01 -1.09080553e-01 1.99180327e+02] [ 1.79477349e-01 7.07307246e-02 -9.81216106e-01 -3.44578145e+01] [-5.45616906e-01 -8.22791471e-01 -1.59111242e-01 -2.96731516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:-34.45, Z:-296.76 [[-8.55221240e-01 5.07958756e-01 -1.02832544e-01 1.99138892e+02] [ 1.73267499e-01 9.32353292e-02 -9.80451706e-01 -3.44524499e+01] [-4.88441403e-01 -8.56320662e-01 -1.67749577e-01 -2.96761588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:-34.45, Z:-296.79 [[-8.87118945e-01 4.50860980e-01 -9.87134966e-02 1.99098627e+02] [ 1.65952019e-01 1.12017986e-01 -9.79750937e-01 -3.44479258e+01] [-4.30673781e-01 -8.85537321e-01 -1.74194567e-01 -2.96787980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:-34.44, Z:-296.82 [[-9.15925694e-01 3.89576341e-01 -9.64904027e-02 1.99055526e+02] [ 1.58049019e-01 1.29118707e-01 -9.78952944e-01 -3.44419499e+01] [-3.68918190e-01 -9.11898368e-01 -1.79835300e-01 -2.96815181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:-36.18, Z:-297.64 [[-8.76982886e-01 -4.76535185e-01 6.17675866e-02 1.99080064e+02] [ 1.34971215e-01 -1.20919743e-01 9.83443535e-01 -3.61824806e+01] [-4.61176526e-01 8.70799996e-01 1.70363079e-01 -2.97642569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:-35.11, Z:-298.07 [[-8.71989743e-01 -1.83276930e-01 -4.53920098e-01 1.99473685e+02] [ 1.66135595e-01 -9.83031922e-01 7.77637705e-02 -3.51095311e+01] [-4.60470251e-01 -7.60307509e-03 8.87642575e-01 -2.98069168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.43, Y:-35.11, Z:-298.09 [[-8.68348572e-01 -1.99807015e-01 -4.53925009e-01 1.99433749e+02] [ 1.84381340e-01 -9.79712587e-01 7.85287755e-02 -3.51065465e+01] [-4.60406645e-01 -1.55049510e-02 8.87572711e-01 -2.98089152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:-36.23, Z:-297.47 [[-8.42744770e-01 -4.99933258e-01 1.99619613e-01 1.98842404e+02] [ 1.39210419e-01 1.55810395e-01 9.77928208e-01 -3.62313279e+01] [-5.20001646e-01 8.51933013e-01 -6.17124773e-02 -2.97466763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:-35.11, Z:-298.09 [[-8.36227982e-01 -2.00690144e-01 -5.10339326e-01 1.99414203e+02] [ 1.76961444e-01 -9.79596871e-01 9.52607871e-02 -3.51081294e+01] [-5.19044708e-01 -1.06506483e-02 8.54680733e-01 -2.98085607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-36.22, Z:-297.36 [[-8.10457384e-01 -5.19623187e-01 2.70463625e-01 1.98711075e+02] [ 1.17478906e-01 3.08148940e-01 9.44056639e-01 -3.62246056e+01] [-5.73896799e-01 7.96891445e-01 -1.88696820e-01 -2.97364501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:-34.34, Z:-297.09 [[-8.59072111e-01 4.89321014e-01 -1.50200045e-01 1.98782761e+02] [ 1.57911312e-01 -2.57659600e-02 -9.87117082e-01 -3.43410663e+01] [-4.86887180e-01 -8.71723041e-01 -5.51345058e-02 -2.97085194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.76, Y:-36.18, Z:-297.65 [[-8.08667977e-01 -5.75454441e-01 1.22099504e-01 1.98756266e+02] [ 1.23461015e-01 3.69143776e-02 9.91662597e-01 -3.61770014e+01] [-5.75163873e-01 8.17000315e-01 4.11947142e-02 -2.97651463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:-34.36, Z:-297.06 [[-8.59392107e-01 5.05556300e-01 -7.65377917e-02 1.98601048e+02] [ 1.46874365e-01 1.00697471e-01 -9.84016230e-01 -3.43589728e+01] [-4.89768442e-01 -8.56897221e-01 -1.60791872e-01 -2.97059264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:-36.12, Z:-297.82 [[-8.08743520e-01 -5.86371774e-01 4.58482459e-02 1.98718773e+02] [ 1.25506420e-01 -9.58944040e-02 9.87447417e-01 -3.61187009e+01] [-5.74614703e-01 8.04345949e-01 1.51147400e-01 -2.97821698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:-34.29, Z:-297.30 [[-8.54092011e-01 4.78560492e-01 -2.03731913e-01 1.98612682e+02] [ 1.65389056e-01 -1.21486165e-01 -9.78717310e-01 -3.42879823e+01] [-4.93126046e-01 -8.69609664e-01 2.46116945e-02 -2.97297232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:-34.28, Z:-297.33 [[-8.84530223e-01 4.19226773e-01 -2.04585427e-01 1.98575556e+02] [ 1.72939141e-01 -1.12615563e-01 -9.78473193e-01 -3.42815910e+01] [-4.33241662e-01 -9.00869940e-01 2.71111509e-02 -2.97333786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-34.28, Z:-297.37 [[-9.10972130e-01 3.57887575e-01 -2.05051851e-01 1.98539612e+02] [ 1.79789191e-01 -1.02885207e-01 -9.78310013e-01 -3.42757258e+01] [-3.71221800e-01 -9.28079263e-01 2.93812388e-02 -2.97366397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:-36.14, Z:-297.81 [[-8.80599522e-01 -4.38992566e-01 1.78409668e-01 1.98338944e+02] [ 1.39781767e-01 1.19099509e-01 9.82993573e-01 -3.61353658e+01] [-4.52775375e-01 8.90562089e-01 -4.35158139e-02 -2.97809705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:-35.00, Z:-298.43 [[-8.73020937e-01 -1.85002091e-01 -4.51230174e-01 1.98848965e+02] [ 1.66879944e-01 -9.82723152e-01 8.00393126e-02 -3.50020097e+01] [-4.58241779e-01 -5.42527052e-03 8.88811025e-01 -2.98428679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:-36.10, Z:-297.93 [[-8.45733659e-01 -5.19229459e-01 1.23025800e-01 1.98343842e+02] [ 1.39833669e-01 6.84114438e-03 9.90151374e-01 -3.60994477e+01] [-5.14957400e-01 8.54607493e-01 6.68199745e-02 -2.97925171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:-35.00, Z:-298.42 [[-8.38689670e-01 -1.93722336e-01 -5.08990466e-01 1.98833666e+02] [ 1.69349040e-01 -9.81030864e-01 9.43363466e-02 -3.50029464e+01] [-5.17610414e-01 -7.07812726e-03 8.55587143e-01 -2.98420209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.35, Y:-36.05, Z:-298.03 [[-8.05765951e-01 -5.88371670e-01 6.75278511e-02 1.98346956e+02] [ 1.52124654e-01 -9.54273808e-02 9.83743719e-01 -3.60546726e+01] [-5.72362928e-01 8.02939844e-01 1.66397971e-01 -2.98030777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-35.01, Z:-298.42 [[-8.00067219e-01 -2.13008781e-01 -5.60820564e-01 1.98815106e+02] [ 1.79910424e-01 -9.77005527e-01 1.14422202e-01 -3.50120570e+01] [-5.72297724e-01 -9.35201298e-03 8.19992594e-01 -2.98419935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:-36.08, Z:-297.97 [[-7.64806576e-01 -6.28202023e-01 1.42944463e-01 1.98215961e+02] [ 1.50227569e-01 4.18662246e-02 9.87764596e-01 -3.60824655e+01] [-6.26500262e-01 7.76923058e-01 6.23536986e-02 -2.97965304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:-34.24, Z:-297.43 [[-8.17226582e-01 5.56429815e-01 -1.50088557e-01 1.98115830e+02] [ 1.81704052e-01 1.62376397e-03 -9.83351921e-01 -3.42427224e+01] [-5.46922619e-01 -8.30893028e-01 -1.02432535e-01 -2.97426358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:-36.05, Z:-298.07 [[-7.64943185e-01 -6.32677250e-01 1.20753554e-01 1.98125453e+02] [ 1.49617831e-01 7.81041936e-03 9.88713053e-01 -3.60489903e+01] [-6.26479392e-01 7.74376197e-01 8.86852709e-02 -2.98071493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.27, Y:-34.20, Z:-297.84 [[-8.03579030e-01 4.34658434e-01 -4.06611349e-01 1.98273466e+02] [ 2.14927883e-01 -4.25150307e-01 -8.79234452e-01 -3.42034440e+01] [-5.55037610e-01 -7.93926484e-01 2.48221654e-01 -2.97843773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.08, Y:-34.19, Z:-297.67 [[-8.41505644e-01 4.67957704e-01 -2.69970069e-01 1.98083562e+02] [ 2.23255980e-01 -1.53832485e-01 -9.62544718e-01 -3.41884999e+01] [-4.91960382e-01 -8.70259245e-01 2.49765483e-02 -2.97667358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:-36.01, Z:-298.21 [[-7.94638406e-01 -5.83139436e-01 1.68814104e-01 1.97899060e+02] [ 1.89906513e-01 2.53452421e-02 9.81474979e-01 -3.60112067e+01] [-5.76615400e-01 8.11976611e-01 9.06016740e-02 -2.98210235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.47, Y:-34.97, Z:-298.66 [[-7.87807633e-01 -2.64033260e-01 -5.56458058e-01 1.98470993e+02] [ 2.22391128e-01 -9.64447648e-01 1.42768763e-01 -3.49717955e+01] [-5.74370368e-01 -1.12770139e-02 8.18517874e-01 -2.98662976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:-35.98, Z:-298.29 [[-7.49136667e-01 -6.49446225e-01 1.30437166e-01 1.97876757e+02] [ 1.95889405e-01 -2.90927292e-02 9.80194345e-01 -3.59786528e+01] [-6.32788744e-01 7.59850784e-01 1.49014065e-01 -2.98287385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:-35.98, Z:-298.28 [[-7.03959772e-01 -6.92755955e-01 1.56620005e-01 1.97803712e+02] [ 1.94203241e-01 2.43657173e-02 9.80658663e-01 -3.59778276e+01] [-6.83173287e-01 7.20760362e-01 1.17382967e-01 -2.98283472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.74, Y:-35.97, Z:-298.30 [[-6.55013247e-01 -7.37236898e-01 1.65648428e-01 1.97743552e+02] [ 1.92047718e-01 4.95952685e-02 9.80131615e-01 -3.59688799e+01] [-7.30804570e-01 6.73811595e-01 1.09099106e-01 -2.98303123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:-34.13, Z:-297.78 [[-7.25388738e-01 6.60235128e-01 -1.94681159e-01 1.97667227e+02] [ 2.23640665e-01 -4.14281294e-02 -9.73790821e-01 -3.41321479e+01] [-6.50996184e-01 -7.49915519e-01 -1.17603924e-01 -2.97778561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.192320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-34.23, Z:-297.64 [[-7.72738949e-01 6.34433620e-01 1.91963219e-02 1.97432599e+02] [ 2.00069654e-01 2.72163411e-01 -9.41222190e-01 -3.42276558e+01] [-6.02367538e-01 -7.23478444e-01 -3.37242183e-01 -2.97639029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-35.88, Z:-298.55 [[-7.02817797e-01 -7.09165766e-01 5.59558789e-02 1.97688949e+02] [ 1.88565449e-01 -1.09875735e-01 9.75894664e-01 -3.58767160e+01] [-6.85922893e-01 6.96427483e-01 2.10946783e-01 -2.98553329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.43, Y:-34.13, Z:-297.84 [[-7.70477080e-01 6.30700376e-01 -9.26396528e-02 1.97429655e+02] [ 2.05180590e-01 1.07768462e-01 -9.72772781e-01 -3.41275312e+01] [-6.03544526e-01 -7.68506991e-01 -2.12440605e-01 -2.97836849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:-35.89, Z:-298.54 [[-7.06767750e-01 -6.89206764e-01 1.59603833e-01 1.97479281e+02] [ 1.76409234e-01 4.67825588e-02 9.83204543e-01 -3.58947144e+01] [-6.85097897e-01 7.23052853e-01 8.85180337e-02 -2.98538610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.42, Y:-35.89, Z:-298.56 [[-6.58847033e-01 -7.33544883e-01 1.66830725e-01 1.97421680e+02] [ 1.72943211e-01 6.81350570e-02 9.82572267e-01 -3.58867185e+01] [-7.32127880e-01 6.76217065e-01 8.19710272e-02 -2.98557995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.63, Y:-34.04, Z:-298.35 [[-7.11525099e-01 5.36747201e-01 -4.53469378e-01 1.97626804e+02] [ 2.34049448e-01 -4.27466307e-01 -8.73208688e-01 -3.40431309e+01] [-6.62535199e-01 -7.27444155e-01 1.78527620e-01 -2.98352442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:-35.87, Z:-298.55 [[-6.55295822e-01 -6.91369281e-01 3.04295750e-01 1.97176459e+02] [ 1.83123029e-01 2.45423791e-01 9.51962772e-01 -3.58716691e+01] [-7.32839234e-01 6.79540786e-01 -3.42195482e-02 -2.98552227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-34.89, Z:-299.06 [[-6.42828981e-01 -3.10227507e-01 -7.00378323e-01 1.97976371e+02] [ 2.27311558e-01 -9.50391079e-01 2.12335239e-01 -3.48901134e+01] [-7.31505541e-01 -2.27088425e-02 6.81457226e-01 -2.99064291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-35.84, Z:-298.70 [[-6.00614534e-01 -7.69579721e-01 2.16816131e-01 1.97190581e+02] [ 1.88531795e-01 1.27211155e-01 9.73793142e-01 -3.58371017e+01] [-7.76992885e-01 6.25751049e-01 6.86853778e-02 -2.98702142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-33.98, Z:-298.31 [[-6.64688385e-01 7.04568795e-01 -2.48540065e-01 1.97225999e+02] [ 2.31491408e-01 -1.22072148e-01 -9.65147718e-01 -3.39829807e+01] [-7.10352785e-01 -6.99057368e-01 -8.19616836e-02 -2.98309137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.492320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:-35.81, Z:-298.81 [[-6.01201917e-01 -7.67698170e-01 2.21801206e-01 1.97087070e+02] [ 1.88719033e-01 1.33309159e-01 9.72940797e-01 -3.58065044e+01] [-7.76493002e-01 6.26791981e-01 6.47335348e-02 -2.98805986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:-33.95, Z:-298.47 [[-6.59719524e-01 6.81965649e-01 -3.15741987e-01 1.97205462e+02] [ 2.41653291e-01 -2.05323456e-01 -9.48391251e-01 -3.39506347e+01] [-7.11599492e-01 -7.01972315e-01 -2.93433511e-02 -2.98473007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.552320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.97, Y:-33.98, Z:-298.35 [[-7.13246770e-01 6.92655736e-01 -1.07271043e-01 1.96971480e+02] [ 2.33139550e-01 9.01167874e-02 -9.68258702e-01 -3.39834282e+01] [-6.61003023e-01 -7.15616514e-01 -2.25760954e-01 -2.98351826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-33.93, Z:-298.61 [[-7.50017221e-01 5.78128600e-01 -3.21312139e-01 1.97151577e+02] [ 2.49408850e-01 -2.02727592e-01 -9.46940731e-01 -3.39253115e+01] [-6.12592356e-01 -7.90359947e-01 7.85879603e-03 -2.98606401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:-35.70, Z:-299.16 [[-6.94264568e-01 -7.11723127e-01 1.06990185e-01 1.96986913e+02] [ 2.18971769e-01 -6.72720728e-02 9.73409386e-01 -3.56982875e+01] [-6.85600520e-01 6.99231477e-01 2.02551889e-01 -2.99155792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-34.81, Z:-299.49 [[-6.83550190e-01 -3.30769074e-01 -6.50654253e-01 1.97582011e+02] [ 2.48285664e-01 -9.43636212e-01 2.18871946e-01 -3.48107688e+01] [-6.86376986e-01 -1.19381634e-02 7.27147931e-01 -2.99490112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.57, Y:-34.81, Z:-299.50 [[-6.80676321e-01 -3.37474146e-01 -6.50223767e-01 1.97568055e+02] [ 2.53995377e-01 -9.41236257e-01 2.22622228e-01 -3.48125344e+01] [-6.87143431e-01 -1.36201515e-02 7.26394105e-01 -2.99503204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:-33.91, Z:-298.57 [[-7.45046172e-01 6.33228183e-01 -2.09590720e-01 1.96913657e+02] [ 2.69016346e-01 -2.26479100e-03 -9.63132948e-01 -3.39135125e+01] [-6.10357606e-01 -7.73961846e-01 -1.68661358e-01 -2.98574835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:-35.67, Z:-299.22 [[-6.96045415e-01 -6.97930272e-01 1.68564870e-01 1.96792997e+02] [ 2.25420173e-01 1.04797113e-02 9.74205277e-01 -3.56740465e+01] [-6.81693865e-01 7.16089039e-01 1.50033208e-01 -2.99218569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:-35.67, Z:-299.20 [[-6.50144716e-01 -7.28686296e-01 2.15239704e-01 1.96701677e+02] [ 2.19116780e-01 9.14348053e-02 9.71404917e-01 -3.56706763e+01] [-7.27529851e-01 6.78716405e-01 1.00221539e-01 -2.99203080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-33.85, Z:-298.76 [[-6.95179264e-01 6.72160796e-01 -2.54805131e-01 1.96800242e+02] [ 2.71255683e-01 -8.29676861e-02 -9.58924772e-01 -3.38514136e+01] [-6.65692230e-01 -7.35741957e-01 -1.24650021e-01 -2.98756329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:-35.63, Z:-299.31 [[-6.51966410e-01 -7.29757965e-01 2.05895879e-01 1.96617940e+02] [ 2.21527660e-01 7.63744534e-02 9.72158649e-01 -3.56341909e+01] [-7.25165702e-01 6.79426417e-01 1.11867996e-01 -2.99310533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:-35.62, Z:-299.33 [[-6.02012813e-01 -7.68300287e-01 2.17474692e-01 1.96566499e+02] [ 2.15737814e-01 1.05724434e-01 9.70710842e-01 -3.56234477e+01] [-7.68789808e-01 6.31297879e-01 1.02103960e-01 -2.99332425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-35.60, Z:-299.40 [[-5.47431940e-01 -8.17790915e-01 1.77584601e-01 1.96559545e+02] [ 2.05690208e-01 7.42067384e-02 9.75799620e-01 -3.56014702e+01] [-8.11178038e-01 5.70711293e-01 1.27588445e-01 -2.99397240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:-34.78, Z:-299.71 [[-5.15046250e-01 -4.04271944e-01 -7.55838313e-01 1.97302032e+02] [ 2.41980296e-01 -9.14500666e-01 3.24243841e-01 -3.47848196e+01] [-8.22297329e-01 -1.58974041e-02 5.68835983e-01 -2.99713389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:-34.80, Z:-299.75 [[-5.08044184e-01 -4.28656536e-01 -7.47090812e-01 1.97276009e+02] [ 2.54136700e-01 -9.03353770e-01 3.45494579e-01 -3.47950834e+01] [-8.22985811e-01 -1.43366816e-02 5.67880987e-01 -2.99747525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:-35.56, Z:-299.37 [[-4.91250240e-01 -7.56375184e-01 4.31937243e-01 1.96223777e+02] [ 2.06596539e-01 3.80564583e-01 9.01381422e-01 -3.55563117e+01] [-8.46162556e-01 5.32040580e-01 -3.06879475e-02 -2.99370240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-33.73, Z:-299.12 [[-5.30776950e-01 7.81695688e-01 -3.27456380e-01 1.96560556e+02] [ 2.80034332e-01 -2.02913434e-01 -9.38300011e-01 -3.37327868e+01] [-7.99910372e-01 -5.89727047e-01 -1.11199856e-01 -2.99120167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.41, Y:-33.73, Z:-299.10 [[-5.89389489e-01 7.81557325e-01 -2.04421569e-01 1.96409106e+02] [ 2.86337639e-01 -3.45089389e-02 -9.57507123e-01 -3.37325595e+01] [-7.55401077e-01 -6.22878223e-01 -2.03450073e-01 -2.99099652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:-35.47, Z:-299.44 [[-5.62294639e-01 -6.45344860e-01 5.17063584e-01 1.96010744e+02] [ 1.87668992e-01 5.09373578e-01 8.39832666e-01 -3.54695381e+01] [-8.05360223e-01 5.69270208e-01 -1.65306813e-01 -2.99443714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.97, Y:-35.45, Z:-299.48 [[-5.13210666e-01 -6.82494095e-01 5.20400444e-01 1.95974936e+02] [ 1.63084221e-01 5.17747484e-01 8.39845867e-01 -3.54520161e+01] [-8.42625865e-01 5.15886958e-01 -1.54409514e-01 -2.99484873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-34.12, Z:-299.06 [[-5.73063089e-01 5.94331057e-01 5.64242227e-01 1.95616585e+02] [ 1.44574926e-01 7.51030410e-01 -6.44244840e-01 -3.41224020e+01] [-8.06657788e-01 -2.87617660e-01 -5.16313175e-01 -2.99062062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:-34.52, Z:-300.13 [[-5.08378226e-01 -2.60309222e-01 -8.20847543e-01 1.97028373e+02] [ 1.73919772e-01 -9.64611011e-01 1.98185544e-01 -3.45158464e+01] [-8.43388103e-01 -4.20084023e-02 5.35660155e-01 -3.00133058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-35.42, Z:-299.66 [[-4.97096336e-01 -7.31758243e-01 4.66288651e-01 1.95906255e+02] [ 1.00903195e-01 4.84991140e-01 8.68678387e-01 -3.54248168e+01] [-8.61808435e-01 4.78866858e-01 -1.67250574e-01 -2.99662664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-35.45, Z:-299.85 [[-4.28822129e-01 -8.72958528e-01 2.32497291e-01 1.96101651e+02] [ 8.29752382e-02 2.18213270e-01 9.72367255e-01 -3.54474654e+01] [-8.99570282e-01 4.36264115e-01 -2.11407372e-02 -2.99850030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-35.39, Z:-300.03 [[-3.54214531e-01 -9.32734663e-01 -6.73655195e-02 1.96344982e+02] [ 9.19060747e-02 -1.06408367e-01 9.90065924e-01 -3.53862781e+01] [-9.30637061e-01 3.44504437e-01 1.23415371e-01 -3.00028121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-33.58, Z:-299.79 [[-4.28429299e-01 8.36706740e-01 -3.41130718e-01 1.96211388e+02] [ 1.70510738e-01 -2.95886957e-01 -9.39881374e-01 -3.35807469e+01] [-8.87341211e-01 -4.60839168e-01 -1.59008420e-02 -2.99789949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.92, Y:-34.56, Z:-300.30 [[-3.88793395e-01 -3.23901330e-01 -8.62512391e-01 1.96916199e+02] [ 1.57024459e-01 -9.45763951e-01 2.84383311e-01 -3.45593014e+01] [-9.07845259e-01 -2.48691885e-02 4.18567209e-01 -3.00304539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:-33.57, Z:-299.77 [[-4.91859667e-01 8.55732112e-01 -1.60613267e-01 1.96019948e+02] [ 1.74402801e-01 -8.38988549e-02 -9.81093596e-01 -3.35736694e+01] [-8.53028564e-01 -5.10571773e-01 -1.07975615e-01 -2.99769617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.24, Y:-34.79, Z:-299.62 [[-4.94937261e-01 -7.47595296e-02 8.65706717e-01 1.95235266e+02] [ 8.47330663e-02 9.87391356e-01 1.33710947e-01 -3.47920290e+01] [-8.64787497e-01 1.39532515e-01 -4.82362170e-01 -2.99618156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-33.55, Z:-300.08 [[-5.32104219e-01 7.64335207e-01 -3.64220800e-01 1.96160178e+02] [ 1.37068004e-01 -3.46737276e-01 -9.27893110e-01 -3.35462763e+01] [-8.35510301e-01 -5.43658857e-01 7.97344662e-02 -3.00076486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:-34.44, Z:-300.61 [[-4.97109738e-01 -2.22738400e-01 -8.38611658e-01 1.96773155e+02] [ 1.25876106e-01 -9.74778443e-01 1.84288343e-01 -3.44356590e+01] [-8.58508657e-01 -1.39496397e-02 5.12609299e-01 -3.00609470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.11, Y:-35.35, Z:-300.39 [[-4.67536398e-01 -8.83657692e-01 -2.36389586e-02 1.96111050e+02] [ 8.89468429e-02 -7.36334021e-02 9.93310919e-01 -3.53462956e+01] [-8.79487451e-01 4.62306398e-01 1.13024857e-01 -3.00393718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:-33.53, Z:-300.09 [[-5.29945019e-01 8.20627728e-01 -2.13842021e-01 1.95925049e+02] [ 1.82185120e-01 -1.36104365e-01 -9.73798842e-01 -3.35263092e+01] [-8.28231163e-01 -5.55018680e-01 -7.73783314e-02 -3.00086350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51232058799997 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.76, Y:-35.36, Z:-300.36 [[-4.85068687e-01 -8.33762438e-01 2.63720620e-01 1.95762719e+02] [ 7.75031116e-02 2.59399668e-01 9.62655224e-01 -3.53635052e+01] [-8.71034808e-01 4.87393074e-01 -6.12074730e-02 -3.00358199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:195.90, Y:-35.38, Z:-300.46 [[-4.25431715e-01 -8.96348398e-01 1.24769408e-01 1.95901644e+02] [ 5.97841373e-02 1.09731177e-01 9.92161744e-01 -3.53752394e+01] [-9.03013684e-01 4.29556303e-01 6.90429267e-03 -3.00463747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.47, Y:-35.29, Z:-300.35 [[-3.77529743e-01 -7.87398740e-01 4.87313572e-01 1.95466992e+02] [ 3.33678386e-02 5.14348326e-01 8.56931962e-01 -3.52917292e+01] [-9.25396067e-01 3.39777904e-01 -1.67907997e-01 -3.00350547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.99, Y:-35.30, Z:-300.61 [[-2.87859122e-01 -9.53987338e-01 -8.39361905e-02 1.95988662e+02] [ 3.54329572e-02 -9.81955123e-02 9.94536147e-01 -3.52989828e+01] [-9.57017049e-01 2.83312195e-01 6.20690665e-02 -3.00612514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.94, Y:-35.30, Z:-300.68 [[-2.28465510e-01 -9.71267925e-01 -6.66493005e-02 1.95944476e+02] [ 5.74759187e-02 -8.17968695e-02 9.94990347e-01 -3.52984942e+01] [-9.71853914e-01 2.23490247e-01 7.45122797e-02 -3.00680193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.82, Y:-34.69, Z:-300.40 [[-2.67212234e-01 -1.15695457e-01 9.56667227e-01 1.94823982e+02] [ 1.85161289e-02 9.91966765e-01 1.25136286e-01 -3.46894064e+01] [-9.63459794e-01 5.11517203e-02 -2.62923423e-01 -3.00404679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.692320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.26, Y:-33.56, Z:-300.56 [[-2.97182403e-01 9.16457372e-01 2.67933769e-01 1.95260638e+02] [ 3.66325392e-02 2.91348561e-01 -9.55915306e-01 -3.35557607e+01] [-9.54117748e-01 -2.74266114e-01 -1.20155826e-01 -3.00559280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-33.47, Z:-300.69 [[-3.49285029e-01 9.36571948e-01 2.88609675e-02 1.95468948e+02] [ 1.91269175e-02 3.79209217e-02 -9.99097675e-01 -3.34673718e+01] [-9.36821290e-01 -3.48417839e-01 -3.11589445e-02 -3.00693584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.52, Y:-34.12, Z:-301.09 [[-3.09944940e-01 7.63230564e-02 -9.47686090e-01 1.96516485e+02] [ 2.48983697e-03 -9.96704073e-01 -8.10850917e-02 -3.41241877e+01] [-9.50751248e-01 -2.74914978e-02 3.08733352e-01 -3.01088079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-33.46, Z:-300.77 [[-4.14607674e-01 9.09599922e-01 -2.69899846e-02 1.95501180e+02] [ 4.29369283e-02 -1.00722784e-02 -9.99027011e-01 -3.34595684e+01] [-9.08986742e-01 -4.15363132e-01 -3.48793827e-02 -3.00771557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:-35.30, Z:-300.98 [[-3.51048247e-01 -9.36247854e-01 -1.43207232e-02 1.95783894e+02] [-2.98354348e-02 -4.10206582e-03 9.99546407e-01 -3.53010240e+01] [-9.35881924e-01 3.51316279e-01 -2.64933388e-02 -3.00978706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-34.53, Z:-300.64 [[-3.90812134e-01 -7.65630116e-03 9.20438622e-01 1.94726889e+02] [-7.40002274e-02 9.96990025e-01 -2.31269423e-02 -3.45288986e+01] [-9.17491058e-01 -7.71509570e-02 -3.90202368e-01 -3.00640750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-35.28, Z:-301.05 [[-2.82779308e-01 -9.55514384e-01 -8.38339098e-02 1.95790273e+02] [-1.10879004e-01 -5.42518924e-02 9.92352044e-01 -3.52833072e+01] [-9.52754800e-01 2.89912045e-01 -9.06051710e-02 -3.01045247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-34.00, Z:-301.33 [[-2.51891258e-01 2.32311620e-01 -9.39458411e-01 1.96363856e+02] [-5.28667106e-02 -9.72613669e-01 -2.26335506e-01 -3.39974045e+01] [-9.66310460e-01 -7.34585939e-03 2.57274432e-01 -3.01330569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:-33.56, Z:-301.04 [[-3.65044474e-01 8.80465283e-01 3.02528374e-01 1.95087883e+02] [-4.78779744e-02 3.06769084e-01 -9.50578996e-01 -3.35562626e+01] [-9.29758158e-01 -3.61488055e-01 -6.98294647e-02 -3.01043126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:-35.30, Z:-301.19 [[-2.78989266e-01 -9.57894474e-01 -6.78466427e-02 1.95718084e+02] [-1.22708763e-01 -3.45118956e-02 9.91842472e-01 -3.52980534e+01] [-9.52421939e-01 2.85038781e-01 -1.07913597e-01 -3.01186589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.66, Y:-35.31, Z:-301.24 [[-2.12538856e-01 -9.76526146e-01 -3.49845753e-02 1.95659642e+02] [-1.21121722e-01 -9.19836492e-03 9.92595043e-01 -3.53096430e+01] [-9.69616813e-01 2.15202407e-01 -1.16323518e-01 -3.01237269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-33.90, Z:-301.54 [[-2.14875807e-01 3.65847433e-01 -9.05529703e-01 1.96225723e+02] [-5.18410395e-02 -9.30152974e-01 -3.63494087e-01 -3.39019413e+01] [-9.75264525e-01 -3.11624841e-02 2.18833282e-01 -3.01539702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-35.19, Z:-301.46 [[-1.39731584e-01 -9.07035640e-01 -3.97191933e-01 1.95943851e+02] [-6.89219669e-02 -3.91245120e-01 9.17702031e-01 -3.51877219e+01] [-9.87787855e-01 1.55607208e-01 -7.84537990e-03 -3.01455739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.90, Y:-33.63, Z:-301.40 [[-2.54465094e-01 8.83218628e-01 3.93919244e-01 1.94902692e+02] [-3.16806863e-02 3.99495900e-01 -9.16187404e-01 -3.36284796e+01] [-9.66562905e-01 -2.45617346e-01 -7.36767895e-02 -3.01400984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.112320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-33.85, Z:-301.71 [[-2.14099384e-01 4.38398907e-01 -8.72907699e-01 1.96143720e+02] [-2.72431718e-02 -8.95961573e-01 -4.43295240e-01 -3.38465261e+01] [-9.76431904e-01 -7.11284636e-02 2.03768198e-01 -3.01710616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:-33.98, Z:-301.74 [[-2.10796151e-01 2.82978485e-01 -9.35675243e-01 1.96222601e+02] [-2.22405029e-02 -9.58323691e-01 -2.84817597e-01 -3.39838889e+01] [-9.77277004e-01 -3.92285652e-02 2.08304529e-01 -3.01744357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-34.03, Z:-301.79 [[-2.16263575e-01 2.39281662e-01 -9.46559218e-01 1.96231828e+02] [-1.62850597e-02 -9.70251668e-01 -2.41550198e-01 -3.40272534e+01] [-9.76199192e-01 -3.68237360e-02 2.13726811e-01 -3.01787129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.81, Y:-35.24, Z:-301.71 [[-1.39582790e-01 -9.40150703e-01 -3.10858973e-01 1.95810274e+02] [-4.13707446e-02 -3.08121218e-01 9.50447146e-01 -3.52439687e+01] [-9.89345797e-01 1.45526532e-01 4.11368476e-03 -3.01708194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.60, Y:-35.32, Z:-301.74 [[-7.79787033e-02 -9.92259203e-01 -9.66488240e-02 1.95596791e+02] [-3.94887527e-02 -9.37937999e-02 9.94808203e-01 -3.53223655e+01] [-9.96172656e-01 8.13903953e-02 -3.18691594e-02 -3.01738914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.12, Y:-33.51, Z:-301.78 [[-1.87955740e-01 9.79141045e-01 7.71715910e-02 1.95120590e+02] [ 1.72648590e-02 8.18534986e-02 -9.96494822e-01 -3.35143712e+01] [-9.82025745e-01 -1.85964565e-01 -3.22895669e-02 -3.01776146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29232058799994 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:195.36, Y:-35.36, Z:-301.85 [[-9.96884393e-02 -9.89213401e-01 1.07326893e-01 1.95364014e+02] [-5.94675002e-02 1.13594525e-01 9.91745885e-01 -3.53564016e+01] [-9.93240067e-01 9.24831375e-02 -7.01501090e-02 -3.01846373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.71, Y:-33.72, Z:-301.89 [[-2.00679375e-01 8.26477102e-01 5.25988012e-01 1.94712299e+02] [-4.44721143e-02 5.28671366e-01 -8.47660792e-01 -3.37171441e+01] [-9.78647035e-01 -1.93499837e-01 -6.93382550e-02 -3.01886233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.01, Y:-33.80, Z:-302.12 [[-1.55057756e-01 5.32606283e-01 -8.32038244e-01 1.96010605e+02] [-2.28472492e-02 -8.43932660e-01 -5.35962376e-01 -3.37963260e+01] [-9.87641178e-01 -6.40953380e-02 1.43026893e-01 -3.02124008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:196.14, Y:-33.95, Z:-302.14 [[-1.53877343e-01 3.22553633e-01 -9.33959805e-01 1.96135726e+02] [ 1.22464649e-02 -9.44522204e-01 -3.28219181e-01 -3.39480286e+01] [-9.88014062e-01 -6.19432016e-02 1.41390426e-01 -3.02138326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.02, Y:-33.82, Z:-302.20 [[-1.77229347e-01 5.10219373e-01 -8.41585379e-01 1.96018169e+02] [ 3.80002496e-03 -8.54761188e-01 -5.19007583e-01 -3.38155495e+01] [-9.84162242e-01 -9.51814205e-02 1.49549921e-01 -3.02195849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-34.24, Z:-302.28 [[-1.56285957e-01 4.47660270e-02 -9.86696865e-01 1.96205221e+02] [ 5.52787109e-02 -9.97010219e-01 -5.39897050e-02 -3.42353418e+01] [-9.86163761e-01 -6.29811634e-02 1.53344088e-01 -3.02282909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:-33.50, Z:-302.15 [[-2.61667900e-01 9.60248623e-01 -9.72239262e-02 1.95245598e+02] [ 7.17844147e-02 -8.10919179e-02 -9.94118252e-01 -3.34976875e+01] [-9.62484757e-01 -2.67107998e-01 -4.77117335e-02 -3.02145178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.03, Y:-33.54, Z:-302.17 [[-3.30774375e-01 9.34312125e-01 1.32850160e-01 1.95032025e+02] [ 5.11860572e-02 1.58329417e-01 -9.86058712e-01 -3.35350499e+01] [-9.42320699e-01 -3.19362879e-01 -1.00195068e-01 -3.02166606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53232058799995 meters Centerline goodness : 0.910858 Centerline is valid? [True, False] Translation: X:195.15, Y:-36.06, Z:-303.11 [[ 3.78659809e-01 9.24198582e-01 -4.97366104e-02 1.95151654e+02] [-2.79530823e-01 1.65426455e-01 9.45778308e-01 -3.60646328e+01] [ 8.82314722e-01 -3.44225318e-01 3.20982340e-01 -3.03107558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:195.24, Y:-36.01, Z:-303.23 [[ 3.90192533e-01 9.03131563e-01 -1.79173567e-01 1.95235148e+02] [-2.83023373e-01 3.02825072e-01 9.10052057e-01 -3.60081271e+01] [ 8.76154985e-01 -3.04385210e-01 3.73767423e-01 -3.03230031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59232058799995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.84, Y:-35.64, Z:-303.35 [[ 3.99707214e-01 5.17438374e-01 -7.56631794e-01 1.95839424e+02] [-2.95709976e-01 8.54095000e-01 4.27875381e-01 -3.56435890e+01] [ 8.67634573e-01 5.27186934e-02 4.94399622e-01 -3.03351039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.75, Y:-35.76, Z:-303.32 [[ 3.98251467e-01 6.32008032e-01 -6.64801938e-01 1.95750689e+02] [-2.95942836e-01 7.74529115e-01 5.59037108e-01 -3.57598925e+01] [ 8.68224399e-01 -2.58939774e-02 4.95495606e-01 -3.03317437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:-35.63, Z:-303.30 [[ 4.25587634e-01 4.90343455e-01 -7.60551420e-01 1.95881793e+02] [-3.06410204e-01 8.68903820e-01 3.88740195e-01 -3.56296372e+01] [ 8.51462244e-01 6.75976957e-02 5.20040958e-01 -3.03303240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.78, Y:-35.77, Z:-303.27 [[ 3.95394552e-01 6.27105145e-01 -6.71120172e-01 1.95777692e+02] [-2.89362248e-01 7.78499794e-01 5.56962800e-01 -3.57683634e+01] [ 8.71741153e-01 -2.60232152e-02 4.89275132e-01 -3.03267693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71232058799995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:195.82, Y:-35.74, Z:-303.26 [[ 4.22008294e-01 5.73431191e-01 -7.02200591e-01 1.95819030e+02] [-2.69917648e-01 8.18895758e-01 5.06511797e-01 -3.57411900e+01] [ 8.65478748e-01 -2.42158474e-02 5.00360000e-01 -3.03259671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-35.58, Z:-303.23 [[ 4.31287991e-01 4.23351786e-01 -7.96720738e-01 1.95957335e+02] [-3.06980338e-01 8.99242274e-01 3.11651094e-01 -3.55795308e+01] [ 8.48383016e-01 1.10166227e-01 5.17793068e-01 -3.03226027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.86, Y:-35.73, Z:-303.20 [[ 4.24851106e-01 5.74522354e-01 -6.99589596e-01 1.95860283e+02] [-3.09739839e-01 8.18414145e-01 4.84003636e-01 -3.57345365e+01] [ 8.50624929e-01 1.10612888e-02 5.25656616e-01 -3.03198507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.82, Y:-35.80, Z:-303.17 [[ 3.94359871e-01 6.32290263e-01 -6.66850294e-01 1.95817559e+02] [-2.83440453e-01 7.73972355e-01 5.66240499e-01 -3.57960486e+01] [ 8.74152047e-01 -3.42901810e-02 4.84440277e-01 -3.03169521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83232058799996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:195.88, Y:-35.75, Z:-303.16 [[ 4.19478729e-01 5.64257974e-01 -7.11091088e-01 1.95881487e+02] [-2.77120748e-01 8.25547722e-01 4.91604566e-01 -3.57500888e+01] [ 8.64431424e-01 -9.15956407e-03 5.02667301e-01 -3.03157694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.95, Y:-35.68, Z:-303.13 [[ 4.06384378e-01 5.03044322e-01 -7.62756938e-01 1.95952874e+02] [-2.94681612e-01 8.62348928e-01 4.11724512e-01 -3.56792796e+01] [ 8.64878306e-01 5.74520345e-02 4.98683045e-01 -3.03128137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.85, Y:-35.81, Z:-303.10 [[ 4.05202619e-01 6.29891650e-01 -6.62606479e-01 1.95852880e+02] [-2.89917651e-01 7.75897069e-01 5.60295899e-01 -3.58101945e+01] [ 8.67040133e-01 -3.49320517e-02 4.97012232e-01 -3.03096734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:-35.65, Z:-303.08 [[ 4.38584886e-01 4.58595531e-01 -7.72873493e-01 1.96003683e+02] [-3.07152889e-01 8.84703987e-01 3.50650763e-01 -3.56492385e+01] [ 8.44571134e-01 8.36002014e-02 5.28876739e-01 -3.03079173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95232058799996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.85, Y:-35.85, Z:-303.04 [[ 4.07837192e-01 6.55116100e-01 -6.35996635e-01 1.95849328e+02] [-2.87173257e-01 7.53245127e-01 5.91737526e-01 -3.58482639e+01] [ 8.66718146e-01 -5.86913465e-02 4.95333202e-01 -3.03043520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-35.66, Z:-303.03 [[ 4.42059393e-01 4.57972363e-01 -7.71261828e-01 1.96027654e+02] [-3.07013115e-01 8.85155192e-01 3.49632997e-01 -3.56606420e+01] [ 8.42808662e-01 8.22289460e-02 5.31894689e-01 -3.03030353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.88, Y:-35.85, Z:-302.99 [[ 4.08552908e-01 6.46285450e-01 -6.44515041e-01 1.95882039e+02] [-2.87379809e-01 7.61305377e-01 5.81228843e-01 -3.58520680e+01] [ 8.66312511e-01 -5.22421254e-02 4.96762915e-01 -3.02993677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.99, Y:-35.75, Z:-302.98 [[ 4.14976979e-01 5.33532863e-01 -7.36978148e-01 1.95994913e+02] [-2.94257224e-01 8.45184791e-01 4.46178613e-01 -3.57468240e+01] [ 8.60933675e-01 3.17072908e-02 5.07728131e-01 -3.02978776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:-35.81, Z:-302.95 [[ 4.15625601e-01 5.86941729e-01 -6.94805560e-01 1.95962369e+02] [-2.93940056e-01 8.09599425e-01 5.08082684e-01 -3.58064724e+01] [ 8.60729111e-01 -6.94098554e-03 5.09015933e-01 -3.02953687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.03, Y:-35.75, Z:-302.93 [[ 4.46046033e-01 5.24722507e-01 -7.25058085e-01 1.96028197e+02] [-3.13803861e-01 8.50373442e-01 4.22364943e-01 -3.57486779e+01] [ 8.38194532e-01 3.91318191e-02 5.43965650e-01 -3.02933530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.01, Y:-35.80, Z:-302.91 [[ 4.44838481e-01 5.68041291e-01 -6.92421705e-01 1.96006658e+02] [-3.14607648e-01 8.22966574e-01 4.73020133e-01 -3.57993753e+01] [ 8.38534885e-01 7.42360623e-03 5.44797335e-01 -3.02907840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:-35.85, Z:-302.88 [[ 4.19631009e-01 6.10874461e-01 -6.71373375e-01 1.95980753e+02] [-2.96109013e-01 7.91311155e-01 5.34926265e-01 -3.58498013e+01] [ 8.58038035e-01 -2.56719405e-02 5.12944132e-01 -3.02880096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.192320588 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:196.00, Y:-35.86, Z:-302.87 [[ 4.65516107e-01 5.62483650e-01 -6.83305860e-01 1.95996343e+02] [-2.51530245e-01 8.24309393e-01 5.07194795e-01 -3.58582793e+01] [ 8.48544218e-01 -6.42352563e-02 5.25210949e-01 -3.02873466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-35.67, Z:-302.83 [[ 4.55374936e-01 4.16404928e-01 -7.86918422e-01 1.96143769e+02] [-3.09957227e-01 9.02734484e-01 2.98323599e-01 -3.56698514e+01] [ 8.34601812e-01 1.08061962e-01 5.40150375e-01 -3.02834945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.01, Y:-35.87, Z:-302.81 [[ 4.23337719e-01 6.07231643e-01 -6.72350286e-01 1.96014981e+02] [-2.93292919e-01 7.94023828e-01 5.32452274e-01 -3.58694578e+01] [ 8.57184017e-01 -2.82115534e-02 5.14236977e-01 -3.02806442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.05, Y:-35.85, Z:-302.78 [[ 4.19376865e-01 5.81401581e-01 -6.97205312e-01 1.96048601e+02] [-2.89970283e-01 8.13564693e-01 5.04013616e-01 -3.58500676e+01] [ 8.60255939e-01 -9.20282829e-03 5.09779391e-01 -3.02783716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.12, Y:-35.79, Z:-302.76 [[ 4.54190334e-01 5.12654073e-01 -7.28626751e-01 1.96118412e+02] [-3.10334633e-01 8.57667609e-01 4.09998401e-01 -3.57896103e+01] [ 8.35106913e-01 3.99008044e-02 5.48638651e-01 -3.02764294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:-35.85, Z:-302.74 [[ 4.53333713e-01 5.64085311e-01 -6.90142237e-01 1.96090775e+02] [-3.11693513e-01 8.25714148e-01 4.70152422e-01 -3.58494612e+01] [ 8.35066284e-01 1.97691528e-03 5.50145793e-01 -3.02738232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.10, Y:-35.86, Z:-302.71 [[ 4.53830848e-01 5.63124456e-01 -6.90600036e-01 1.96103589e+02] [-3.11041135e-01 8.26370220e-01 4.69431221e-01 -3.58563183e+01] [ 8.35039505e-01 1.76264989e-03 5.50187167e-01 -3.02714787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.12, Y:-35.86, Z:-302.69 [[ 4.53451851e-01 5.62443008e-01 -6.91403848e-01 1.96116637e+02] [-3.10525302e-01 8.26833516e-01 4.68956685e-01 -3.58648024e+01] [ 8.35437284e-01 2.04911166e-03 5.49581974e-01 -3.02690983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.432320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:-35.87, Z:-302.67 [[ 4.52711665e-01 5.60726302e-01 -6.93280724e-01 1.96129594e+02] [-3.07027082e-01 8.28001097e-01 4.69199908e-01 -3.58728947e+01] [ 8.37129930e-01 4.43686369e-04 5.47003916e-01 -3.02667213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:196.09, Y:-35.93, Z:-302.64 [[ 4.22186091e-01 6.11840425e-01 -6.68887284e-01 1.96094097e+02] [-2.83568743e-01 7.89977568e-01 5.43621385e-01 -3.59316300e+01] [ 8.61015489e-01 -3.98338611e-02 5.07016362e-01 -3.02639959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.492320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.20, Y:-35.83, Z:-302.62 [[ 4.56247442e-01 5.00887441e-01 -7.35493061e-01 1.96198106e+02] [-3.06024220e-01 8.64438803e-01 3.98866811e-01 -3.58271714e+01] [ 8.35576117e-01 4.30967280e-02 5.47681681e-01 -3.02621140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:-35.89, Z:-302.59 [[ 4.56061417e-01 5.59565464e-01 -6.92022019e-01 1.96165460e+02] [-3.08924483e-01 8.28785550e-01 4.66562082e-01 -3.58938466e+01] [ 8.34609878e-01 1.00158021e-03 5.50840584e-01 -3.02594883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.552320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-35.95, Z:-302.57 [[ 4.25449839e-01 6.04059904e-01 -6.73872441e-01 1.96138264e+02] [-2.87148719e-01 7.96253800e-01 5.32471126e-01 -3.59464938e+01] [ 8.58217949e-01 -3.30381462e-02 5.12221078e-01 -3.02568890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-35.86, Z:-302.55 [[ 4.54977330e-01 5.09089844e-01 -7.30632027e-01 1.96229279e+02] [-3.09166750e-01 8.59739793e-01 4.06526026e-01 -3.58567233e+01] [ 8.35111699e-01 4.09270032e-02 5.48555768e-01 -3.02549344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.612320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:-35.92, Z:-302.52 [[ 4.52160280e-01 5.60220603e-01 -6.94048959e-01 1.96202574e+02] [-3.10652982e-01 8.28329543e-01 4.66224079e-01 -3.59161008e+01] [ 8.36089592e-01 4.80036875e-03 5.48571919e-01 -3.02523369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.21, Y:-35.93, Z:-302.50 [[ 4.38858694e-01 5.68597447e-01 -6.95772944e-01 1.96208227e+02] [-3.01820476e-01 8.22614585e-01 4.81881360e-01 -3.59322052e+01] [ 8.46349483e-01 -1.47930340e-03 5.32625915e-01 -3.02499003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67232058799993 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.24, Y:-35.92, Z:-302.47 [[ 4.51744928e-01 5.49376407e-01 -7.02931066e-01 1.96237067e+02] [-3.12597368e-01 8.35430685e-01 4.52038113e-01 -3.59195426e+01] [ 8.35589256e-01 1.55284764e-02 5.49135194e-01 -3.02474696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.24, Y:-35.94, Z:-302.45 [[ 4.51887037e-01 5.59980269e-01 -6.94420769e-01 1.96240443e+02] [-3.13195627e-01 8.28470232e-01 4.64268860e-01 -3.59386939e+01] [ 8.35288336e-01 7.69246859e-03 5.49758330e-01 -3.02450333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:-35.97, Z:-302.42 [[ 4.24897034e-01 5.89147233e-01 -6.87290366e-01 1.96229546e+02] [-2.96675219e-01 8.07930030e-01 5.09149173e-01 -3.59728090e+01] [ 8.55246353e-01 -1.24339536e-02 5.18072458e-01 -3.02424775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-35.92, Z:-302.40 [[ 4.50378852e-01 5.28685442e-01 -7.19479390e-01 1.96292641e+02] [-3.16649198e-01 8.48035235e-01 4.24934731e-01 -3.59163573e+01] [ 8.34800680e-01 3.64409554e-02 5.49344957e-01 -3.02402211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-35.98, Z:-302.38 [[ 4.23936463e-01 5.86945262e-01 -6.89763100e-01 1.96258254e+02] [-2.99828599e-01 8.09595281e-01 5.04636793e-01 -3.59828138e+01] [ 8.54623125e-01 -7.12323243e-03 5.19199935e-01 -3.02376171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.32, Y:-35.93, Z:-302.35 [[ 4.46517096e-01 5.31591773e-01 -7.19744865e-01 1.96317976e+02] [-3.19628635e-01 8.46076156e-01 4.26605995e-01 -3.59314034e+01] [ 8.35739205e-01 3.95641988e-02 5.47699420e-01 -3.02354060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.29, Y:-35.99, Z:-302.33 [[ 4.21607693e-01 5.87184450e-01 -6.90985799e-01 1.96288701e+02] [-3.05561560e-01 8.09453120e-01 5.01415775e-01 -3.59932621e+01] [ 8.53744157e-01 -2.62049536e-04 5.20692659e-01 -3.02327827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters Centerline goodness : 0.980740 Centerline is valid? [True, True] Translation: X:196.27, Y:-36.07, Z:-302.29 [[ 4.58900072e-01 5.97334984e-01 -6.57724593e-01 1.96273915e+02] [-2.71059323e-01 7.99106341e-01 5.36615225e-01 -3.60687425e+01] [ 8.46130940e-01 -6.79703825e-02 5.28623174e-01 -3.02291591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:-36.06, Z:-302.28 [[ 4.45243778e-01 6.35788232e-01 -6.30500835e-01 1.96263486e+02] [-3.22084511e-01 7.70736347e-01 5.49751809e-01 -3.60588915e+01] [ 8.35475640e-01 -4.16990191e-02 5.47943105e-01 -3.02280183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-35.99, Z:-302.27 [[ 4.36284011e-01 5.58016514e-01 -7.05885140e-01 1.96344621e+02] [-3.11701605e-01 8.29635847e-01 4.63191614e-01 -3.59874907e+01] [ 8.44096186e-01 1.79424360e-02 5.35891498e-01 -3.02265208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:-35.99, Z:-302.24 [[ 4.51911559e-01 5.56944046e-01 -6.96842359e-01 1.96356222e+02] [-3.19773211e-01 8.30383609e-01 4.56298318e-01 -3.59910264e+01] [ 8.32779104e-01 1.66250345e-02 5.53355738e-01 -3.02240025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-36.00, Z:-302.22 [[ 4.52231665e-01 5.55755805e-01 -6.97582975e-01 1.96369834e+02] [-3.18346806e-01 8.31192833e-01 4.55822099e-01 -3.59970789e+01] [ 8.33151746e-01 1.59361255e-02 5.52814804e-01 -3.02216333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.38, Y:-36.00, Z:-302.19 [[ 4.52521281e-01 5.54964528e-01 -6.98024973e-01 1.96382734e+02] [-3.17936751e-01 8.31720799e-01 4.55144741e-01 -3.60049279e+01] [ 8.33151075e-01 1.59651109e-02 5.52814980e-01 -3.02192137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-36.04, Z:-302.17 [[ 4.24069782e-01 5.83657584e-01 -6.92465627e-01 1.96368817e+02] [-2.95815732e-01 8.11954826e-01 5.03212096e-01 -3.60402219e+01] [ 8.55954364e-01 -8.55481810e-03 5.16980602e-01 -3.02166401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:-35.98, Z:-302.14 [[ 4.56285351e-01 5.20267581e-01 -7.21890104e-01 1.96430424e+02] [-3.16092369e-01 8.53121398e-01 4.15053604e-01 -3.59839170e+01] [ 8.31798830e-01 3.88010741e-02 5.53719409e-01 -3.02144242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:-36.03, Z:-302.12 [[ 4.54469581e-01 5.52486298e-01 -6.98724760e-01 1.96418867e+02] [-3.15827529e-01 8.33394930e-01 4.53548082e-01 -3.60252838e+01] [ 8.32892773e-01 1.45527071e-02 5.53243027e-01 -3.02118833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.43, Y:-36.03, Z:-302.10 [[ 4.55991993e-01 5.51131408e-01 -6.98802886e-01 1.96432647e+02] [-3.14721748e-01 8.34308759e-01 4.52635743e-01 -3.60309593e+01] [ 8.32479143e-01 1.35301909e-02 5.53891154e-01 -3.02095473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:-36.06, Z:-302.07 [[ 4.31480073e-01 5.70110124e-01 -6.99141898e-01 1.96430020e+02] [-2.98071445e-01 8.21567259e-01 4.85984210e-01 -3.60581609e+01] [ 8.51456611e-01 -1.29826640e-03 5.24423449e-01 -3.02069565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.47, Y:-36.03, Z:-302.05 [[ 4.59033166e-01 5.35113015e-01 -7.09184471e-01 1.96466767e+02] [-3.14124739e-01 8.44450240e-01 4.33854170e-01 -3.60300601e+01] [ 8.31032010e-01 2.36189334e-02 5.55722903e-01 -3.02045711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:-36.08, Z:-302.02 [[ 4.28279703e-01 5.78859522e-01 -6.93900677e-01 1.96443486e+02] [-2.91463121e-01 8.15338837e-01 5.00271756e-01 -3.60834021e+01] [ 8.55351241e-01 -1.20097817e-02 5.17909278e-01 -3.02019029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-36.06, Z:-302.00 [[ 4.28971542e-01 5.48067893e-01 -7.18056405e-01 1.96479834e+02] [-2.90633971e-01 8.36381869e-01 4.64755057e-01 -3.60597174e+01] [ 8.55286683e-01 9.32489112e-03 5.18071168e-01 -3.01997959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.52, Y:-36.03, Z:-301.98 [[ 4.62082391e-01 5.14865967e-01 -7.22075412e-01 1.96518423e+02] [-3.09433700e-01 8.56647354e-01 4.12802734e-01 -3.60346253e+01] [ 8.31102069e-01 3.26855916e-02 5.55158538e-01 -3.01975148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-36.11, Z:-301.95 [[ 4.33917666e-01 5.79645682e-01 -6.89729180e-01 1.96480245e+02] [-2.88587193e-01 8.14641391e-01 5.03067427e-01 -3.61098367e+01] [ 8.53482800e-01 -1.92428357e-02 5.20765612e-01 -3.01948533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:-36.04, Z:-301.93 [[ 4.67193859e-01 5.08444909e-01 -7.23335104e-01 1.96546380e+02] [-3.07323651e-01 8.60482757e-01 4.06351569e-01 -3.60443247e+01] [ 8.29024771e-01 3.24530276e-02 5.58269406e-01 -3.01926172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39232058799996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.54, Y:-36.09, Z:-301.90 [[ 4.67325029e-01 5.42369479e-01 -6.98170943e-01 1.96535453e+02] [-3.06446918e-01 8.40126290e-01 4.47524416e-01 -3.60859138e+01] [ 8.29275348e-01 4.81297257e-03 5.58819498e-01 -3.01901783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.56, Y:-36.09, Z:-301.88 [[ 4.62312172e-01 5.34932688e-01 -7.07187723e-01 1.96555788e+02] [-3.01161627e-01 8.44851415e-01 4.42185211e-01 -3.60876543e+01] [ 8.34007872e-01 8.55019975e-03 5.51686291e-01 -3.01877903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:-36.11, Z:-301.85 [[ 4.64371976e-01 5.41774959e-01 -7.00598717e-01 1.96561782e+02] [-2.98971999e-01 8.40523510e-01 4.51814091e-01 -3.61063660e+01] [ 8.33651253e-01 -3.50403046e-04 5.52291106e-01 -3.01853829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-36.15, Z:-301.83 [[ 4.41907523e-01 5.79323392e-01 -6.84910321e-01 1.96539783e+02] [-2.80893283e-01 8.14470989e-01 5.07677035e-01 -3.61528939e+01] [ 8.51948769e-01 -3.19595927e-02 5.22648907e-01 -3.01826917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51232058799997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.59, Y:-36.11, Z:-301.81 [[ 4.43047884e-01 5.31481531e-01 -7.21966727e-01 1.96589617e+02] [-2.81591714e-01 8.47062281e-01 4.50767788e-01 -3.61108640e+01] [ 8.51125537e-01 3.58813380e-03 5.24949947e-01 -3.01805638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:-36.09, Z:-301.78 [[ 4.59145603e-01 5.06325985e-01 -7.29944732e-01 1.96621200e+02] [-2.89817761e-01 8.62093967e-01 4.15691781e-01 -3.60926901e+01] [ 8.39756501e-01 2.06878948e-02 5.42568918e-01 -3.01782069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:-36.15, Z:-301.76 [[ 4.49824487e-01 5.51498448e-01 -7.02500813e-01 1.96599703e+02] [-2.84487556e-01 8.34078501e-01 4.72630812e-01 -3.61465028e+01] [ 8.46595985e-01 -1.27481735e-02 5.32083380e-01 -3.01755683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:-36.16, Z:-301.73 [[ 4.43638423e-01 5.61597872e-01 -6.98421635e-01 1.96602106e+02] [-2.83212236e-01 8.27225575e-01 4.85271756e-01 -3.61616095e+01] [ 8.50279824e-01 -1.74836439e-02 5.26040438e-01 -3.01729470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:-36.11, Z:-301.71 [[ 4.74843021e-01 5.02509689e-01 -7.22501293e-01 1.96661216e+02] [-3.03274097e-01 8.64105616e-01 4.01679358e-01 -3.61090747e+01] [ 8.26165194e-01 2.83812873e-02 5.62712693e-01 -3.01708967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.61, Y:-36.20, Z:-301.68 [[ 4.39528504e-01 5.83177682e-01 -6.83167978e-01 1.96612126e+02] [-2.83626729e-01 8.11767888e-01 5.10478967e-01 -3.61981415e+01] [ 8.52273766e-01 -3.06053574e-02 5.22199903e-01 -3.01680518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.692320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.65, Y:-36.17, Z:-301.66 [[ 4.41404675e-01 5.50710621e-01 -7.08434701e-01 1.96651260e+02] [-2.87255072e-01 8.34687113e-01 4.69874395e-01 -3.61724795e+01] [ 8.50086135e-01 -3.90329306e-03 5.26629213e-01 -3.01658995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-36.16, Z:-301.64 [[ 4.45114715e-01 5.30540385e-01 -7.21387406e-01 1.96677087e+02] [-2.90357074e-01 8.47578289e-01 4.44188938e-01 -3.61588162e+01] [ 8.47092474e-01 1.17449036e-02 5.31315723e-01 -3.01635893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:-36.17, Z:-301.61 [[ 4.53095981e-01 5.32402300e-01 -7.15018758e-01 1.96689480e+02] [-2.95516003e-01 8.46425272e-01 4.42983691e-01 -3.61665218e+01] [ 8.41055482e-01 1.05853555e-02 5.40845288e-01 -3.01612643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:-36.20, Z:-301.59 [[ 4.44159691e-01 5.57374755e-01 -7.01466714e-01 1.96683502e+02] [-2.90749975e-01 8.30229065e-01 4.75588216e-01 -3.61984354e+01] [ 8.47458920e-01 -7.28568520e-03 5.30810982e-01 -3.01587543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:-36.16, Z:-301.56 [[ 4.55855391e-01 5.16066214e-01 -7.25169998e-01 1.96727424e+02] [-2.98631425e-01 8.56201809e-01 4.21589533e-01 -3.61640529e+01] [ 8.38459978e-01 2.43746887e-02 5.44417800e-01 -3.01564859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:-36.21, Z:-301.54 [[ 4.47217129e-01 5.55508962e-01 -7.01004018e-01 1.96710856e+02] [-2.96108720e-01 8.31506400e-01 4.70017800e-01 -3.62105536e+01] [ 8.43988428e-01 -2.62660875e-03 5.36354953e-01 -3.01541244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:-36.18, Z:-301.52 [[ 4.59622605e-01 5.22097401e-01 -7.18443710e-01 1.96749827e+02] [-3.05194225e-01 8.52541129e-01 4.24299550e-01 -3.61825965e+01] [ 8.34028504e-01 2.42472067e-02 5.51188287e-01 -3.01517041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:-36.21, Z:-301.49 [[ 4.66894574e-01 5.41371698e-01 -6.99232537e-01 1.96751367e+02] [-3.10480040e-01 8.40724129e-01 4.43604648e-01 -3.62103323e+01] [ 8.28016667e-01 9.98114263e-03 5.60614641e-01 -3.01493750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.932320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.76, Y:-36.23, Z:-301.47 [[ 4.60106739e-01 5.52086957e-01 -6.95342923e-01 1.96755684e+02] [-3.05694727e-01 8.33785893e-01 4.59730159e-01 -3.62302991e+01] [ 8.33578144e-01 1.03772084e-03 5.52400580e-01 -3.01468966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:-36.27, Z:-301.44 [[ 4.42972624e-01 5.81895886e-01 -6.82035507e-01 1.96741633e+02] [-2.91690618e-01 8.12898455e-01 5.04095909e-01 -3.62700639e+01] [ 8.47756945e-01 -2.43573290e-02 5.29825332e-01 -3.01443793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.992320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-36.19, Z:-301.42 [[ 4.67978490e-01 4.96248840e-01 -7.31254553e-01 1.96817799e+02] [-3.05493992e-01 8.67283465e-01 3.93055737e-01 -3.61899181e+01] [ 8.29258436e-01 3.94522422e-02 5.57471045e-01 -3.01423113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:-36.24, Z:-301.40 [[ 4.69221811e-01 5.37432969e-01 -7.00711564e-01 1.96803232e+02] [-3.06942011e-01 8.43268122e-01 4.41231770e-01 -3.62417481e+01] [ 8.28020225e-01 8.04224625e-03 5.60640552e-01 -3.01397610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.052320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.81, Y:-36.25, Z:-301.37 [[ 4.71943645e-01 5.38545125e-01 -6.98024602e-01 1.96814909e+02] [-3.07142796e-01 8.42578053e-01 4.42408779e-01 -3.62526653e+01] [ 8.26397301e-01 5.60121610e-03 5.63059613e-01 -3.01374372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-36.27, Z:-301.35 [[ 4.70413843e-01 5.44791348e-01 -6.94199686e-01 1.96821370e+02] [-3.05168122e-01 8.38571515e-01 4.51298384e-01 -3.62688039e+01] [ 8.27999538e-01 -4.49392901e-04 5.60728601e-01 -3.01350464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.112320588 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.84, Y:-36.27, Z:-301.33 [[ 4.70122415e-01 5.38566086e-01 -6.99236359e-01 1.96839563e+02] [-3.04857798e-01 8.42571606e-01 4.43998662e-01 -3.62703197e+01] [ 8.28279323e-01 4.43393368e-03 5.60297870e-01 -3.01327390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:-36.32, Z:-301.30 [[ 4.47619803e-01 5.76019216e-01 -6.83987116e-01 1.96819577e+02] [-2.89653909e-01 8.17052875e-01 4.98523031e-01 -3.63157464e+01] [ 8.46012485e-01 -2.50292393e-02 5.32575264e-01 -3.01300836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.90, Y:-36.23, Z:-301.28 [[ 4.73549113e-01 4.88042417e-01 -7.33188813e-01 1.96898541e+02] [-3.07349541e-01 8.71680554e-01 3.81718838e-01 -3.62328249e+01] [ 8.25401416e-01 4.45826282e-02 5.62783166e-01 -3.01280458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.88, Y:-36.29, Z:-301.26 [[ 4.70160655e-01 5.39682787e-01 -6.98349087e-01 1.96876019e+02] [-3.08014640e-01 8.41841593e-01 4.43203919e-01 -3.62939810e+01] [ 8.27088834e-01 6.72469808e-03 5.62030994e-01 -3.01255090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.85, Y:-36.35, Z:-301.23 [[ 4.45812246e-01 5.83152648e-01 -6.79105611e-01 1.96851831e+02] [-2.89194230e-01 8.11817595e-01 5.07266094e-01 -3.63461280e+01] [ 8.47123450e-01 -2.97520127e-02 5.30562606e-01 -3.01230516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-36.23, Z:-301.21 [[ 4.76324120e-01 4.64437748e-01 -7.46600904e-01 1.96953705e+02] [-3.11171271e-01 8.83203657e-01 3.50889926e-01 -3.62273856e+01] [ 8.22367176e-01 6.51834174e-02 5.65210890e-01 -3.01210756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:-36.30, Z:-301.19 [[ 4.74115198e-01 5.30804146e-01 -7.02468318e-01 1.96925216e+02] [-3.13992596e-01 8.47313995e-01 4.28331231e-01 -3.63033062e+01] [ 8.22571230e-01 1.74915042e-02 5.68393014e-01 -3.01186045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.94, Y:-36.31, Z:-301.16 [[ 4.73699411e-01 5.30736665e-01 -7.02799730e-01 1.96939879e+02] [-3.15427401e-01 8.47317340e-01 4.27269096e-01 -3.63090347e+01] [ 8.22261772e-01 1.92851732e-02 5.68782612e-01 -3.01161949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.96, Y:-36.30, Z:-301.14 [[ 4.75452692e-01 5.19001655e-01 -7.10339369e-01 1.96962541e+02] [-3.16827947e-01 8.54277107e-01 4.12105177e-01 -3.63036093e+01] [ 8.20709930e-01 2.91188485e-02 5.70602579e-01 -3.01138457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:-36.32, Z:-301.11 [[ 4.74417959e-01 5.31153264e-01 -7.01999865e-01 1.96967946e+02] [-3.15279669e-01 8.47077141e-01 4.27854002e-01 -3.63246439e+01] [ 8.21904089e-01 1.83446624e-02 5.69330433e-01 -3.01114994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41232058799994 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.98, Y:-36.33, Z:-301.09 [[ 4.73943996e-01 5.31984070e-01 -7.01690842e-01 1.96980548e+02] [-3.14056126e-01 8.46589477e-01 4.29715029e-01 -3.63333388e+01] [ 8.22645634e-01 1.67094497e-02 5.68308856e-01 -3.01090153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:-36.44, Z:-301.06 [[ 4.44884866e-01 6.22709660e-01 -6.43669274e-01 1.96912965e+02] [-2.87056177e-01 7.79940906e-01 5.56139313e-01 -3.64366940e+01] [ 8.48337319e-01 -6.26487229e-02 5.25736560e-01 -3.01061886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-36.16, Z:-301.03 [[ 4.85553089e-01 3.52515152e-01 -7.99982041e-01 1.97107806e+02] [-3.09807275e-01 9.25090695e-01 2.19605690e-01 -3.61576910e+01] [ 8.17470275e-01 1.41210035e-01 5.58392403e-01 -3.01033065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-36.44, Z:-301.01 [[ 4.47382849e-01 6.12481223e-01 -6.51701878e-01 1.96952893e+02] [-2.87622736e-01 7.88516128e-01 5.43613354e-01 -3.64389987e+01] [ 8.46830413e-01 -5.57590136e-02 5.28932117e-01 -3.01013503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53232058799995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.11, Y:-36.22, Z:-300.99 [[ 4.87982947e-01 3.99940556e-01 -7.75835160e-01 1.97109662e+02] [-3.11886389e-01 9.10064100e-01 2.72965591e-01 -3.62175151e+01] [ 8.15229737e-01 1.08769873e-01 5.68831777e-01 -3.00987773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:-36.36, Z:-300.97 [[ 4.83138097e-01 5.24311983e-01 -7.01195068e-01 1.97050900e+02] [-3.14385017e-01 8.51345519e-01 4.19967699e-01 -3.63559969e+01] [ 8.17153377e-01 1.75428286e-02 5.76153286e-01 -3.00968032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.08, Y:-36.34, Z:-300.95 [[ 4.84538081e-01 5.04749244e-01 -7.14458570e-01 1.97077236e+02] [-3.12555586e-01 8.62720164e-01 3.97520973e-01 -3.63439313e+01] [ 8.17026225e-01 3.06939676e-02 5.75782969e-01 -3.00945645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:-36.38, Z:-300.92 [[ 4.82234125e-01 5.33214360e-01 -6.95077474e-01 1.97070653e+02] [-3.11380971e-01 8.45945435e-01 4.32918250e-01 -3.63822472e+01] [ 8.18835844e-01 7.66594595e-03 5.73976562e-01 -3.00920802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:-36.38, Z:-300.90 [[ 4.81970133e-01 5.21768076e-01 -7.03891231e-01 1.97091968e+02] [-3.10698709e-01 8.52927578e-01 4.19500726e-01 -3.63769802e+01] [ 8.19250330e-01 1.65112758e-02 5.73198286e-01 -3.00897765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:-36.38, Z:-300.87 [[ 4.83814225e-01 5.20541096e-01 -7.03534479e-01 1.97105322e+02] [-3.10093235e-01 8.53691586e-01 4.18393190e-01 -3.63827774e+01] [ 8.18392315e-01 1.57367056e-02 5.74444406e-01 -3.00874106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:-36.39, Z:-300.85 [[ 4.85275529e-01 5.19603309e-01 -7.03221205e-01 1.97118590e+02] [-3.09968905e-01 8.54267619e-01 4.17308174e-01 -3.63894838e+01] [ 8.17573813e-01 1.54672622e-02 5.75616039e-01 -3.00850645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.13, Y:-36.40, Z:-300.83 [[ 4.85274883e-01 5.19349263e-01 -7.03409291e-01 1.97133046e+02] [-3.10634162e-01 8.54405253e-01 4.16531008e-01 -3.63963830e+01] [ 8.17321666e-01 1.63709192e-02 5.75949032e-01 -3.00827301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-36.40, Z:-300.80 [[ 4.82706186e-01 5.18895143e-01 -7.05508730e-01 1.97148256e+02] [-3.09438115e-01 8.54667267e-01 4.16883575e-01 -3.64014752e+01] [ 8.19294081e-01 1.70790109e-02 5.73119112e-01 -3.00804235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:197.15, Y:-36.41, Z:-300.81 [[ 4.51360475e-01 5.14232750e-01 -7.29272515e-01 1.97152745e+02] [-2.87022562e-01 8.57490262e-01 4.26999413e-01 -3.64110413e+01] [ 8.44921162e-01 1.65870083e-02 5.34633613e-01 -3.00814031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-36.29, Z:-300.76 [[ 4.64160100e-01 4.13119597e-01 -7.83509795e-01 1.97235450e+02] [-3.07096411e-01 9.04761524e-01 2.95124345e-01 -3.62914907e+01] [ 8.30811167e-01 1.03628100e-01 5.46821745e-01 -3.00761738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:197.17, Y:-36.39, Z:-300.73 [[ 4.72196862e-01 5.16099500e-01 -7.14612783e-01 1.97174726e+02] [-3.14005920e-01 8.55987049e-01 4.10714565e-01 -3.63934145e+01] [ 8.23668869e-01 3.04545157e-02 5.66252697e-01 -3.00728474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.19, Y:-36.44, Z:-300.72 [[ 4.61533198e-01 5.42689099e-01 -7.01766093e-01 1.97187666e+02] [-3.07142874e-01 8.39885363e-01 4.47499532e-01 -3.64410149e+01] [ 8.32256188e-01 9.00656477e-03 5.54318067e-01 -3.00719936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.22, Y:-36.42, Z:-300.70 [[ 4.63534732e-01 5.20540600e-01 -7.17058600e-01 1.97217522e+02] [-3.09028811e-01 8.53409252e-01 4.19754503e-01 -3.64233508e+01] [ 8.30443704e-01 2.70209760e-02 5.56446871e-01 -3.00697374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95232058799996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:-36.44, Z:-300.67 [[ 4.63677356e-01 5.25902923e-01 -7.13042373e-01 1.97226676e+02] [-3.08853439e-01 8.50244802e-01 4.26255005e-01 -3.64370959e+01] [ 8.30429324e-01 2.25807951e-02 5.56666188e-01 -3.00674539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-36.44, Z:-300.65 [[ 4.64219849e-01 5.18909414e-01 -7.17797292e-01 1.97247207e+02] [-3.08254895e-01 8.54400227e-01 4.18305118e-01 -3.64369624e+01] [ 8.30348633e-01 2.70789898e-02 5.56585911e-01 -3.00650681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.25, Y:-36.45, Z:-300.63 [[ 4.76529558e-01 5.27539124e-01 -7.03293717e-01 1.97254456e+02] [-3.14552230e-01 8.49313657e-01 4.23937739e-01 -3.64530326e+01] [ 8.20960703e-01 1.92037439e-02 5.70661669e-01 -3.00626812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:197.28, Y:-36.45, Z:-300.60 [[ 4.68438298e-01 5.17246613e-01 -7.16255193e-01 1.97277876e+02] [-3.05968588e-01 8.55514197e-01 4.17706453e-01 -3.64482398e+01] [ 8.28823735e-01 2.34818899e-02 5.59016830e-01 -3.00604252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07232058799997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:-36.46, Z:-300.58 [[ 4.69563769e-01 5.21161937e-01 -7.12671104e-01 1.97288625e+02] [-3.04611080e-01 8.53260842e-01 4.23270629e-01 -3.64600667e+01] [ 8.28686887e-01 1.83349629e-02 5.59412077e-01 -3.00580751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.29, Y:-36.48, Z:-300.55 [[ 4.80097705e-01 5.29611953e-01 -6.99297772e-01 1.97293909e+02] [-3.07839203e-01 8.48199134e-01 4.31037416e-01 -3.64757913e+01] [ 8.21426332e-01 8.33119402e-03 5.70253779e-01 -3.00554467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13232058799997 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:197.30, Y:-36.49, Z:-300.53 [[ 4.55039026e-01 5.32526439e-01 -7.13691163e-01 1.97304261e+02] [-2.89157834e-01 8.46408470e-01 4.47191736e-01 -3.64876677e+01] [ 8.42215668e-01 2.87969927e-03 5.39133078e-01 -3.00530153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:197.32, Y:-36.46, Z:-300.50 [[ 4.78824150e-01 5.09476524e-01 -7.14955317e-01 1.97318728e+02] [-3.02347190e-01 8.60261482e-01 4.10531800e-01 -3.64601073e+01] [ 8.24204835e-01 1.95921912e-02 5.65952768e-01 -3.00495044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.192320588 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:197.34, Y:-36.49, Z:-300.48 [[ 4.62569785e-01 5.16276555e-01 -7.20754961e-01 1.97340671e+02] [-2.85231635e-01 8.56397250e-01 4.30379675e-01 -3.64869435e+01] [ 8.39447502e-01 6.50148187e-03 5.43401898e-01 -3.00483276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:197.34, Y:-36.48, Z:-300.45 [[ 4.78436969e-01 5.16116899e-01 -7.10437480e-01 1.97338247e+02] [-2.95373593e-01 8.56486864e-01 4.23302128e-01 -3.64808797e+01] [ 8.26953751e-01 7.32108412e-03 5.62222282e-01 -3.00446093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252320588 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-36.47, Z:-300.44 [[ 4.83302166e-01 4.88280548e-01 -7.26636857e-01 1.97389143e+02] [-2.95034854e-01 8.72301416e-01 3.89929063e-01 -3.64743420e+01] [ 8.24241136e-01 2.59296381e-02 5.65644944e-01 -3.00435777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.39, Y:-36.50, Z:-300.41 [[ 4.85101664e-01 5.04488041e-01 -7.14260591e-01 1.97394707e+02] [-2.93899261e-01 8.63349374e-01 4.10184207e-01 -3.65003986e+01] [ 8.23589461e-01 1.09396184e-02 5.67080881e-01 -3.00411194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312320588 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:197.37, Y:-36.56, Z:-300.39 [[ 4.65137664e-01 5.52855036e-01 -6.91374184e-01 1.97371556e+02] [-2.81899211e-01 8.32850788e-01 4.76332238e-01 -3.65560810e+01] [ 8.39154210e-01 -2.66622274e-02 5.43239668e-01 -3.00386041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:197.36, Y:-36.60, Z:-300.36 [[ 4.43266871e-01 5.89233667e-01 -6.75513262e-01 1.97356768e+02] [-2.65181968e-01 8.06061306e-01 5.29097056e-01 -3.65993414e+01] [ 8.56266901e-01 -5.53972601e-02 5.13554416e-01 -3.00358652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372320588 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:197.40, Y:-36.56, Z:-300.34 [[ 4.40430458e-01 5.49385294e-01 -7.10068173e-01 1.97398642e+02] [-2.63972237e-01 8.35193475e-01 4.82462970e-01 -3.65635355e+01] [ 8.58102366e-01 -2.50531028e-02 5.12867110e-01 -3.00336544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:197.43, Y:-36.54, Z:-300.32 [[ 4.45228230e-01 5.21901603e-01 -7.27592290e-01 1.97426393e+02] [-2.67553628e-01 8.52991908e-01 4.48129290e-01 -3.65393462e+01] [ 8.54509730e-01 -4.84985364e-03 5.19412745e-01 -3.00315898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.432320588 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:197.38, Y:-36.63, Z:-300.28 [[ 4.34838382e-01 6.00408860e-01 -6.71136932e-01 1.97379593e+02] [-2.49304245e-01 7.96421578e-01 5.50962851e-01 -3.66319552e+01] [ 8.65310912e-01 -7.22625086e-02 4.95999148e-01 -3.00280697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:197.42, Y:-36.60, Z:-300.25 [[ 4.23613261e-01 5.67665698e-01 -7.05908960e-01 1.97424667e+02] [-2.47691335e-01 8.22173593e-01 5.12522765e-01 -3.66033050e+01] [ 8.71321300e-01 -4.22639074e-02 4.88889512e-01 -3.00251130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.492320588 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:197.45, Y:-36.59, Z:-300.22 [[ 4.18343616e-01 5.53439209e-01 -7.20203903e-01 1.97447072e+02] [-2.44600265e-01 8.32276321e-01 4.97480488e-01 -3.65930366e+01] [ 8.74733862e-01 -3.19557205e-02 4.83548863e-01 -3.00224748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters Centerline goodness : 0.984784 Centerline is valid? [True, True] Translation: X:197.41, Y:-36.68, Z:-300.19 [[ 3.91663292e-01 6.25818969e-01 -6.74500173e-01 1.97405949e+02] [-2.09602453e-01 7.74476466e-01 5.96869345e-01 -3.66786705e+01] [ 8.95916669e-01 -9.23949215e-02 4.34507193e-01 -3.00188726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.552320588 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:197.59, Y:-36.37, Z:-300.16 [[ 4.33197862e-01 3.44962619e-01 -8.32670645e-01 1.97589968e+02] [-2.88586045e-01 9.28306635e-01 2.34445914e-01 -3.63670675e+01] [ 8.53848761e-01 1.38735660e-01 5.01691848e-01 -3.00160613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:197.39, Y:-36.68, Z:-300.20 [[ 4.98814035e-01 6.24756815e-01 -6.00719137e-01 1.97389379e+02] [-2.87958976e-01 7.73193803e-01 5.65022983e-01 -3.66758665e+01] [ 8.17474273e-01 -1.08858926e-01 5.65584253e-01 -3.00200480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.612320588 meters Centerline goodness : 0.971759 Centerline is valid? [True, True] Translation: X:197.57, Y:-36.49, Z:-300.19 [[ 5.25096086e-01 3.93722133e-01 -7.54491207e-01 1.97571914e+02] [-2.19196451e-01 9.19207292e-01 3.27125160e-01 -3.64914316e+01] [ 8.22330236e-01 -6.39034615e-03 5.68974645e-01 -3.00185165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:197.22, Y:-36.90, Z:-300.11 [[ 4.90220313e-01 7.79051388e-01 -3.90849049e-01 1.97216495e+02] [-2.49576307e-01 5.55117358e-01 7.93445894e-01 -3.69004109e+01] [ 8.35102216e-01 -2.91416632e-01 4.66562574e-01 -3.00107862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67232058799993 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:197.64, Y:-36.31, Z:-300.09 [[ 5.02951542e-01 2.75203185e-01 -8.19330796e-01 1.97641517e+02] [-3.06975607e-01 9.43028024e-01 1.28312595e-01 -3.63125151e+01] [ 8.07963937e-01 1.86979550e-01 5.58778064e-01 -3.00090577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:197.38, Y:-36.78, Z:-300.10 [[ 4.98111289e-01 6.86596504e-01 -5.29594547e-01 1.97378591e+02] [-2.78008584e-01 7.04968783e-01 6.52480070e-01 -3.67825949e+01] [ 8.21338159e-01 -1.77775859e-01 5.42032631e-01 -3.00103055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73232058799994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:197.62, Y:-36.43, Z:-300.08 [[ 5.23464804e-01 3.84056152e-01 -7.60582323e-01 1.97617649e+02] [-3.15923569e-01 9.16510104e-01 2.45359995e-01 -3.64295626e+01] [ 7.91313400e-01 1.11848560e-01 6.01093173e-01 -3.00081279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:197.57, Y:-36.56, Z:-300.09 [[ 5.11018462e-01 4.88899782e-01 -7.06991609e-01 1.97571552e+02] [-2.92391923e-01 8.72316042e-01 3.91882235e-01 -3.65647990e+01] [ 8.08311261e-01 6.45957929e-03 5.88719950e-01 -3.00087715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79232058799994 meters Centerline goodness : 0.696744 Centerline is valid? [True, False] Translation: X:197.58, Y:-36.49, Z:-300.10 [[ 5.15767830e-01 4.28906490e-01 -7.41635199e-01 1.97579017e+02] [-2.84786662e-01 9.02265520e-01 3.23749114e-01 -3.64922869e+01] [ 8.08009965e-01 4.42284350e-02 5.87506377e-01 -3.00100445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters Centerline goodness : 0.998619 Centerline is valid? [False, True] Translation: X:197.59, Y:-36.42, Z:-300.11 [[ 5.18472678e-01 3.66680615e-01 -7.72483921e-01 1.97585018e+02] [-2.80253272e-01 9.26360577e-01 2.51623103e-01 -3.64173048e+01] [ 8.07863965e-01 8.60314422e-02 5.83056091e-01 -3.00113102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85232058799994 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:197.57, Y:-36.48, Z:-300.11 [[ 5.26816873e-01 4.08825976e-01 -7.45201518e-01 1.97569936e+02] [-2.60851343e-01 9.12185847e-01 3.16027779e-01 -3.64847814e+01] [ 8.08962644e-01 2.78980506e-02 5.87197701e-01 -3.00114503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters Centerline goodness : 0.997429 Centerline is valid? [True, True] Translation: X:197.57, Y:-36.54, Z:-300.10 [[ 5.49029637e-01 4.22193263e-01 -7.21331620e-01 1.97565230e+02] [-2.34232382e-01 9.06178616e-01 3.52101558e-01 -3.65418563e+01] [ 8.02310195e-01 -2.43549673e-02 5.96410251e-01 -3.00095807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91232058799994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:197.58, Y:-36.53, Z:-300.07 [[ 5.32576209e-01 4.42061641e-01 -7.21764565e-01 1.97582463e+02] [-2.67933655e-01 8.96963950e-01 3.51663516e-01 -3.65320665e+01] [ 8.02853746e-01 6.09739579e-03 5.96144851e-01 -3.00068733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:197.59, Y:-36.54, Z:-300.04 [[ 5.31276523e-01 4.47502246e-01 -7.19365690e-01 1.97593764e+02] [-2.79462925e-01 8.94154071e-01 3.49841350e-01 -3.65350500e+01] [ 7.99778550e-01 1.51735439e-02 6.00103353e-01 -3.00042341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97232058799995 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:197.61, Y:-36.55, Z:-300.02 [[ 5.35966690e-01 4.35083431e-01 -7.23492996e-01 1.97611491e+02] [-2.56919822e-01 9.00387162e-01 3.51134111e-01 -3.65526392e+01] [ 8.04196439e-01 -2.31649539e-03 5.94359084e-01 -3.00024731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:197.62, Y:-36.55, Z:-300.00 [[ 5.34445455e-01 4.47248793e-01 -7.17172624e-01 1.97623925e+02] [-2.82221729e-01 8.94252668e-01 3.47365889e-01 -3.65495462e+01] [ 7.96692507e-01 1.67535775e-02 6.04152602e-01 -2.99996330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03232058799995 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:197.58, Y:-36.71, Z:-299.95 [[ 5.30031102e-01 5.48460275e-01 -6.46728967e-01 1.97581154e+02] [-2.44485445e-01 8.29124557e-01 5.02771654e-01 -3.67142851e+01] [ 8.11969148e-01 -1.08368794e-01 5.73552357e-01 -2.99953569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:197.63, Y:-36.61, Z:-299.96 [[ 5.36123260e-01 4.86689169e-01 -6.89714073e-01 1.97625563e+02] [-2.78646543e-01 8.73296429e-01 3.99636649e-01 -3.66132158e+01] [ 7.96823666e-01 -2.20680608e-02 6.03808783e-01 -2.99955390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09232058799995 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:197.67, Y:-36.57, Z:-299.93 [[ 5.35410286e-01 4.42347458e-01 -7.19489091e-01 1.97666078e+02] [-2.80118295e-01 8.96663302e-01 3.42824538e-01 -3.65690901e+01] [ 7.96787027e-01 1.79902737e-02 6.03992371e-01 -2.99934233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:197.72, Y:-36.52, Z:-299.91 [[ 5.35866017e-01 3.85175614e-01 -7.51323737e-01 1.97715640e+02] [-2.81289012e-01 9.20482108e-01 2.71273258e-01 -3.65153635e+01] [ 7.96067901e-01 6.59729911e-02 6.01600749e-01 -2.99906554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15232058799995 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:197.70, Y:-36.61, Z:-299.89 [[ 5.29149362e-01 4.66181515e-01 -7.08996296e-01 1.97698298e+02] [-2.86779293e-01 8.84645443e-01 3.67641234e-01 -3.66064058e+01] [ 7.98597890e-01 8.78833205e-03 6.01800777e-01 -2.99891733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:197.60, Y:-36.77, Z:-299.87 [[ 5.15743746e-01 5.94435557e-01 -6.16972249e-01 1.97603435e+02] [-2.51010851e-01 7.93376527e-01 5.54569418e-01 -3.67734810e+01] [ 8.19147081e-01 -1.31148980e-01 5.58388757e-01 -2.99865839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21232058799995 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:197.77, Y:-36.48, Z:-299.84 [[ 5.20154430e-01 3.39718683e-01 -7.83601037e-01 1.97769158e+02] [-2.83385418e-01 9.34160412e-01 2.16880219e-01 -3.64791602e+01] [ 8.05687330e-01 1.09249901e-01 5.82178998e-01 -2.99840276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:197.75, Y:-36.57, Z:-299.83 [[ 5.32475777e-01 4.16648847e-01 -7.36799352e-01 1.97751820e+02] [-2.83632174e-01 9.07966363e-01 3.08463730e-01 -3.65716593e+01] [ 7.97510086e-01 4.47305384e-02 6.01645113e-01 -2.99827727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27232058799996 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:197.68, Y:-36.74, Z:-299.82 [[ 5.05691542e-01 5.62699369e-01 -6.53946087e-01 1.97682213e+02] [-2.70049695e-01 8.23162168e-01 4.99476934e-01 -3.67422653e+01] [ 8.19359034e-01 -7.59833198e-02 5.68222939e-01 -2.99815088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters Centerline goodness : 0.928881 Centerline is valid? [True, False] Translation: X:197.70, Y:-36.66, Z:-299.83 [[ 5.14161380e-01 4.97769531e-01 -6.98472311e-01 1.97697696e+02] [-2.65029564e-01 8.66713080e-01 4.22572795e-01 -3.66637130e+01] [ 8.15718950e-01 -3.21547995e-02 5.77554035e-01 -2.99832937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33232058799996 meters Centerline goodness : 0.997834 Centerline is valid? [False, True] Translation: X:197.71, Y:-36.58, Z:-299.85 [[ 5.25327314e-01 4.27301134e-01 -7.35829433e-01 1.97711196e+02] [-2.59110105e-01 9.04028998e-01 3.39990477e-01 -3.65840945e+01] [ 8.10489461e-01 1.20545580e-02 5.85629167e-01 -2.99845259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:197.77, Y:-36.51, Z:-299.79 [[ 5.25615612e-01 3.59448743e-01 -7.71054363e-01 1.97771631e+02] [-2.74113430e-01 9.29572806e-01 2.46487780e-01 -3.65117995e+01] [ 8.05350890e-01 8.17985309e-02 5.87127707e-01 -2.99792964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39232058799996 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:197.70, Y:-36.69, Z:-299.79 [[ 5.13609610e-01 5.19781109e-01 -6.82665926e-01 1.97700740e+02] [-2.64288682e-01 8.52779259e-01 4.50465345e-01 -3.66932644e+01] [ 8.16306720e-01 -5.09424529e-02 5.75367887e-01 -2.99785282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:197.76, Y:-36.61, Z:-299.77 [[ 5.13584042e-01 4.38885866e-01 -7.37299551e-01 1.97763547e+02] [-2.61003660e-01 8.98473842e-01 3.53018194e-01 -3.66129192e+01] [ 8.17379056e-01 1.11333700e-02 5.75992645e-01 -2.99773024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45232058799996 meters Centerline goodness : 0.971268 Centerline is valid? [True, True] Translation: X:197.76, Y:-36.65, Z:-299.80 [[ 5.45424349e-01 4.36334432e-01 -7.15628775e-01 1.97757834e+02] [-2.17980783e-01 8.98273822e-01 3.81560637e-01 -3.66526685e+01] [ 8.09318638e-01 -5.21191412e-02 5.85052935e-01 -2.99804779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters Centerline goodness : 0.950254 Centerline is valid? [True, True] Translation: X:197.85, Y:-36.46, Z:-299.75 [[ 5.50890218e-01 2.24493757e-01 -8.03817468e-01 1.97845301e+02] [-1.99736856e-01 9.70617414e-01 1.34190253e-01 -3.64552718e+01] [ 8.10324106e-01 8.66278763e-02 5.79543316e-01 -2.99751179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51232058799997 meters Centerline goodness : 0.974003 Centerline is valid? [True, True] Translation: X:197.89, Y:-36.45, Z:-299.70 [[ 5.46045770e-01 1.94525563e-01 -8.14858161e-01 1.97885653e+02] [-1.93040908e-01 9.75709674e-01 1.03565635e-01 -3.64461662e+01] [ 8.15211154e-01 1.00749383e-01 5.70333531e-01 -2.99703845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters Centerline goodness : 0.982153 Centerline is valid? [True, True] Translation: X:197.83, Y:-36.66, Z:-299.70 [[ 5.53099214e-01 3.85201511e-01 -7.38715815e-01 1.97832910e+02] [-1.92617654e-01 9.21792506e-01 3.36447641e-01 -3.66614054e+01] [ 8.10542842e-01 -4.37992183e-02 5.84039322e-01 -2.99701370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57232058799997 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:197.84, Y:-36.70, Z:-299.64 [[ 5.25568645e-01 4.31194654e-01 -7.33381735e-01 1.97842350e+02] [-2.22467732e-01 9.01702209e-01 3.70730678e-01 -3.66998553e+01] [ 8.21149017e-01 -3.16906493e-02 5.69833305e-01 -2.99638849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters Centerline goodness : 0.986891 Centerline is valid? [True, True] Translation: X:197.78, Y:-36.84, Z:-299.60 [[ 5.36561737e-01 5.43114344e-01 -6.45854714e-01 1.97783828e+02] [-2.10522269e-01 8.27309400e-01 5.20806615e-01 -3.68444799e+01] [ 8.17179219e-01 -1.43478103e-01 5.58240233e-01 -2.99602201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63232058799997 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:197.80, Y:-36.86, Z:-299.59 [[ 5.43986047e-01 5.42550649e-01 -6.40092161e-01 1.97795577e+02] [-2.06596431e-01 8.25955811e-01 5.24513978e-01 -3.68564490e+01] [ 8.13263239e-01 -1.53087530e-01 5.61397464e-01 -2.99586167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters Centerline goodness : 0.986474 Centerline is valid? [True, True] Translation: X:197.83, Y:-36.84, Z:-299.56 [[ 5.43765498e-01 5.20037262e-01 -6.58695931e-01 1.97829610e+02] [-2.01262588e-01 8.42775888e-01 4.99221567e-01 -3.68421717e+01] [ 8.14746865e-01 -1.38888616e-01 5.62936496e-01 -2.99562378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.692320588 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:197.82, Y:-36.86, Z:-299.54 [[ 5.31676699e-01 5.46371278e-01 -6.47146285e-01 1.97822630e+02] [-2.08250277e-01 8.24969641e-01 5.25411185e-01 -3.68628649e+01] [ 8.20945619e-01 -1.44580491e-01 5.52399106e-01 -2.99540209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6190.91 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%| | 0/12024 [00:00